diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index dc9a9dba26d75abc128c0971a2b803e3a2c7ea38..163492f08f402080f9545856de258fd8672706cf 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -222,7 +222,8 @@ namespace hpp {
 
           LeafHistogramPtr_t histogram () const;
 
-          void insertConfigConstraint (const NumericalConstraintPtr_t& nm);
+          void insertConfigConstraint (const NumericalConstraintPtr_t& nm,
+              const SizeIntervals_t& passiveDofs = SizeIntervals_t ());
 
           void insertConfigConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypePtr_t ineq) __attribute__ ((deprecated));
 
@@ -250,6 +251,7 @@ namespace hpp {
 
           /// Extra NumericalConstraints_t
           NumericalConstraints_t extraNumericalConstraints_;
+          IntervalsContainer_t extraPassiveDofs_;
 
           /// Extra LockedJoints_t
           LockedJoints_t extraLockedJoints_;
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index b6997fb14ff08bbfd71984e3885580046606db86..ff2f0529ebd3dd02f93d044ffefd6355ea54b7d9 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/include/hpp/manipulation/graph/fwd.hh
@@ -55,6 +55,8 @@ namespace hpp {
       typedef hpp::core::Equality Equality;
       typedef hpp::core::ComparisonTypePtr_t ComparisonTypePtr_t;
       typedef hpp::core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
+      typedef hpp::core::SizeIntervals_t SizeIntervals_t;
+      typedef std::vector <SizeIntervals_t> IntervalsContainer_t;
       typedef std::list < NumericalConstraintPtr_t > NumericalConstraints_t;
       typedef std::list < LockedJointPtr_t > LockedJoints_t;
 
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index be8ceb6bdb86e9fc10f00c4a5893996958a30d01..f06ed8dc36b8b080399f78a43c6164ee523c035f 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -50,7 +50,11 @@ namespace hpp {
           int id () const;
 
           /// Add core::NumericalConstraint to the component.
-          virtual void addNumericalConstraint (const NumericalConstraintPtr_t& numConstraint);
+          /// \param passiveDofs see ConfigProjector::addNumericalConstraint
+          //         for more information.
+          virtual void addNumericalConstraint (
+              const NumericalConstraintPtr_t& numConstraint,
+              const SizeIntervals_t& passiveDofs = SizeIntervals_t ());
 
           /// Add core::DifferentiableFunction to the component.
           virtual void addNumericalConstraint
@@ -90,6 +94,8 @@ namespace hpp {
 
           /// Stores the numerical constraints.
           NumericalConstraints_t numericalConstraints_;
+          /// Stores the passive dofs for each numerical constraints.
+          std::vector <SizeIntervals_t> passiveDofs_;
           /// List of LockedJoint constraints
           LockedJoints_t lockedJoints_;
           /// A weak pointer to the parent graph.
diff --git a/include/hpp/manipulation/graph/node-selector.hh b/include/hpp/manipulation/graph/node-selector.hh
index fe0bac4fde33c6484f00e955ca6cc204bb4ed562..bcb02d8cbebe4a968579f37f8f0447bc2c59c252 100644
--- a/include/hpp/manipulation/graph/node-selector.hh
+++ b/include/hpp/manipulation/graph/node-selector.hh
@@ -43,7 +43,9 @@ namespace hpp {
           virtual EdgePtr_t chooseEdge(const NodePtr_t& node) const;
 
           /// Should never be called.
-          void addNumericalConstraint (const core::NumericalConstraintPtr_t& /* function */)
+          void addNumericalConstraint (
+              const core::NumericalConstraintPtr_t& /* function */,
+              const SizeIntervals_t& /* passiveDofs */ = SizeIntervals_t ())
           {
             HPP_THROW_EXCEPTION (Bad_function_call, "This component does not have constraints.");
           }
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
index 8973f3029cae321a9c221e8fa92fd13dce3ea601..00036883cabd1e20725ecb37dfdac3fd311e3525 100644
--- a/include/hpp/manipulation/graph/node.hh
+++ b/include/hpp/manipulation/graph/node.hh
@@ -85,9 +85,11 @@ namespace hpp {
           ConstraintSetPtr_t configConstraint() const;
 
