diff --git a/src/multibody/joint/joint-variant.hpp b/src/multibody/joint/joint-variant.hpp
index e13a0f11037d76b86fd539bf679976dc0f408a13..c748da1819a5db60a405ea0deb6ddff08572f821 100644
--- a/src/multibody/joint/joint-variant.hpp
+++ b/src/multibody/joint/joint-variant.hpp
@@ -40,14 +40,7 @@ namespace se3
 
   typedef boost::variant< JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelDense<-1,-1>, JointModelRUBX, JointModelRUBY, JointModelRUBZ > JointModelVariant;
   typedef boost::variant< JointDataRX, JointDataRY, JointDataRZ, JointDataRevoluteUnaligned, JointDataSpherical, JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataFreeFlyer, JointDataPlanar, JointDataTranslation, JointDataDense<-1,-1>, JointDataRUBX, JointDataRUBY, JointDataRUBZ > JointDataVariant;
-
-  typedef std::vector<JointModelVariant> JointModelVariantVector;
-  typedef std::vector<JointDataVariant> JointDataVariantVector;
-
-
+  
 } // namespace se3
 
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointModelVariant)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointDataVariant)
-
 #endif // ifndef __se3_joint_variant_hpp__
diff --git a/src/multibody/joint/joint.hpp b/src/multibody/joint/joint.hpp
index 551436b4fde3f66f2af3ed5c2e84a76070b03f93..d56d9e98f41a6c9e108473d9f26501f657d005fa 100644
--- a/src/multibody/joint/joint.hpp
+++ b/src/multibody/joint/joint.hpp
@@ -167,5 +167,7 @@ namespace se3
 
 } // namespace se3
 
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointModel)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::JointData)
 
 #endif // ifndef __se3_joint_model_hpp__