diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9fc25f90..579bae9c 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -58,10 +58,10 @@ ENDIF()
 ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
 ADD_REQUIRED_DEPENDENCY("omniDynamic4 >= 4.1.4")
 IF (NOT CLIENT_ONLY)
-  ADD_REQUIRED_DEPENDENCY("hpp-core >= 3")
-  ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
-  ADD_REQUIRED_DEPENDENCY("hpp-constraints >= 3")
-  ADD_REQUIRED_DEPENDENCY("hpp-model >= 3")
+  ADD_REQUIRED_DEPENDENCY("hpp-core >= 3.2")
+  ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3.1")
+  ADD_REQUIRED_DEPENDENCY("hpp-constraints >= 3.2")
+  ADD_REQUIRED_DEPENDENCY("hpp-model >= 3.2")
 ENDIF (NOT CLIENT_ONLY)
 
 ADD_SUBDIRECTORY(src)