Cleanup remaining CMakeLists.

ARC-OPT · Aug 3, 2022 · 7e95e4d · 7e95e4d
1 parent 33494c2
commit 7e95e4d
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Showing 32 changed files with 102 additions and 597 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,7 +7,6 @@ add_compile_options(-std=c++11)
 set(PROJECT_VERSION 0.2)
 set(API_VERSION ${PROJECT_VERSION})
 
-include_directories(${PROJECT_SOURCE_DIR}/src)
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 
 

diff --git a/benchmarks/CMakeLists.txt b/benchmarks/CMakeLists.txt
@@ -1,3 +1,5 @@
+find_package(Boost COMPONENTS system filesystem REQUIRED)
+
 add_subdirectory(robot_models)
 add_subdirectory(scenes)
 if(USE_QPSWIFT AND USE_EIQUADPROG)

diff --git a/benchmarks/robot_models/CMakeLists.txt b/benchmarks/robot_models/CMakeLists.txt
@@ -1,19 +1,3 @@
-find_package(Boost COMPONENTS system filesystem REQUIRED)
-
-pkg_search_module(base-types REQUIRED base-types)
-pkg_search_module(orocos-kdl REQUIRED orocos-kdl)
-pkg_search_module(qpOASES REQUIRED qpOASES)
-pkg_search_module(kdl_parser REQUIRED kdl_parser)
-include_directories(${base-types_INCLUDE_DIRS}
-                    ${orocos-kdl_INCLUDE_DIRS}
-                    ${qpOASES_INCLUDE_DIRS}
-                    ${kdl_parser_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS}
-                 ${orocos-kdl_LIBRARY_DIRS}
-                 ${qpOASES_LIBRARY_DIRS}
-                 ${kdl_parser_LIBRARY_DIRS})
-
-include_directories(${PROJECT_SOURCE_DIR}/src)
 add_executable(benchmark_robot_models benchmark_robot_models.cpp ../benchmarks_common.cpp ../robot_models_common.cpp)
 target_link_libraries(benchmark_robot_models
                       wbc-solvers-hls
@@ -22,6 +6,6 @@ target_link_libraries(benchmark_robot_models
                       wbc-robot_models-kdl
                       wbc-robot_models-hyrodyn
                       wbc-controllers
-                      ${Boost_FILESYSTEM_LIBRARY}
-                      ${Boost_SYSTEM_LIBRARY})
+                      Boost::system
+                      Boost::filesystem)
 
diff --git a/benchmarks/scenes/CMakeLists.txt b/benchmarks/scenes/CMakeLists.txt
@@ -1,19 +1,3 @@
-find_package(Boost COMPONENTS system filesystem REQUIRED)
-
-pkg_search_module(base-types REQUIRED base-types)
-pkg_search_module(orocos-kdl REQUIRED orocos-kdl)
-pkg_search_module(qpOASES REQUIRED qpOASES)
-pkg_search_module(kdl_parser REQUIRED kdl_parser)
-include_directories(${base-types_INCLUDE_DIRS}
-                    ${orocos-kdl_INCLUDE_DIRS}
-                    ${qpOASES_INCLUDE_DIRS}
-                    ${kdl_parser_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS}
-                 ${orocos-kdl_LIBRARY_DIRS}
-                 ${qpOASES_LIBRARY_DIRS}
-                 ${kdl_parser_LIBRARY_DIRS})
-
-include_directories(${PROJECT_SOURCE_DIR}/src)
 add_executable(benchmark_scenes benchmark_scenes.cpp ../benchmarks_common.cpp ../robot_models_common.cpp)
 target_link_libraries(benchmark_scenes
                       wbc-solvers-hls
@@ -22,6 +6,6 @@ target_link_libraries(benchmark_scenes
                       wbc-robot_models-kdl
                       wbc-robot_models-hyrodyn
                       wbc-controllers
-                      ${Boost_FILESYSTEM_LIBRARY}
-                      ${Boost_SYSTEM_LIBRARY})
+                      Boost::system
+                      Boost::filesystem)
 
