diff --git a/CMakeLists.txt b/CMakeLists.txt
index 75600d4e..dcc5d52a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,14 +29,15 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 # Project dependencies
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES eigen3)
 ADD_PROJECT_DEPENDENCY(pinocchio)
-OPTION(CURVES_WITH_PINOCCHIO_SUPPORT "Build with pinocchio support" ${PINOCCHIO_FOUND})
+OPTION(CURVES_WITH_PINOCCHIO_SUPPORT "Build with pinocchio support" ${pinocchio_FOUND})
 IF(CURVES_WITH_PINOCCHIO_SUPPORT)
-  IF(NOT PINOCCHIO_FOUND)
+  IF(NOT pinocchio_FOUND)
     MESSAGE(FATAL_ERROR "CURVES_WITH_PINOCCHIO_SUPPORT selected, but pinocchio has not been found")
-  ENDIF(NOT PINOCCHIO_FOUND)
+  ENDIF(NOT pinocchio_FOUND)
   ADD_DEFINITIONS(-DCURVES_WITH_PINOCCHIO_SUPPORT)
   PKG_CONFIG_APPEND_CFLAGS("-DCURVES_WITH_PINOCCHIO_SUPPORT")
 ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
+SET(PACKAGE_EXTRA_MACROS "SET(CURVES_WITH_PINOCCHIO_SUPPORT ${CURVES_WITH_PINOCCHIO_SUPPORT})")
 
 SET(BOOST_COMPONENTS unit_test_framework serialization)
 
@@ -84,7 +85,7 @@ ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIRS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:include>)
 IF(CURVES_WITH_PINOCCHIO_SUPPORT)
-  TARGET_LINK_LIBRARIES(${PROJECT_NAME} pinocchio::pinocchio)
+  TARGET_LINK_LIBRARIES(${PROJECT_NAME} INTERFACE pinocchio::pinocchio)
 ENDIF(CURVES_WITH_PINOCCHIO_SUPPORT)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)