diff --git a/CMakeLists.txt b/CMakeLists.txt
index e7ee7ba2abbb95fb29ae547533e86b016345dbad..f9e053c6301acd4d10d684ed494f091172f7d6a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,6 +122,16 @@ include_directories(
 #add_library(${robot_models}
  # src/${robot_models}/robot_models.cpp
 #)
+add_library(abstractobject src/grasping/environment_util.cpp src/datalink/abstractobject.h)
+add_library(graspobject src/grasping/grasp_util.cpp src/datalink/graspobject.h)
+add_library(hand src/grasping/grasp_util.cpp src/datalink/hand.h)
+add_library(humanspace src/grasping/grasp_util.cpp src/datalink/humanspace.h)
+add_library(joint src/grasping/grasp_util.cpp src/datalink/joint.h)
+add_library(obstacle src/grasping/grasp_util.cpp src/datalink/obstacle.h)
+add_library(robot src/grasping/grasp_util.cpp src/datalink/robot.h)
+add_library(robotfpe src/grasping/grasp_util.cpp src/datalink/robotfpe.h)
+add_library(world src/grasping/grasp_util.cpp src/datalink/world.h)
+add_library(worldobject src/grasping/grasp_util.cpp src/datalink/worldobject.h)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries