diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2671c8efd4cb907fc701d070891455ed4bd6aac2..5e887c09be51e583fe62760d543e1fe0211836a2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,10 +18,11 @@ SET(CXX_DISABLE_WERROR True)
 SETUP_HPP_PROJECT()
 
 ADD_REQUIRED_DEPENDENCY(eigen3)
-ADD_OPTIONAL_DEPENDENCY(pinocchio)
-IF(PINOCCHIO_FOUND)
-  ADD_DEFINITIONS(-DCURVES_WITH_PINOCCHIO_SUPPORT)
-ENDIF(PINOCCHIO_FOUND)
+OPTION(CURVES_WITH_PINOCCHIO_SUPPORT "Build with pinocchio support" OFF)
+IF(CURVES_WITH_PINOCCHIO_SUPPORT)
+  ADD_REQUIRED_DEPENDENCY(pinocchio)
+ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
+
 
 SET(BOOST_COMPONENTS unit_test_framework serialization)