diff --git a/sot-dynamic-pinocchio-v3/Makefile b/sot-dynamic-pinocchio-v3/Makefile
index abd9c5c0e084102597d80b144c58f5e7658bbb80..ee711b04a109dd4414441a5bf6779aa277498ea7 100644
--- a/sot-dynamic-pinocchio-v3/Makefile
+++ b/sot-dynamic-pinocchio-v3/Makefile
@@ -36,6 +36,7 @@ include ../../wip/py-sot-tools-v3/depend.mk
 include ../../wip/sot-core-v3/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../mk/sysdep/cmake.mk
+include ../../mk/sysdep/tinyxml.mk
 include ../../mk/sysdep/doxygen.mk
 include ../../mk/sysdep/graphviz.mk
 include ../../mk/sysdep/pdflatex.mk