diff --git a/SoftRobots.InverseConfig.cmake.in b/SoftRobots.InverseConfig.cmake.in
index 1c66f9f..62ba217 100644
--- a/SoftRobots.InverseConfig.cmake.in
+++ b/SoftRobots.InverseConfig.cmake.in
@@ -7,9 +7,16 @@ find_package(Sofa.Component.Constraint.Lagrangian.Solver QUIET REQUIRED)
 find_package(Sofa.Component.Collision.Response.Contact QUIET REQUIRED)
 find_package(Sofa.Component.SolidMechanics.FEM.Elastic QUIET REQUIRED)
 
-find_package(libqpOASES REQUIRED)
-include_directories(${OASES_INCLUDE_DIRS})
+set(SOFTROBOTSINVERSE_ENABLE_QPOASES @SOFTROBOTSINVERSE_ENABLE_QPOASES@)
+if(SOFTROBOTSINVERSE_ENABLE_QPOASES)
+  find_package(qpOASES QUIET)
+  if(NOT qpOASES_FOUND)
+    find_package(libqpOASES REQUIRED)
+    include_directories(${OASES_INCLUDE_DIRS})
+  endif()
+endif()
 
+set(SOFTROBOTSINVERSE_ENABLE_PROXQP @SOFTROBOTSINVERSE_ENABLE_PROXQP@)
 if(SOFTROBOTSINVERSE_ENABLE_PROXQP)
   find_package(proxsuite QUIET REQUIRED)
 endif()
diff --git a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
index e9fb21a..a3b6e6c 100644
--- a/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
+++ b/src/SoftRobots.Inverse/component/solver/QPInverseProblemSolver.cpp
@@ -204,7 +204,7 @@ void QPInverseProblemSolver::createProblems()
         break;
 #endif
     default :
-        msg_error() << "Unkown specified solved: " << d_qpSolver.getValue();
+        msg_error() << "Unkown specified solver: " << d_qpSolver.getValue();
         sofa::core::objectmodel::BaseObject::d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
         break;
     }