diff --git a/tutorials/rh5/CMakeLists.txt b/tutorials/rh5/CMakeLists.txt
index 209e5aa0..04cf96fe 100644
--- a/tutorials/rh5/CMakeLists.txt
+++ b/tutorials/rh5/CMakeLists.txt
@@ -18,6 +18,7 @@ if(ROBOT_MODEL_HYRODYN)
                          wbc-solvers-qpoases
                          wbc-scenes-velocity_qp
                          wbc-controllers
+                         wbc-robot_models-pinocchio
                          wbc-robot_models-hyrodyn)
 endif()                        
 
diff --git a/tutorials/rh5/rh5_single_leg_hybrid.cpp b/tutorials/rh5/rh5_single_leg_hybrid.cpp
index 67324f06..84131161 100644
--- a/tutorials/rh5/rh5_single_leg_hybrid.cpp
+++ b/tutorials/rh5/rh5_single_leg_hybrid.cpp
@@ -1,5 +1,6 @@
 #include <solvers/qpoases/QPOasesSolver.hpp>
 #include <robot_models/hyrodyn/RobotModelHyrodyn.hpp>
+#include <robot_models/pinocchio/RobotModelPinocchio.hpp>
 #include <core/RobotModelConfig.hpp>
 #include <scenes/velocity_qp/VelocitySceneQP.hpp>
 #include <controllers/CartesianPosPDController.hpp>