diff --git a/bindings/python/multibody/geometry-object.hpp b/bindings/python/multibody/geometry-object.hpp
index 75fc6651a2d987ef576bb605814751258c7950d5..30c9aa204e6b5fe510a48e64b8b5642fe7c8113e 100644
--- a/bindings/python/multibody/geometry-object.hpp
+++ b/bindings/python/multibody/geometry-object.hpp
@@ -19,9 +19,12 @@
 #define __se3_python_geometry_object_hpp__
 
 #include <boost/python.hpp>
+#include <eigenpy/memory.hpp>
 
 #include "pinocchio/multibody/geometry.hpp"
 
+EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(se3::GeometryObject)
+
 namespace se3
 {
   namespace python