diff --git a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
index 29c5115399f7d5216ba3994e79b0849137b914a9..0871a943299736323650081e9f52997d7f7e417e 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h
@@ -24,11 +24,16 @@
 
 #include <vector>
 
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/logging/LoggingUtil.h> // THIS NEEDS TO BE INCLUDED BEFORE EXPRESSION EXCEPTION
+// For unknown reasons, this needs to be included before expression exception.
+// TODO: investigate
+#include <ArmarXCore/core/logging/LoggingUtil.h>
+
+// Remaining, normal includes.
 #include <ArmarXCore/core/util/PropagateConst.h>
 #include <ArmarXCore/core/util/StringHelperTemplates.h>
 #include <ArmarXCore/core/util/TripleBuffer.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
 
 #include "../ControlTargets/ControlTargetBase.h"
 #include "../Devices/ControlDevice.h"
diff --git a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
index 15786c619c4833f5e77e23148cc04dfa8294e9c6..a2aaac406ade30789e1eca5f3a4e62cb313027b7 100644
--- a/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
+++ b/source/RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
@@ -25,6 +25,7 @@
 
 #include <map>
 #include <memory>
+#include <optional>
 
 #include <Eigen/Core>