diff --git a/CMakeLists.txt b/CMakeLists.txt
index 41902d423818c24c46e1fe5c0bc2e1a7e1229aec..15bafb7fa8191f30cf1f3d7cb453963c7af03e9e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,6 @@ SET (TEST_UR5 FALSE CACHE BOOL "Activate tests using ur5")
 
 SEARCH_FOR_BOOST()
 ADD_DOC_DEPENDENCY(hpp-model >= 3.0.0)
-ADD_DOC_DEPENDENCY(hpp-manipulation-urdf)
 ADD_DOC_DEPENDENCY(hpp-fcl)
 ADD_REQUIRED_DEPENDENCY(hpp-core >= 3.0.0)
 ADD_REQUIRED_DEPENDENCY(hpp-constraints >= 3.0.0)