diff --git a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
index 5d0e6d8aec48a8de3d32364d8574de0d9994b33e..3f90dc564beaa6a077b68a4844b1b9a044a2693e 100644
--- a/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
+++ b/include/sot-dynamic-pinocchio/dynamic-pinocchio.h
@@ -29,8 +29,6 @@
 /* STD */
 #include <string>
 #include <map>
-/* Matrix */
-#include <dynamic-graph/linear-algebra.h>
 
 /* SOT */
 #include <sot/core/flags.hh>
@@ -40,6 +38,8 @@
 #include <dynamic-graph/signal-time-dependent.h>
 #include <sot/core/exception-dynamic.hh>
 #include <sot/core/matrix-geometry.hh>
+/* Matrix */
+#include <dynamic-graph/linear-algebra.h>
 
 /* PINOCCHIO */
 #include <pinocchio/macros.hpp>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c8df282a9224158bbfca8758ac22a8a4ea167544..cf18b805849659b4e505d4d0da165508985a8c51 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -61,6 +61,17 @@ FOREACH(lib ${plugins})
   UNSET({libname})
 ENDFOREACH(lib)
 
+IF(BUILD_PYTHON_INTERFACE)
+  DYNAMIC_GRAPH_PYTHON_MODULE("sot/dynamics_pinocchio/dynamic"
+    ""
+    dynamic-wrap-python
+    1
+    "src/python-module-py.cpp"
+    )
+  PKG_CONFIG_USE_DEPENDENCY(dynamic-wrap-python pinocchio)
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+
 # Main Library
 ADD_LIBRARY(${LIBRARY_NAME} SHARED sot-dynamic-pinocchio.cpp)
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME} pinocchio)
diff --git a/src/python-module-py.cpp b/src/python-module-py.cpp
index bb25fb2799511d06f207a68bb0b10fd864ef377c..d0cfedcc7b1c8647203f1357bd735f330f5bbdfa 100644
--- a/src/python-module-py.cpp
+++ b/src/python-module-py.cpp
@@ -13,8 +13,10 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with sot-dynamic-pinocchio.  If not, see <http://www.gnu.org/licenses/>.
 
-#include <Python.h>
+#include <sot/core/debug.hh>
+
 #include <sot-dynamic-pinocchio/dynamic-pinocchio.h>
+#include <Python.h>
 #include <boost/python.hpp>
 #include <typeinfo>
 #include <cstdio>