diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2465809f6d232e17e95be59f0ab1791e9cfd6ea2..f52588a648c4bca1d49b2024f41f58c64c5705fa 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -43,6 +43,10 @@ FOREACH(lib ${plugins})
   TARGET_LINK_LIBRARIES(${libname} ${Boost_LIBRARIES})
 
   PKG_CONFIG_USE_DEPENDENCY(${libname} pinocchio)
+  IF(BUILD_PYTHON_INTERFACE)
+    PKG_CONFIG_USE_DEPENDENCY(${libname} eigenpy)
+  ENDIF(BUILD_PYTHON_INTERFACE)
+
   PKG_CONFIG_USE_DEPENDENCY(${libname} sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${libname} dynamic-graph)