diff --git a/src/device.cc b/src/device.cc
index 36d28645..c34c1866 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -33,7 +33,6 @@
 #include <hpp/manipulation/handle.hh>
 #include <hpp/manipulation/serialization.hh>
 #include <hpp/pinocchio/gripper.hh>
-#include <hpp/pinocchio/joint-collection.hh>
 #include <hpp/pinocchio/joint.hh>
 #include <hpp/util/serialization.hh>
 #include <pinocchio/multibody/geometry.hpp>
diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index 671bec94..308d2c27 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -988,7 +988,7 @@ GraphPtr_t graphBuilder(const ProblemSolverPtr_t& ps,
     assert(robot.robotFrames(od.name).size() != 0);
     for (const FrameIndex& f : robot.robotFrames(od.name)) {
       if (model.frames[f].type != ::pinocchio::JOINT) continue;
-      const JointIndex j = model.frames[f].parent;
+      const JointIndex j = model.frames[f].parentJoint;
       JointPtr_t oj(Joint::create(ps->robot(), j));
       LiegroupSpacePtr_t space(oj->configurationSpace());
       LiegroupElement lge(robot.currentConfiguration().segment(
diff --git a/src/handle.cc b/src/handle.cc
index e7fdf038..01370753 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -34,7 +34,6 @@
 #include <hpp/manipulation/device.hh>
 #include <hpp/manipulation/handle.hh>
 #include <hpp/pinocchio/gripper.hh>
-#include <hpp/pinocchio/joint-collection.hh>
 #include <hpp/pinocchio/joint.hh>
 #include <hpp/util/debug.hh>
 #include <pinocchio/multibody/joint/joint-generic.hpp>
diff --git a/src/path-planner/states-path-finder.cc b/src/path-planner/states-path-finder.cc
index 0a820809..a59cb050 100644
--- a/src/path-planner/states-path-finder.cc
+++ b/src/path-planner/states-path-finder.cc
@@ -40,7 +40,6 @@
 #include <hpp/manipulation/path-planner/states-path-finder.hh>
 #include <hpp/manipulation/roadmap.hh>
 #include <hpp/pinocchio/configuration.hh>
-#include <hpp/pinocchio/joint-collection.hh>
 #include <hpp/util/debug.hh>
 #include <hpp/util/exception-factory.hh>
 #include <hpp/util/timer.hh>
diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc
index 6da90a05..95cb81d9 100644
--- a/src/steering-method/cross-state-optimization.cc
+++ b/src/steering-method/cross-state-optimization.cc
@@ -37,7 +37,6 @@
 #include <hpp/manipulation/graph/state.hh>
 #include <hpp/manipulation/steering-method/cross-state-optimization.hh>
 #include <hpp/pinocchio/configuration.hh>
-#include <hpp/pinocchio/joint-collection.hh>
 #include <hpp/util/exception-factory.hh>
 #include <map>
 #include <pinocchio/multibody/model.hpp>