           /// Add core::NumericalConstraint to the component.
-          virtual void addNumericalConstraintForPath (const NumericalConstraintPtr_t& nm)
+          virtual void addNumericalConstraintForPath (const NumericalConstraintPtr_t& nm,
+              const SizeIntervals_t& passiveDofs = SizeIntervals_t ())
           {
             numericalConstraintsForPath_.push_back (nm);
+            passiveDofsForPath_.push_back (passiveDofs);
           }
 
           /// Add core::DifferentiableFunction to the component.
@@ -139,6 +141,7 @@ namespace hpp {
 
           /// Stores the numerical constraints for path.
           NumericalConstraints_t numericalConstraintsForPath_;
+          IntervalsContainer_t passiveDofsForPath_;
 
           /// A selector that will implement the selection of the next state.
           NodeSelectorWkPtr_t selector_;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 2b17af68bf532e4549b4a6967fbff0fc01e7ba32..b5c1976e26a3544eaf35563e87c0d5beb5fd7b6a 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -429,10 +429,13 @@ namespace hpp {
 
           ConfigProjectorPtr_t proj = ConfigProjector::create(g->robot(), "proj_" + n, g->errorThreshold(), g->maxIterations());
           g->insertNumericalConstraints (proj);
+          IntervalsContainer_t::const_iterator itpdof = extraPassiveDofs_.begin ();
           for (NumericalConstraints_t::const_iterator it = extraNumericalConstraints_.begin ();
               it != extraNumericalConstraints_.end (); ++it) {
-            proj->add (*it);
+            proj->add (*it, *itpdof);
+            ++itpdof;
           }
+          assert (itpdof == extraPassiveDofs_.end ());
           !extraNumericalConstraints_.empty ();
           insertNumericalConstraints (proj);
           to ()->insertNumericalConstraints (proj);
@@ -450,9 +453,11 @@ namespace hpp {
         return extraConstraints_->get ();
       }
 
-      void LevelSetEdge::insertConfigConstraint (const NumericalConstraintPtr_t& nm)
+      void LevelSetEdge::insertConfigConstraint (const NumericalConstraintPtr_t& nm,
+              const SizeIntervals_t& passiveDofs)
       {
         extraNumericalConstraints_.push_back (nm);
+        extraPassiveDofs_.push_back (passiveDofs);
       }
 
       void LevelSetEdge::insertConfigConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypePtr_t ineq)
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 9406aa54110207f713cdf0e60272638bac2350da..227337265f42dc8de76028caf50dbb8418a00f36 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -63,9 +63,11 @@ namespace hpp {
         return os;
       }
 
-      void GraphComponent::addNumericalConstraint (const NumericalConstraintPtr_t& nm)
+      void GraphComponent::addNumericalConstraint (const NumericalConstraintPtr_t& nm,
+          const SizeIntervals_t& passiveDofs)
       {
         numericalConstraints_.push_back(nm);
+        passiveDofs_.push_back (passiveDofs);
       }
 
       void GraphComponent::addNumericalConstraint (const DifferentiableFunctionPtr_t& function, const ComparisonTypePtr_t& ineq)
@@ -81,9 +83,13 @@ namespace hpp {
 
       bool GraphComponent::insertNumericalConstraints (ConfigProjectorPtr_t& proj) const
       {
+        IntervalsContainer_t::const_iterator itpdof = passiveDofs_.begin ();
         for (NumericalConstraints_t::const_iterator it = numericalConstraints_.begin();
-            it != numericalConstraints_.end(); ++it)
-          proj->add (*it);
+            it != numericalConstraints_.end(); ++it) {
+          proj->add (*it, *itpdof);
+          ++itpdof;
+        }
+        assert (itpdof == passiveDofs_.end ());
         return !numericalConstraints_.empty ();
       }