diff --git a/CMakeLists.txt b/CMakeLists.txt
index cbbbe84dc..72f69ead4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -317,7 +317,7 @@ SET(${PROJECT_NAME}_HEADERS
   )
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
-  LIST(APPEND ${PROJECT_NAME}_HEADERS
+  SET(HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS
     include/hpp/fcl/broadphase/broadphase_bruteforce.h
     include/hpp/fcl/broadphase/broadphase_callbacks.h
     include/hpp/fcl/broadphase/broadphase_collision_manager.h
@@ -444,6 +444,8 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
     include/hpp/fcl/timings.h
     include/hpp/fcl/warning.hh
     )
+  LIST(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
+  HEADER_INSTALL(COMPONENT hpp-fcl-compatibility ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
 endif()
 
 IF(COAL_HAS_OCTOMAP)
@@ -485,7 +487,11 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
   write_basic_package_version_file(hpp-fclConfigVersion.cmake
       VERSION 3.0.0
       COMPATIBILITY AnyNewerVersion)
-  install(FILES hpp-fclConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake DESTINATION lib/cmake/hpp-fcl)
+  install(FILES hpp-fclConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake
+          DESTINATION lib/cmake/hpp-fcl
+          COMPONENT hpp-fcl-compatibility)
+  include("${JRL_CMAKE_MODULES}/install-helpers.cmake")
+  add_install_target(NAME hpp-fcl-compatibility COMPONENT hpp-fcl-compatibility)
 endif()
 
 setup_project_finalize()
diff --git a/cmake b/cmake
index 91b8f5f21..f1f95f942 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 91b8f5f2168b123a198da079b8e6c09fd1f60285
+Subproject commit f1f95f942fabd3d4dc7e39aa7f1c20a5b0735165
diff --git a/hpp-fclConfig.cmake b/hpp-fclConfig.cmake
index c09ecf7ff..1e2664285 100644
--- a/hpp-fclConfig.cmake
+++ b/hpp-fclConfig.cmake
@@ -4,14 +4,11 @@ message(WARNING "Please update your CMake from 'hpp-fcl' to 'coal'")
 
 find_package(coal REQUIRED)
 
-if(CMAKE_VERSION VERSION_LESS "3.18.0")
-  if(NOT TARGET hpp-fcl::hpp-fcl)
-    add_library(hpp-fcl::hpp-fcl SHARED IMPORTED)
-    target_link_libraries(hpp-fcl::hpp-fcl INTERFACE coal::coal)
-    get_property(_cfg TARGET coal::coal PROPERTY IMPORTED_CONFIGURATIONS)
-    get_property(_loc TARGET coal::coal PROPERTY "IMPORTED_LOCATION_${_cfg}")
-    set_property(TARGET hpp-fcl::hpp-fcl PROPERTY IMPORTED_LOCATION "${_loc}")
-  endif()
-else()
-  add_library(hpp-fcl::hpp-fcl ALIAS coal::coal)
+if(NOT TARGET hpp-fcl::hpp-fcl)
+  add_library(hpp-fcl::hpp-fcl SHARED IMPORTED)
+  target_link_libraries(hpp-fcl::hpp-fcl INTERFACE coal::coal)
+  get_property(_cfg TARGET coal::coal PROPERTY IMPORTED_CONFIGURATIONS)
+  get_property(_loc TARGET coal::coal PROPERTY "IMPORTED_LOCATION_${_cfg}")
+  set_property(TARGET hpp-fcl::hpp-fcl PROPERTY IMPORTED_LOCATION "${_loc}")
+  target_compile_definitions(hpp-fcl::hpp-fcl INTERFACE COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
 endif()
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index d28714c59..38b98031b 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -191,6 +191,6 @@ ENDFOREACH(python)
 
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
-  python_install_on_site(hppfcl __init__.py)
-  python_install_on_site(hppfcl viewer.py)
+  python_install_on_site(hppfcl __init__.py COMPONENT hpp-fcl-compatibility)
+  python_install_on_site(hppfcl viewer.py COMPONENT hpp-fcl-compatibility)
 endif()