diff --git a/benchmarks/solvers/CMakeLists.txt b/benchmarks/solvers/CMakeLists.txt
@@ -1,19 +1,3 @@
-find_package(Boost COMPONENTS system filesystem REQUIRED)
-
-pkg_search_module(base-types REQUIRED base-types)
-pkg_search_module(orocos-kdl REQUIRED orocos-kdl)
-pkg_search_module(qpOASES REQUIRED qpOASES)
-pkg_search_module(kdl_parser REQUIRED kdl_parser)
-include_directories(${base-types_INCLUDE_DIRS}
-                    ${orocos-kdl_INCLUDE_DIRS}
-                    ${qpOASES_INCLUDE_DIRS}
-                    ${kdl_parser_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS}
-                 ${orocos-kdl_LIBRARY_DIRS}
-                 ${qpOASES_LIBRARY_DIRS}
-                 ${kdl_parser_LIBRARY_DIRS})
-
-include_directories(${PROJECT_SOURCE_DIR}/src)
 add_executable(benchmark_solvers benchmark_solvers.cpp ../benchmarks_common.cpp ../robot_models_common.cpp)
 target_link_libraries(benchmark_solvers
                       wbc-solvers-hls
@@ -23,6 +7,6 @@ target_link_libraries(benchmark_solvers
                       wbc-scenes
                       wbc-robot_models-hyrodyn
                       wbc-robot_models-kdl
-                      ${Boost_FILESYSTEM_LIBRARY}
-                      ${Boost_SYSTEM_LIBRARY})
+                      Boost::system
+                      Boost::filesystem)
 
diff --git a/bin/CMakeLists.txt b/bin/CMakeLists.txt
@@ -1,8 +1,7 @@
 FIND_PACKAGE( Boost COMPONENTS program_options REQUIRED )
-INCLUDE_DIRECTORIES( ${Boost_INCLUDE_DIR} )
 
 add_executable(joint_limits_from_urdf joint_limits_from_urdf.cpp)
-target_link_libraries(joint_limits_from_urdf wbc-tools ${Boost_LIBRARIES})
+target_link_libraries(joint_limits_from_urdf wbc-tools Boost::program_options)
 
 install(TARGETS joint_limits_from_urdf
         LIBRARY RUNTIME DESTINATION bin)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -1,10 +1,21 @@
+find_package(PythonInterp 3 REQUIRED)
+find_package(PythonLibs 3 REQUIRED)
+find_package(Boost COMPONENTS python3 numpy3)
+
+set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
+
+message(STATUS "PYTHON_VERSION_MAJOR.PYTHON_VERSION_MINOR = ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
+message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
+message(STATUS "PYTHON_EXECUTABLE = ${PYTHON_EXECUTABLE}")
+message(STATUS "PYTHON_INCLUDE_DIRS = ${PYTHON_INCLUDE_DIRS}")
+message(STATUS "Boost_LIBRARIES = ${Boost_LIBRARIES}")
+message(STATUS "PYTHON_INSTALL_PATH = ${PYTHON_INSTALL_PATH}")
+
 add_subdirectory(core)
 add_subdirectory(controllers)
 add_subdirectory(robot_models)
 add_subdirectory(scenes)
 add_subdirectory(solvers)
 
-find_package(PythonInterp REQUIRED)
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
 install(FILES __init__.py
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc)
diff --git a/bindings/python/controllers/CMakeLists.txt b/bindings/python/controllers/CMakeLists.txt
@@ -1,40 +1,14 @@
-cmake_minimum_required(VERSION 2.8.11)
-
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs REQUIRED)
-
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
-
-if (UNIX AND NOT APPLE)
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python numpy)
-    endif()
-else()
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    endif()
-endif()
-
-message(STATUS "PYTHON_VERSION_MAJOR.PYTHON_VERSION_MINOR = ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
-message(STATUS "PYTHON_EXECUTABLE = ${PYTHON_EXECUTABLE}")
-message(STATUS "PYTHON_INCLUDE_DIRS = ${PYTHON_INCLUDE_DIRS}")
-message(STATUS "Boost_LIBRARIES = ${Boost_LIBRARIES}")
-message(STATUS "PYTHON_INSTALL_PATH = ${PYTHON_INSTALL_PATH}")
-
-pkg_search_module(base-types REQUIRED base-types)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src ${base-types_INCLUDE_DIRS} )
-link_directories(${base-types_LIBRARY_DIRS})
-
 PYTHON_ADD_MODULE(controllers controllers.cpp)
 
