From f2de73861ddf0464564e0d36ece4c95f6f37b83e Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 8 Dec 2023 23:36:10 +0100
Subject: [PATCH 1/4] CMake: clean

---
 CMakeLists.txt        | 6 ------
 python/CMakeLists.txt | 8 ++------
 2 files changed, 2 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f51af3c..667fe31 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,16 +47,12 @@ 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_PROXQP)
-  find_package(proxsuite REQUIRED)
   add_project_dependency(proxsuite REQUIRED)
   add_definitions(-DMIM_SOLVERS_WITH_PROXQP)
 endif()
@@ -64,10 +60,8 @@ 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/python/CMakeLists.txt b/python/CMakeLists.txt
index 88e469e..be2ca3e 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,4 +1,3 @@
-include("../cmake/python-helpers.cmake")
 if(GENERATE_PYTHON_STUBS)
   include(${PROJECT_SOURCE_DIR}/cmake/stubs.cmake)
 endif(GENERATE_PYTHON_STUBS)
@@ -13,12 +12,9 @@ set(${PY_NAME}_SOURCES
   )
 
 add_library(${PY_NAME}_pywrap SHARED ${${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 ${PYTHON_EXT_SUFFIX})
@@ -31,8 +27,8 @@ endif(GENERATE_PYTHON_STUBS)
 set(${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)
+  GET_RELATIVE_RPATH(${PYLIB_INSTALL_DIR} PYLIB_RPATH)
   SET_TARGET_PROPERTIES(${${PY_NAME}_pywrap} PROPERTIES INSTALL_RPATH ${PYLIB_RPATH})
 ENDIF()
 

From de72bfdf32dd2e449e2614a464fab8cddad8c2ae Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sat, 9 Dec 2023 17:12:56 +0100
Subject: [PATCH 2/4] fix RPATH

---
 python/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index be2ca3e..fe706ea 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -29,7 +29,7 @@ set(${PY_NAME}_PYTHON mim_solvers/__init__.py)
 SET(PYLIB_INSTALL_DIR ${PYTHON_SITELIB}/mim_solvers)
 IF(UNIX)
   GET_RELATIVE_RPATH(${PYLIB_INSTALL_DIR} PYLIB_RPATH)
-  SET_TARGET_PROPERTIES(${${PY_NAME}_pywrap} PROPERTIES INSTALL_RPATH ${PYLIB_RPATH})
+  SET_TARGET_PROPERTIES(${PY_NAME}_pywrap PROPERTIES INSTALL_RPATH ${PYLIB_RPATH})
 ENDIF()
 
 install(TARGETS ${PY_NAME}_pywrap LIBRARY DESTINATION ${PYLIB_INSTALL_DIR})

From 1267c75f2d7eed7fa86cca32d2062234e75767cd Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sun, 10 Dec 2023 12:11:13 +0100
Subject: [PATCH 3/4] CMake: sync submodule

---
 cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake b/cmake
index 9a0e73f..59a8466 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 9a0e73fdc9e635bec17ea67cdab0bd24611a1d4b
+Subproject commit 59a8466a1143e2719b598b55d92a09d653628959

From 9b51ea68421d01ff9bee6f3111c86746f230e0ea Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sun, 10 Dec 2023 12:12:05 +0100
Subject: [PATCH 4/4] CMake: more clean

---
 CMakeLists.txt | 2 --
 1 file changed, 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 667fe31..6ecd25c 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