diff --git a/jrl-walkgen-v3/Makefile b/jrl-walkgen-v3/Makefile
index 888496a642f9fbfc91e9db54753ef25891a344c3..f34c8e09dcd4bbd72140b563e1eb87ffa6d7e067 100644
--- a/jrl-walkgen-v3/Makefile
+++ b/jrl-walkgen-v3/Makefile
@@ -24,6 +24,8 @@ CMAKE_ARGS+=	-DCMAKE_INSTALL_LIBDIR=lib
 
 DYNAMIC_PLIST_DIRS+=	share/doc/${NAME}
 
+DEPEND_ABI.pinocchio=	pinocchio<2
+
 include ../../mk/sysdep/cmake.mk
 include ../../math/pinocchio/depend.mk
 include ../../wip/eigen-quadprog/depend.mk