diff --git a/include/dynamic-graph/python/module.hh b/include/dynamic-graph/python/module.hh
index 7933e4785cbb6ee5044e8a52fda104c881a6fbe3..c472538cdc1cb29ef8392b48764fc79c8d8f0fca 100644
--- a/include/dynamic-graph/python/module.hh
+++ b/include/dynamic-graph/python/module.hh
@@ -1,6 +1,11 @@
 #ifndef DYNAMIC_GRAPH_PYTHON_MODULE_HH
 #define DYNAMIC_GRAPH_PYTHON_MODULE_HH
 
+#ifdef PINOCCHIO_WITH_URDFDOM
+// If pinocchio is used, we have to include pinocchio header before boost mpl
+#include <pinocchio/fwd.hpp>
+#endif
+
 #include <boost/python.hpp>
 #include <boost/mpl/for_each.hpp>