 # Set up the libraries and header search paths for this target
-target_link_libraries(controllers ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} wbc-controllers)
-target_include_directories(controllers PRIVATE ${PYTHON_INCLUDE_DIRS} )
+target_link_libraries(controllers PUBLIC
+	${PYTHON_LIBRARIES}
+	Boost::python3
+	Boost::numpy3
+	wbc-controllers)
+
+target_include_directories(controllers PUBLIC
+	${PYTHON_INCLUDE_DIRS})
 
 install(TARGETS controllers
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc)
diff --git a/bindings/python/core/CMakeLists.txt b/bindings/python/core/CMakeLists.txt
@@ -1,38 +1,13 @@
-cmake_minimum_required(VERSION 2.8.11)
-
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs REQUIRED)
-
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
-if (UNIX AND NOT APPLE)
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python numpy)
-    endif()
-else()
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    endif()
-endif()
-
-message(STATUS "PYTHON_VERSION_MAJOR.PYTHON_VERSION_MINOR = ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
-message(STATUS "PYTHON_EXECUTABLE = ${PYTHON_EXECUTABLE}")
-message(STATUS "PYTHON_INCLUDE_DIRS = ${PYTHON_INCLUDE_DIRS}")
-message(STATUS "Boost_LIBRARIES = ${Boost_LIBRARIES}")
-message(STATUS "PYTHON_INSTALL_PATH = ${PYTHON_INSTALL_PATH}")
-
-pkg_search_module(base-types REQUIRED base-types)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src ${base-types_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS})
-
 PYTHON_ADD_MODULE(core core.cpp)
 # Set up the libraries and header search paths for this target
-target_link_libraries(core ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} wbc-core)
-target_include_directories(core PRIVATE ${PYTHON_INCLUDE_DIRS})
+target_link_libraries(core PUBLIC
+	${PYTHON_LIBRARIES}
+	Boost::python3
+	Boost::numpy3
+	wbc-core)
+
+target_include_directories(core PUBLIC
+	${PYTHON_INCLUDE_DIRS})
 
 install(TARGETS core
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc)
diff --git a/bindings/python/robot_models/CMakeLists.txt b/bindings/python/robot_models/CMakeLists.txt
@@ -3,7 +3,5 @@ if(USE_HYRODYN)
     add_subdirectory(hyrodyn)
 endif()
 
-find_package(PythonInterp REQUIRED)
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
 install(FILES __init__.py
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc/robot_models)
diff --git a/bindings/python/robot_models/hyrodyn/CMakeLists.txt b/bindings/python/robot_models/hyrodyn/CMakeLists.txt
@@ -1,39 +1,12 @@
-cmake_minimum_required(VERSION 2.8.11)
-
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs REQUIRED)
-
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
-
-if (UNIX AND NOT APPLE)
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python numpy)
-    endif()
-else()
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    endif()
-endif()
-
-message(STATUS "PYTHON_VERSION_MAJOR.PYTHON_VERSION_MINOR = ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
-message(STATUS "PYTHON_EXECUTABLE = ${PYTHON_EXECUTABLE}")
-message(STATUS "PYTHON_INCLUDE_DIRS = ${PYTHON_INCLUDE_DIRS}")
-message(STATUS "Boost_LIBRARIES = ${Boost_LIBRARIES}")
-message(STATUS "PYTHON_INSTALL_PATH = ${PYTHON_INSTALL_PATH}")
-
-pkg_search_module(hyrodyn REQUIRED hyrodyn)
-pkg_search_module(base-types REQUIRED base-types)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src ${base-types_INCLUDE_DIRS} ${hyrodyn_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS} ${hyrodyn_LIBRARY_DIRS})
+PYTHON_ADD_MODULE(robot_model_hyrodyn robot_model_hyrodyn.cpp)
+target_link_libraries(robot_model_hyrodyn PUBLIC
+	${PYTHON_LIBRARIES}
+	Boost::python3
+	Boost::numpy3
+	wbc-robot_models-hyrodyn)
 
+target_include_directories(robot_model_hyrodyn PUBLIC
+	${PYTHON_INCLUDE_DIRS})
 
-PYTHON_ADD_MODULE(robot_model_hyrodyn robot_model_hyrodyn.cpp)
-target_link_libraries(robot_model_hyrodyn ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} wbc-robot_models-hyrodyn)
-target_include_directories(robot_model_hyrodyn PRIVATE ${PYTHON_INCLUDE_DIRS} )
 install(TARGETS robot_model_hyrodyn
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc/robot_models)
diff --git a/bindings/python/robot_models/kdl/CMakeLists.txt b/bindings/python/robot_models/kdl/CMakeLists.txt
@@ -1,42 +1,14 @@
-cmake_minimum_required(VERSION 2.8.11)
-
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs REQUIRED)
-
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
-
-if (UNIX AND NOT APPLE)
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python numpy)
-    endif()
-else()
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    endif()
-endif()
-
-message(STATUS "PYTHON_VERSION_MAJOR.PYTHON_VERSION_MINOR = ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
-message(STATUS "PYTHON_EXECUTABLE = ${PYTHON_EXECUTABLE}")
-message(STATUS "PYTHON_INCLUDE_DIRS = ${PYTHON_INCLUDE_DIRS}")
-message(STATUS "Boost_LIBRARIES = ${Boost_LIBRARIES}")
-message(STATUS "PYTHON_INSTALL_PATH = ${PYTHON_INSTALL_PATH}")
-
-pkg_search_module(base-types REQUIRED base-types)
-pkg_search_module(orocos-kdl REQUIRED orocos-kdl)
-pkg_search_module(kdl_parser REQUIRED kdl_parser)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src ${base-types_INCLUDE_DIRS} ${orocos-kdl_INCLUDE_DIRS} ${kdl_parser_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS} ${orocos-kdl_LIBRARY_DIRS} ${kdl_parser_LIBRARY_DIRS} )
-
 PYTHON_ADD_MODULE(robot_model_kdl robot_model_kdl.cpp)
 
