diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4a53d7dc26c5a4df31174601a06d4269979c9f48..cc2f2d44a135c3427bec0ab36c9459cd1d1dc6bb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,6 @@ SET(PROJECT_ORG stack-of-tasks)
 SET(PROJECT_NAME sot-dynamic-pinocchio)
 SET(PROJECT_DESCRIPTION "pinocchio bindings for dynamic-graph.")
 SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
-SET(PROJECT_SUFFIX "-v3")
 
 # Project options
 OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
@@ -33,7 +32,7 @@ COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(sot-tools REQUIRED PKG_CONFIG_REQUIRES sot-tools)
+ADD_PROJECT_DEPENDENCY(sot-tools REQUIRED)
 ADD_PROJECT_DEPENDENCY(example-robot-data)
 
 IF(BUILD_TESTING)
@@ -44,8 +43,7 @@ IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   SEARCH_FOR_BOOST_PYTHON(REQUIRED)
   STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED
-    PKG_CONFIG_REQUIRES dynamic-graph-python)
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 # Main Library
@@ -83,5 +81,3 @@ ADD_SUBDIRECTORY(src)
 IF(BUILD_TESTING)
     ADD_SUBDIRECTORY(tests)
 ENDIF(BUILD_TESTING)
-
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})