diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index af8e9bd319dd994de5ffee3f82742a8a104102d3..9a85d30ea249a7852eb43b4aef8c16e1a8db3d72 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -47,8 +47,8 @@ MACRO(ADD_TESTCASE NAME GENERATED)
 
 ENDMACRO(ADD_TESTCASE)
 
-ADD_TESTCASE (test-constraintgraph FALSE)
 IF (TEST_UR5)
+  ADD_TESTCASE (test-constraintgraph FALSE)
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DTEST_UR5")
   PKG_CONFIG_USE_DEPENDENCY(test-constraintgraph hpp-model-urdf)
 ENDIF ()