diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index 4603dc6730dbf5f40a2471f57f3ca4b1711b0654..be0d20926949755b848aa151a51fb7373c36484c 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/include/hpp/manipulation/problem-solver.hh
@@ -75,7 +75,7 @@ namespace hpp {
 
         /// Add grasp
         void addGrasp (const NumericalConstraintPtr_t& constraint,
-            const model::GripperPtr_t& gripper,
+            const GripperPtr_t& gripper,
             const HandlePtr_t& handle)
         {
           Grasp_t* ptr = new Grasp_t (gripper, handle);
diff --git a/src/problem-solver.cc b/src/problem-solver.cc
index c6e9d9cc6f02ef0a31c6ef95e5862cf7e2834253..8e14857bf92a7b99ba1c732894ec6f9fd8624d59 100644
--- a/src/problem-solver.cc
+++ b/src/problem-solver.cc
@@ -22,7 +22,7 @@
 #include <hpp/util/pointer.hh>
 #include <hpp/util/debug.hh>
 
-#include <hpp/model/gripper.hh>
+#include <hpp/pinocchio/gripper.hh>
 
 #include <hpp/constraints/convex-shape-contact.hh>