diff --git a/bindings/python/ContinuousDynamicalSystem/CMakeLists.txt b/bindings/python/ContinuousDynamicalSystem/CMakeLists.txt
index 558d466f8b..f8db196a83 100644
--- a/bindings/python/ContinuousDynamicalSystem/CMakeLists.txt
+++ b/bindings/python/ContinuousDynamicalSystem/CMakeLists.txt
@@ -1,15 +1,16 @@
 # Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
 # This software may be modified and distributed under the terms of the
 # BSD-3-Clause license.
+if(FRAMEWORK_COMPILE_ContinuousDynamicalSystem)
+  set(H_PREFIX include/BipedalLocomotion/bindings/ContinuousDynamicalSystem)
 
-set(H_PREFIX include/BipedalLocomotion/bindings/ContinuousDynamicalSystem)
-
-add_bipedal_locomotion_python_module(
-  NAME ContinuousDynamicalSystemBindings
-  SOURCES src/MultiStateWeightProvider.cpp src/LinearTimeInvariantSystem.cpp src/FloatingBaseSystemKinematics.cpp src/Module.cpp
-  HEADERS ${H_PREFIX}/DynamicalSystem.h ${H_PREFIX}/LinearTimeInvariantSystem.h ${H_PREFIX}/FloatingBaseSystemKinematics.h ${H_PREFIX}/Integrator.h
-          ${H_PREFIX}/MultiStateWeightProvider.h
-          ${H_PREFIX}/Module.h
-  LINK_LIBRARIES BipedalLocomotion::ContinuousDynamicalSystem
-  TESTS tests/test_linear_system.py tests/test_floating_base_system_kinematics.py
-  )
+  add_bipedal_locomotion_python_module(
+    NAME ContinuousDynamicalSystemBindings
+    SOURCES src/MultiStateWeightProvider.cpp src/LinearTimeInvariantSystem.cpp src/FloatingBaseSystemKinematics.cpp src/Module.cpp
+    HEADERS ${H_PREFIX}/DynamicalSystem.h ${H_PREFIX}/LinearTimeInvariantSystem.h ${H_PREFIX}/FloatingBaseSystemKinematics.h ${H_PREFIX}/Integrator.h
+            ${H_PREFIX}/MultiStateWeightProvider.h
+            ${H_PREFIX}/Module.h
+    LINK_LIBRARIES BipedalLocomotion::ContinuousDynamicalSystem
+    TESTS tests/test_linear_system.py tests/test_floating_base_system_kinematics.py
+    )
+endif()