diff --git a/src/multibody/model.hpp b/src/multibody/model.hpp
index ee3aa839ba666d912812e5fe19867c235304b85a..4502cf2f10d43de128cd2e721bcd61689cf01d91 100644
--- a/src/multibody/model.hpp
+++ b/src/multibody/model.hpp
@@ -131,7 +131,7 @@ namespace se3
     /// \brief Add a joint to the kinematic tree.
     ///
     /// \remark This method also adds a Frame of same name to the vector of frames.
-    /// \remark The inertia supported by the joint is set to Zero
+    /// \remark The inertia supported by the joint is set to Zero.
     ///
     /// \tparam JointModelDerived The type of the joint model.
     ///
diff --git a/src/parsers/urdf.hpp b/src/parsers/urdf.hpp
index b8f57f2891ba23bdc959c5c66114fd7059f2fba3..644221980ab4f3a97661f08f592b6761418ea096 100644
--- a/src/parsers/urdf.hpp
+++ b/src/parsers/urdf.hpp
@@ -27,6 +27,8 @@
   #include <hpp/fcl/shape/geometric_shapes.h>
 #endif
 
+#include <urdf_model/model.h>
+
 #include <string>
 #include <exception>
 
diff --git a/unittest/geom.cpp b/unittest/geom.cpp
index dc3c03db4125d50a292c010c92fe330b07799dfc..02cffc49d01efa91e12da73dc2ad7ba767f8bc10 100644
--- a/unittest/geom.cpp
+++ b/unittest/geom.cpp
@@ -23,7 +23,7 @@
 #include "pinocchio/spatial/explog.hpp"
 #include "pinocchio/multibody/geometry.hpp"
 #include "pinocchio/algorithm/kinematics.hpp"
-#include "pinocchio/algorithm/collisions.hpp"
+#include "pinocchio/algorithm/geometry.hpp"
 #include "pinocchio/parsers/urdf.hpp"
 
 #include <vector>