diff --git a/CMakeLists.txt b/CMakeLists.txt
index e708b87b0b4c37b29e1f853c85d67b274c56c16b..243894fb9eb17194f7d8c5135a8c2233ad4217d4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,8 +37,7 @@ ADD_REQUIRED_DEPENDENCY("jrl-mal >= 1.9.0")
 ADD_REQUIRED_DEPENDENCY("abstract-robot-dynamics >= 1.15")
 ADD_REQUIRED_DEPENDENCY("jrl-dynamics >= 1.19.1")
 
-
-ADD_OPTIONAL_DEPENDENCY("hrp2-dynamics >= 1.1.0")
+ADD_REQUIRED_DEPENDENCY("hrp2-dynamics >= 1.1.0")
 
 # Add aggressive optimization flags in release mode.
 IF(CMAKE_COMPILER_IS_GNUCXX)
diff --git a/cmake b/cmake
index 3e94a0a5f97a3249f5ad15252f9dbac79a5464d4..bdc3d150395f3166070331ca656156c256a0a4dc 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 3e94a0a5f97a3249f5ad15252f9dbac79a5464d4
+Subproject commit bdc3d150395f3166070331ca656156c256a0a4dc