diff --git a/src/IK/src/JointLimitsTask.cpp b/src/IK/src/JointLimitsTask.cpp
index 71316e24ff..917f7370b1 100644
--- a/src/IK/src/JointLimitsTask.cpp
+++ b/src/IK/src/JointLimitsTask.cpp
@@ -6,7 +6,6 @@
  */
 
 #include <chrono>
-#include <types.h>
 #include <vector>
 
 #include <OsqpEigen/Constants.hpp>
diff --git a/src/IK/src/JointVelocityLimitsTask.cpp b/src/IK/src/JointVelocityLimitsTask.cpp
index 253d67e0be..e0e488d7e4 100644
--- a/src/IK/src/JointVelocityLimitsTask.cpp
+++ b/src/IK/src/JointVelocityLimitsTask.cpp
@@ -6,7 +6,6 @@
  */
 
 #include <chrono>
-#include <types.h>
 #include <vector>
 
 #include <OsqpEigen/Constants.hpp>
diff --git a/src/IK/tests/QPInverseKinematicsTest.cpp b/src/IK/tests/QPInverseKinematicsTest.cpp
index db755c55d2..eef3278039 100644
--- a/src/IK/tests/QPInverseKinematicsTest.cpp
+++ b/src/IK/tests/QPInverseKinematicsTest.cpp
@@ -780,6 +780,10 @@ TEST_CASE("QP-IK [With builder]")
 
 TEST_CASE("QP-IK [Distance and Gravity tasks]")
 {
+    // iDynTree test helpers are used in customGetRandomModelWithNoPrismaticJoints, so as
+    // iDynTree uses the C RNG facilities, so we use a reproducible seed for the test
+    srand(42);
+
     auto kinDyn = std::make_shared<iDynTree::KinDynComputations>();
     auto parameterHandler = createParameterHandler();