diff --git a/CMakeLists.txt b/CMakeLists.txt
index 61f9ee7..c709500 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,10 +36,8 @@ COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/boost.cmake)
-include(${CMAKE_CURRENT_LIST_DIR}/cmake/python.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/apple.cmake)
 include(${CMAKE_CURRENT_LIST_DIR}/cmake/ide.cmake)
-include(${CMAKE_CURRENT_LIST_DIR}/cmake/python-helpers.cmake)
 include(CMakeDependentOption)
 
 # If needed, fix CMake policy for APPLE systems
@@ -47,16 +45,12 @@ APPLY_DEFAULT_APPLE_CONFIGURATION()
 
 # Project dependencies
 find_package(Boost REQUIRED COMPONENTS unit_test_framework)
-find_package(crocoddyl REQUIRED)
-find_package(eigenpy REQUIRED)
-
 add_project_dependency(crocoddyl 2.0.0 REQUIRED)
 add_project_dependency(eigenpy 2.7.10 REQUIRED)
 add_project_dependency(example-robot-data 4.0.7 REQUIRED PKG_CONFIG_REQUIRES
 "example-robot-data >= 4.0.7")
 
 if(BUILD_WITH_PROXSUITE)
-  find_package(proxsuite REQUIRED)
   add_project_dependency(proxsuite REQUIRED)
   add_definitions(-DMIM_SOLVERS_WITH_PROXQP)
 endif()
@@ -64,10 +58,8 @@ endif()
 find_package(OpenMP REQUIRED COMPONENTS CXX)
 
 if(BUILD_PYTHON_INTERFACE)
-  FINDPYTHON()
   string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
   set(${PY_NAME}_INSTALL_DIR ${PYTHON_SITELIB}/${PY_NAME})
-  SEARCH_FOR_BOOST_PYTHON()
 endif()
 
 # Main Library
diff --git a/cmake b/cmake
index 9a0e73f..59a8466 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 9a0e73fdc9e635bec17ea67cdab0bd24611a1d4b
+Subproject commit 59a8466a1143e2719b598b55d92a09d653628959
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 37e1c72..759b0fa 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,5 +1,3 @@
-include("../cmake/python-helpers.cmake")
-
 if(GENERATE_PYTHON_STUBS)
   include(${PROJECT_SOURCE_DIR}/cmake/stubs.cmake)
 endif(GENERATE_PYTHON_STUBS)
@@ -17,12 +15,9 @@ if(BUILD_WITH_PROXSUITE)
 endif(BUILD_WITH_PROXSUITE)
 
 add_library(${PY_NAME}_pywrap MODULE ${${PY_NAME}_SOURCES})
-MODERNIZE_TARGET_LINK_LIBRARIES(${PY_NAME}_pywrap SCOPE PUBLIC TARGETS eigenpy::eigenpy)
-target_link_libraries(${PY_NAME}_pywrap PUBLIC ${PROJECT_NAME})
-target_link_libraries(${PY_NAME}_pywrap PUBLIC crocoddyl::crocoddyl)
+target_link_libraries(${PY_NAME}_pywrap PUBLIC ${PROJECT_NAME} eigenpy::eigenpy)
 
 set_target_properties(${PY_NAME}_pywrap PROPERTIES
-  INSTALL_RPATH "\$ORIGIN/../../.."
   LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}_pywrap
   PREFIX ""
   SUFFIX ${PYTHON_EXT_SUFFIX})
@@ -35,9 +30,9 @@ endif(GENERATE_PYTHON_STUBS)
 set(${PY_NAME}_PYTHON mim_solvers/__init__.py)
 
 SET(PYLIB_INSTALL_DIR ${PYTHON_SITELIB}/mim_solvers)
-GET_RELATIVE_RPATH(${PYLIB_INSTALL_DIR} PYLIB_RPATH)
 IF(UNIX)
-  SET_TARGET_PROPERTIES(${${PY_NAME}_pywrap} PROPERTIES INSTALL_RPATH ${PYLIB_RPATH})
+  GET_RELATIVE_RPATH(${PYLIB_INSTALL_DIR} PYLIB_RPATH)
+  SET_TARGET_PROPERTIES(${PY_NAME}_pywrap PROPERTIES INSTALL_RPATH ${PYLIB_RPATH})
 ENDIF()
 
 install(TARGETS ${PY_NAME}_pywrap LIBRARY DESTINATION ${PYLIB_INSTALL_DIR})