diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index 8a389f8d9bc526dd18e0568c1b92917da21a1693..2bf5ad057e15d2a45bfaac664497602ce76b633f 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -30,6 +30,8 @@ DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
 
 include ../../devel/tinyxml/depend.mk
 include ../../math/pinocchio/depend.mk
+include ../../path/hpp-fcl/depend.mk
+include ../../mapping/octomap/depend.mk
 include ../../wip/dynamic-graph-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
 include ../../wip/sot-tools-v3/depend.mk