diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 61530cd3c5..3a7b3eaf36 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -568,7 +568,7 @@ jobs:
       shell: bash
       run: |
         cd build
-        for missing_dep in YARP Qhull casadi cppad manif Python3 pybind11 pytest matioCpp LieGroupControllers nlohmann_json icub-models; do
+        for missing_dep in YARP Qhull casadi cppad manif Python3 pybind11 pytest matioCpp LieGroupControllers nlohmann_json UnicyclePlanner icub-models; do
             echo "Testing ${missing_dep} as missing dependency."
             # Deselect missing dependency and build
             cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=OFF .