diff --git a/src/compas_fab/backends/__init__.py b/src/compas_fab/backends/__init__.py
index 9501fdb16..aa6984c07 100644
--- a/src/compas_fab/backends/__init__.py
+++ b/src/compas_fab/backends/__init__.py
@@ -131,6 +131,8 @@
 from .kinematics import (
     AnalyticalInverseKinematics,
     AnalyticalPlanCartesianMotion,
+    AnalyticalPyBulletPlanner,
+    AnalyticalKinematicsPlanner,
     OffsetWristKinematics,
     SphericalWristKinematics,
     CartesianMotionError,
@@ -175,6 +177,8 @@
     # Analytic IK
     "AnalyticalInverseKinematics",
     "AnalyticalPlanCartesianMotion",
+    "AnalyticalPyBulletPlanner",
+    "AnalyticalKinematicsPlanner",
     "OffsetWristKinematics",
     "SphericalWristKinematics",
     "CartesianMotionError",
diff --git a/src/compas_fab/backends/ros/client.py b/src/compas_fab/backends/ros/client.py
index acf2a762e..cd2d22808 100644
--- a/src/compas_fab/backends/ros/client.py
+++ b/src/compas_fab/backends/ros/client.py
@@ -212,7 +212,7 @@ def load_robot(
             model.load_geometry(loader, precision=precision)
 
         self._robot = Robot(model, semantics=semantics, client=self)
-        self._robot_cell = RobotCell(self.robot.model)
+        self._robot_cell = RobotCell(self.robot)
         return self._robot
 
     # ==========================================================================