diff --git a/include/crocoddyl/core/action-base.hpp b/include/crocoddyl/core/action-base.hpp
index c336364f60..b91ff9bbcf 100644
--- a/include/crocoddyl/core/action-base.hpp
+++ b/include/crocoddyl/core/action-base.hpp
@@ -245,12 +245,12 @@ class ActionModelAbstractTpl {
   /**
    * @brief Return the lower bound of the inequality constraints
    */
-  const VectorXs& get_g_lb() const;
+  virtual const VectorXs& get_g_lb() const;
 
   /**
    * @brief Return the upper bound of the inequality constraints
    */
-  const VectorXs& get_g_ub() const;
+  virtual const VectorXs& get_g_ub() const;
 
   /**
    * @brief Return the control lower bound
diff --git a/include/crocoddyl/core/diff-action-base.hpp b/include/crocoddyl/core/diff-action-base.hpp
index 062043ff5b..bb0eae0b84 100644
--- a/include/crocoddyl/core/diff-action-base.hpp
+++ b/include/crocoddyl/core/diff-action-base.hpp
@@ -278,12 +278,12 @@ class DifferentialActionModelAbstractTpl {
   /**
    * @brief Return the lower bound of the inequality constraints
    */
-  const VectorXs& get_g_lb() const;
+  virtual const VectorXs& get_g_lb() const;
 
   /**
    * @brief Return the upper bound of the inequality constraints
    */
-  const VectorXs& get_g_ub() const;
+  virtual const VectorXs& get_g_ub() const;
 
   /**
    * @brief Return the control lower bound