diff --git a/CMakeLists.txt b/CMakeLists.txt
index afa51909e..acf59fde0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,6 +109,7 @@ ELSE(WIN32)
   ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
 ENDIF(WIN32)
 if(BUILD_PYTHON_INTERFACE)
+  set(PYTHON_COMPONENTS Interpreter Development.Module NumPy)
   FINDPYTHON()
   search_for_boost_python(REQUIRED)
   find_package(Boost REQUIRED COMPONENTS system)
diff --git a/cmake b/cmake
index 7c6837de7..63a6aaf17 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 7c6837de72c724329c93a1d4f107767240d58727
+Subproject commit 63a6aaf17f0cc2b32fd41cfa012aabbac3cb007e
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8f0ca5999..cc5fa64de 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -173,20 +173,16 @@ add_library(${LIBRARY_NAME}
   ${${LIBRARY_NAME}_SOURCES}
   )
 
+set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "\$ORIGIN")
+
 # IDE sources and headers sorting
 ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
 ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
 
-TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME}
-  SYSTEM PUBLIC
-  ${Boost_INCLUDE_DIRS}
-  )
-
-TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
-  PRIVATE
-  ${assimp_LIBRARIES}
-  # assimp::assimp # Not working
-  )
+MODERNIZE_TARGET_LINK_LIBRARIES(${LIBRARY_NAME} SCOPE PRIVATE
+  TARGETS assimp::assimp
+  LIBRARIES ${assimp_LIBRARIES}
+  INCLUDE_DIRS ${assimp_INCLUDE_DIR})
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
   PUBLIC
@@ -213,14 +209,9 @@ if(HPP_FCL_HAS_QHULL)
   endif()
 endif()
 
-target_include_directories(${LIBRARY_NAME}
-  SYSTEM PUBLIC
-  ${EIGEN3_INCLUDE_DIR}
-  )
-target_include_directories(${LIBRARY_NAME}
-  SYSTEM PRIVATE
-  ${assimp_INCLUDE_DIR}
-  )
+MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME} SCOPE PUBLIC
+  TARGETS Eigen3::Eigen
+  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
 
 target_include_directories(${LIBRARY_NAME}
   PUBLIC
@@ -228,8 +219,10 @@ target_include_directories(${LIBRARY_NAME}
   )
 
 IF(octomap_FOUND)
-  target_include_directories(${LIBRARY_NAME} SYSTEM PUBLIC ${OCTOMAP_INCLUDE_DIRS})
-  target_link_libraries(${LIBRARY_NAME} PUBLIC ${OCTOMAP_LIBRARIES})
+  MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME} SCOPE PUBLIC
+    TARGETS octomap
+    LIBRARIES ${OCTOMAP_LIBRARIES}
+    INCLUDE_DIRS ${OCTOMAP_INCLUDE_DIRS})
   target_compile_definitions (${LIBRARY_NAME} PUBLIC
     -DHPP_FCL_HAS_OCTOMAP
     -DHPP_FCL_HAVE_OCTOMAP