diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8eb26b9d..9cb0371f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(SofaFramework REQUIRED)
 find_package(SofaCommon REQUIRED) # SofaRigid
 find_package(SofaMisc REQUIRED) # SofaMiscMapping
 find_package(SofaSparseSolver REQUIRED)
+find_package(SofaConstraint REQUIRED)
 
 option(SOFTROBOTS_IGNORE_ERRORS "Enable this option to ignore the recommendations and generate anyway." OFF)
 if(NOT SOFTROBOTS_IGNORE_ERRORS)
@@ -35,9 +36,8 @@ option(SOFTROBOTS_GAMETRAKCONTROLLER "Enables GameTrak component. It requires HI
 option(SOFTROBOTS_ROBOTINOCONTROLLER "Enables Robotino component" OFF)
 option(SOFTROBOTS_WITH_CAMERA "Enable this option if you want to use the realsense cameras to perform force sensing, and point cloud processing." OFF)
 
-find_package(SofaPython QUIET)
-set(SOFTROBOTS_PYTHON ${SofaPython_FOUND}) # config.h.in
-find_package(SofaPython3 QUIET)
+sofa_find_package(SofaPython QUIET)
+sofa_find_package(SofaPython3 QUIET)
 
 find_package(Qt5 REQUIRED COMPONENTS Network)
 if(WIN32)
@@ -45,7 +45,7 @@ if(WIN32)
 endif()
 sofa_install_libraries(TARGETS Qt5::Network)
 
-find_package(STLIB QUIET)
+sofa_find_package(STLIB QUIET)
 if(STLIB_FOUND)
     message("-- Found dependency : 'STLIB' plugin .")
 else()
@@ -269,15 +269,13 @@ set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "_d")
 target_link_libraries(${PROJECT_NAME} SofaCore SofaConstraint SofaBaseMechanics SofaUserInteraction SofaRigid SofaMiscMapping SofaSparseSolver SofaEngine)
 target_link_libraries(${PROJECT_NAME} Qt5::Network)
 
-if(SofaPython_FOUND)
-    target_link_libraries(${PROJECT_NAME} SofaPython)
-    # Config files and install rules for pythons scripts
-    sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "python")
-endif()
 
+sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "python")
 if(SofaPython3_FOUND)
-    # Config files and install rules for pythons scripts
-    sofa_install_pythonscripts(PLUGIN_NAME ${PROJECT_NAME} PYTHONSCRIPTS_SOURCE_DIR "python3")
+    SP3_add_python_package(
+        SOURCE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python3/softrobots
+        TARGET_DIRECTORY softrobots
+    )
 endif()
 
 ## Install rules for the library and headers; CMake package configurations files
diff --git a/SoftRobotsConfig.cmake.in b/SoftRobotsConfig.cmake.in
index fd16ba66..71ad2ecc 100644
--- a/SoftRobotsConfig.cmake.in
+++ b/SoftRobotsConfig.cmake.in
@@ -2,15 +2,17 @@
 
 @PACKAGE_INIT@
 
-find_package(SofaFramework REQUIRED)
-if(@SofaPython_FOUND@)
-    find_package(SofaPython)
-endif()
-if(@STLIB_FOUND@)
-    find_package(STLIB)
-endif()
+set(SOFTROBOTS_HAVE_SOFAPYTHON @SOFTROBOTS_HAVE_SOFAPYTHON@)
+set(SOFTROBOTS_HAVE_SOFAPYTHON3 @SOFTROBOTS_HAVE_SOFAPYTHON3@)
+set(SOFTROBOTS_HAVE_STLIB @SOFTROBOTS_HAVE_STLIB@)
+
+find_package(SofaFramework QUIET REQUIRED)
+find_package(SofaCommon QUIET REQUIRED)
+find_package(SofaMisc QUIET REQUIRED)
+find_package(SofaSparseSolver QUIET REQUIRED)
+find_package(SofaConstraint QUIET REQUIRED)
+
 find_package(Qt5 QUIET REQUIRED COMPONENTS Network)
-include_directories("${Qt5Network_INCLUDE_DIRS}")
 
 if(NOT TARGET @PROJECT_NAME@)
     include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
diff --git a/src/SoftRobots/component/initSoftRobots.cpp b/src/SoftRobots/component/initSoftRobots.cpp
index f8058eda..921c6393 100644
--- a/src/SoftRobots/component/initSoftRobots.cpp
+++ b/src/SoftRobots/component/initSoftRobots.cpp
@@ -33,11 +33,6 @@
 #include <sofa/helper/system/PluginManager.h>
 using sofa::helper::system::PluginManager;
 
-#ifdef SOFTROBOTS_PYTHON
-#include <SofaPython/PythonEnvironment.h>
-using sofa::simulation::PythonEnvironment;
-#endif
-
 #include <fstream>
 
 namespace sofa
@@ -69,9 +64,6 @@ void initExternalModule()
         PluginManager::getInstance().loadPlugin("STLIB") ;
     }
 
-#ifdef SOFTROBOTS_PYTHON
-    PythonEnvironment::addPythonModulePathsForPluginsByName("SoftRobots");
-#endif
     //SparseCholeskySolver< CompressedRowSparseMatrix<double>,FullVector<double> > test;
 }
 
diff --git a/src/SoftRobots/component/initSoftRobots.h.in b/src/SoftRobots/component/initSoftRobots.h.in
index 6c3d7564..16db4add 100644
--- a/src/SoftRobots/component/initSoftRobots.h.in
+++ b/src/SoftRobots/component/initSoftRobots.h.in
@@ -31,7 +31,7 @@
 #define INITSOFTROBOTS_H
 
 
-#include <sofa/helper/config.h>
+#include <sofa/config.h>
 
 #ifdef SOFA_BUILD_SOFTROBOTS
 #define SOFA_TARGET SoftRobots
@@ -40,7 +40,8 @@
 #define SOFA_SOFTROBOTS_API SOFA_IMPORT_DYNAMIC_LIBRARY
 #endif
 
-#cmakedefine SOFTROBOTS_PYTHON
+#cmakedefine01 SOFTROBOTS_HAVE_SOFAPYTHON
+#cmakedefine01 SOFTROBOTS_HAVE_SOFAPYTHON3
 
 
 /** \mainpage