diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index d922a7b3ce4d..683d97f26560 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -7,7 +7,7 @@
 , boost
 , eigen
 , example-robot-data
-, casadiSupport ? !stdenv.isDarwin
+, casadiSupport ? true
 , collisionSupport ? true
 , console-bridge
 , jrl-cmakemodules