diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 9a5a373aeacbf019c683fdb466d851f39738e20e..16480b6712408e9e34d1072cb0f640d11e5b7b05 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -85,6 +85,9 @@ namespace hpp {
           /// Get a reference to the NumericalConstraints_t
           const NumericalConstraints_t& numericalConstraints() const;
 
+          /// Get a reference to the NumericalConstraints_t
+          const std::vector <SizeIntervals_t>& passiveDofs() const;
+
           /// Get a reference to the LockedJoints_t
           const LockedJoints_t& lockedJoints () const;
 
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index c4d49d2dc199d0693a5a76a0b5c4fb0219b3abe5..55ee902542936d7157b338e582bf23efa1e7fdca 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -111,6 +111,11 @@ namespace hpp {
         return numericalConstraints_;
       }
 
+      const std::vector <SizeIntervals_t>& GraphComponent::passiveDofs() const
+      {
+        return passiveDofs_;
+      }
+
       const LockedJoints_t& GraphComponent::lockedJoints () const
       {
         return lockedJoints_;