diff --git a/CMakeLists.txt b/CMakeLists.txt
index 45ac160709c6d90f87e874eac4ecdf16aac79ed6..e6e0a2a10fbc11e04b9a4870063d37e05abde6d6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,6 +104,7 @@ SET(headers
 
 list(APPEND task-dyn-joint-limits_plugins_dependencies task-dyn-pd)
 list(APPEND pseudo-robot-dynamic_plugins_dependencies dynamic-integrator)
+list(APPEND solver-op-space_plugins_dependencies task-dyn-pd)
 
 foreach(lib task-inequality task-dyn-pd task-joint-limits task-dyn-joint-limits)
 	IF(WIN32)