 # Set up the libraries and header search paths for this target
-target_link_libraries(robot_model_kdl ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} wbc-robot_models-kdl)
-target_include_directories(robot_model_kdl PRIVATE ${PYTHON_INCLUDE_DIRS} )
+target_link_libraries(robot_model_kdl PUBLIC
+	${PYTHON_LIBRARIES}
+	Boost::python3
+	Boost::numpy3
+	wbc-robot_models-kdl)
+
+target_include_directories(robot_model_kdl PUBLIC
+	${PYTHON_INCLUDE_DIRS})
 
 install(TARGETS robot_model_kdl
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc/robot_models)
diff --git a/bindings/python/scenes/CMakeLists.txt b/bindings/python/scenes/CMakeLists.txt
@@ -1,43 +1,14 @@
-cmake_minimum_required(VERSION 2.8.11)
-
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs REQUIRED)
-
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
-
-if (UNIX AND NOT APPLE)
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python numpy)
-    endif()
-else()
-    if (PYTHON_VERSION_MAJOR EQUAL 3)
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    else()
-        find_package(Boost COMPONENTS python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} numpy${PYTHON_VERSION_MAJOR})
-    endif()
-endif()
-
-message(STATUS "PYTHON_VERSION_MAJOR.PYTHON_VERSION_MINOR = ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
-message(STATUS "PYTHON_EXECUTABLE = ${PYTHON_EXECUTABLE}")
-message(STATUS "PYTHON_INCLUDE_DIRS = ${PYTHON_INCLUDE_DIRS}")
-message(STATUS "Boost_LIBRARIES = ${Boost_LIBRARIES}")
-message(STATUS "PYTHON_INSTALL_PATH = ${PYTHON_INSTALL_PATH}")
-
-pkg_search_module(base-types REQUIRED base-types)
-pkg_search_module(orocos-kdl REQUIRED orocos-kdl)
-pkg_search_module(kdl_parser REQUIRED kdl_parser)
-list(APPEND PKGCONFIG_REQUIRES qpOASES)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src ${base-types_INCLUDE_DIRS} ${orocos-kdl_INCLUDE_DIRS} ${qpOASES_INCLUDE_DIRS} ${kdl_parser_INCLUDE_DIRS})
-link_directories(${base-types_LIBRARY_DIRS} ${orocos-kdl_LIBRARY_DIRS} ${qpOASES_LIBRARY_DIRS} ${kdl_parser_LIBRARY_DIRS})
-
 PYTHON_ADD_MODULE(scenes scenes.cpp)
 
 # Set up the libraries and header search paths for this target
-target_link_libraries(scenes ${Boost_LIBRARIES} ${PYTHON_LIBRARIES} wbc-scenes wbc-robot_models-kdl wbc-core wbc-solvers-hls wbc-solvers-qpoases ${qpOASES_LIBRARIES})
-target_include_directories(scenes PRIVATE ${PYTHON_INCLUDE_DIRS} )
+target_link_libraries(scenes PUBLIC
+	wbc-scenes
+	wbc-robot_models-kdl
+	wbc-solvers-hls
+	wbc-solvers-qpoases)
+
+target_include_directories(scenes PUBLIC
+	${PYTHON_INCLUDE_DIRS})
 
 install(TARGETS scenes
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc)
diff --git a/bindings/python/solvers/CMakeLists.txt b/bindings/python/solvers/CMakeLists.txt
@@ -1,7 +1,5 @@
 add_subdirectory(qpoases)
 add_subdirectory(hls)
 
-find_package(PythonInterp REQUIRED)
-set(PYTHON_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages)
 install(FILES __init__.py
         DESTINATION ${PYTHON_INSTALL_PATH}/wbc/solvers)