diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 26cb64df76e966653a59d1d32eaf3de3066acb4a..b4b9b50c445663d77acaafcae7f66d009cf35c60 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -81,6 +81,8 @@ SET(libs
 	integrator-force
 	angle-estimator
 	waist-attitude-from-sensor
+	dynamic
+	dynamic-hrp2
 )
 
 IF(${_dynamicsJRLJapan_FOUND})
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 8221c67464c34dc80661b5cb02cd89c9bdcb5630..31ae07488de799feba7c660896b37d1668d7a9bd 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -26,7 +26,9 @@ TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
 	integrator-force-rk4
 	integrator-force
 	angle-estimator
-	waist-attitude-from-sensor)
+	waist-attitude-from-sensor
+	dynamic
+	dynamic-hrp2)
   
 	IF (UNIX)  
 		TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${DYNAMIC_GRAPH_LIBRARIES})