diff --git a/CMakeLists.txt b/CMakeLists.txt
index f00c452cd5149064126d55aaec1d44728c24b9c8..8b3c6d5d279faff95b6e37dec7e3e88142e81214 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,7 +56,7 @@ IF (TEST_UR5)
   ADD_REQUIRED_DEPENDENCY(hpp-model-urdf >= 3.0.0)
 ENDIF ()
 
-SET(HPP_MANIPULATION_HAS_WHOLEBODY_STEP ${HPP_WHOLEBODY_STEP_FOUND}
+SET(HPP_MANIPULATION_HAS_WHOLEBODY_STEP TRUE
   CACHE BOOL "Compile with dependency to hpp-wholebody-step")
 
 CONFIG_FILES (doc/main.hh