diff --git a/CMakeLists.txt b/CMakeLists.txt
index 723084856cedace725a050f16f33b980d4962a43..d35d8e9097fff17cf8685f4b74a8c69e00b5da46 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,6 +62,7 @@ PKG_CHECK_MODULES(_hrp2Dynamics ${_hrp2Dynamics_REQUIRED})
 IF(${_hrp2Dynamics_FOUND})
 LIST(APPEND PACKAGE_REQUIREMENTS ${_hrp2Dynamics_REQUIRED})
 #  MESSAGE(FATAL_ERROR "Check that package hrp2Dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
+MESSAGE("h2D libs are '${_hrp2Dynamics_LIBRARIES}'")
 ENDIF(${_hrp2Dynamics_FOUND})
 
 # --- HRP2-10-Optimized ---------------------------------------
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 99c38ec2166e4ce88bb261280f1768ea42aa2088..e1e90b98dcc97c7793f691ba895d44ce859d49f3 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -109,7 +109,7 @@ FOREACH(lib ${libs})
 		TARGET_LINK_LIBRARIES(${lib} ${DYNAMIC_GRAPH_LIBRARIES})
 		TARGET_LINK_LIBRARIES(${lib} ${SOT_CORE_LIBRARIES})
 		TARGET_LINK_LIBRARIES(${lib} ${MATRIXABSTRACTLAYER_LIBRARIES})
-		TARGET_LINK_LIBRARIES(${lib} ${HRP2DYNAMICS_LIBRARIES})
+		TARGET_LINK_LIBRARIES(${lib} ${_HRP2DYNAMICS_LIBRARIES})
 		TARGET_LINK_LIBRARIES(${lib} ${DYNAMICSJRLJAPAN_LIBRARIES})
 	ENDIF(UNIX)
 	
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 7c9d069b9157e63550315c83b9a3e249fb749288..6e5f9b24ceab4b615360eacaef7d91436cb899f0 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -18,6 +18,7 @@ ADD_EXECUTABLE(${EXECUTABLE_NAME}
 INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
 
 LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/src)
+
 TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
   	zmpreffromcom
 	force-compensation
@@ -28,17 +29,20 @@ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
 	angle-estimator
 	waist-attitude-from-sensor
 	)
-	
-IF(${DYNAMICSJRLJAPAN_FOUND} AND ${_hrp2Dynamics_FOUND})
-	TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} dynamic dynamic-hrp2)
-ENDIF(${DYNAMICSJRLJAPAN_FOUND} AND ${_hrp2Dynamics_FOUND})
   
 	IF (UNIX)  
 		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${DYNAMIC_GRAPH_LIBRARIES})
 		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${SOT_CORE_LIBRARIES})
 		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${MATRIXABSTRACTLAYER_LIBRARIES})
-		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${HRP2DYNAMICS_LIBRARIES})
+		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${_hrp2Dynamics_LIBRARIES})
 		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${DYNAMICSJRLJAPAN_LIBRARIES})
+		
+		IF(${DYNAMICSJRLJAPAN_FOUND})
+			TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} dynamic)
+			IF(${_hrp2Dynamics_FOUND})
+				TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} dynamic-hrp2)
+			ENDIF(${_hrp2Dynamics_FOUND})
+		ENDIF(${DYNAMICSJRLJAPAN_FOUND})
 	ENDIF(UNIX)
 	
 	IF(WIN32)