diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index fc482652c..9f77bfa78 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -54,6 +54,8 @@ add_install_rpath_support(BIN_DIRS ${CMAKE_INSTALL_PREFIX}/bin
 # This library will be linked to the S-Function for the usage in Simulink, and to
 # another implementation for its usage within the code generated by the Simulink Coder.
 
+set(WBTOOLBOX_EXT_LIBRARIES "")
+
 configure_block(
     BLOCK_NAME "Base"
     LIST_PREFIX WBT
@@ -154,6 +156,7 @@ configure_block(BLOCK_NAME "Simulator Synchronizer"
     SOURCES src/SimulatorSynchronizer.cpp
     HEADERS include/SimulatorSynchronizer.h)
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/autogenerated)
+list(APPEND WBTOOLBOX_EXT_LIBRARIES "ClockServer")
 
 configure_block(BLOCK_NAME "Mass Matrix"
     GROUP "Model"
@@ -197,11 +200,11 @@ configure_block(BLOCK_NAME "Set References"
     SOURCES src/SetReferences.cpp
     HEADERS include/SetReferences.h)
 
- configure_block(BLOCK_NAME "Set Low-Level PIDs"
-     GROUP "Actuators"
-     LIST_PREFIX WBT
-     SOURCES src/SetLowLevelPID.cpp
-     HEADERS include/SetLowLevelPID.h)
+configure_block(BLOCK_NAME "Set Low-Level PIDs"
+    GROUP "Actuators"
+    LIST_PREFIX WBT
+    SOURCES src/SetLowLevelPID.cpp
+    HEADERS include/SetLowLevelPID.h)
 
 configure_block(BLOCK_NAME "Get Measurement"
     GROUP "State"
@@ -209,11 +212,11 @@ configure_block(BLOCK_NAME "Get Measurement"
     SOURCES src/GetMeasurement.cpp
     HEADERS include/GetMeasurement.h)
 
- configure_block(BLOCK_NAME "Get Limits"
-     GROUP "State"
-     LIST_PREFIX WBT
-     SOURCES src/GetLimits.cpp
-     HEADERS include/GetLimits.h)
+configure_block(BLOCK_NAME "Get Limits"
+    GROUP "State"
+    LIST_PREFIX WBT
+    SOURCES src/GetLimits.cpp
+    HEADERS include/GetLimits.h)
 
 get_property(ALL_HEADERS GLOBAL PROPERTY WBT_HEADERS)
 get_property(ALL_SOURCES GLOBAL PROPERTY WBT_SOURCES)
@@ -254,7 +257,7 @@ set(IDYNTREE_REQUIRED_LIBS
 target_link_libraries(WBToolboxLibrary PUBLIC
     ${YARP_LIBRARIES}
     ${IDYNTREE_REQUIRED_LIBS}
-    ClockServer
+    ${WBTOOLBOX_EXT_LIBRARIES}
 )
 
 if (WBT_USES_ICUB)