diff --git a/source/robot_model/CMakeLists.txt b/source/robot_model/CMakeLists.txt
index 56116792b..0a2663092 100644
--- a/source/robot_model/CMakeLists.txt
+++ b/source/robot_model/CMakeLists.txt
@@ -1,8 +1,10 @@
 set(LIBRARY_NAME robot_model)
 
 set(PINOCCHIO_VERSION 2.9.0)
+set(FCL_HPP_VERSION 1.8.1)
 set(OSQP_EIGEN_VERSION 0.8.1)
 find_package(pinocchio ${PINOCCHIO_VERSION} REQUIRED)
+find_package(fcl-hpp ${FCL_HPP_VERSION} REQUIRED)
 find_package(OsqpEigen ${OSQP_EIGEN_VERSION} REQUIRED)
 
 add_definitions(-DPINOCCHIO_WITH_HPP_FCL)
@@ -24,6 +26,7 @@ target_include_directories(${LIBRARY_NAME}
 target_link_libraries(${LIBRARY_NAME}
   state_representation
   ${PINOCCHIO_LIBRARIES}
+  ${fcl-hpp_LIBRARIES}
   OsqpEigen::OsqpEigen
 )
 target_compile_definitions(${LIBRARY_NAME} PUBLIC -DPINOCCHIO_WITH_HPP_FCL)