diff --git a/src/graph/helper.cc b/src/graph/helper.cc
index cbe0f3ce7339539efda66a8e196e185ae6e03470..a1ff2a520a16dbb2dabc6238ee2e05eab4191a12 100644
--- a/src/graph/helper.cc
+++ b/src/graph/helper.cc
@@ -1115,6 +1115,7 @@ namespace hpp {
           }
           GraphPtr_t graph = Graph::create (graphName,
               ps->robot(), ps->problem());
+          ps->constraintGraph (graph);
           graph->stateSelector (
               GuidedStateSelector::create ("stateSelector",
               ps->roadmap ()));