diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4c5984d7924263fa90af39c46e2ba78de5493240..7cd8628deee84a34fcbc62f806e47f312226b3ae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -110,7 +110,6 @@ SET(BOOST_BUILD_COMPONENTS unit_test_framework)
 SET(BOOST_OPTIONAL_COMPONENTS "")
 
 IF(BUILD_PYTHON_INTERFACE)
-  ADD_SEPARATE_DEPENDENCY("eigenpy >= 1.3.1")
   SET(BOOST_OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_COMPONENTS} python)
   FINDPYTHON(2.7 EXACT REQUIRED)
   INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS}) 
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 31013c2b579382fdc72a42a7b801374f161e2d4a..a74b549b4da33bb9b8bfb2ef327ca42f2a9dd61f 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -50,8 +50,13 @@ MACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
   ENDFOREACH(header)
 ENDMACRO(SYMLINK_AND_INSTALL_HEADERS HEADERS SUBPATH)
 
-# --- LIBRARY --- #
+# --- DEPENDENCIES --- #
+SET(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 1.3.1")
+FOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
+  ADD_SEPARATE_DEPENDENCY(${dep})
+ENDFOREACH(dep ${PKG_CONFIG_PYWRAP_REQUIRES})
 
+# --- LIBRARY --- #
 SET(${PROJECT_NAME}_PYTHON_HEADERS
   eigen_container.hpp
   handler.hpp