diff --git a/cmake/BuildICUB.cmake b/cmake/BuildICUB.cmake
index 64e6eee4f..a9bdeb2eb 100644
--- a/cmake/BuildICUB.cmake
+++ b/cmake/BuildICUB.cmake
@@ -48,6 +48,12 @@ else()
   set(ICUB_COMPILE_BINDINGS OFF)
 endif()
 
+if(ROBOTOLOGY_USES_PYTHON AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+  set(ICUB_PYTHON_INSTALL_CMAKE_ARGS "-DCMAKE_INSTALL_PYTHONDIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
+else()
+  set(ICUB_PYTHON_INSTALL_CMAKE_ARGS "")
+endif()
+
 ycm_ep_helper(ICUB TYPE GIT
                    STYLE GITHUB
                    REPOSITORY robotology/icub-main.git
@@ -56,7 +62,7 @@ ycm_ep_helper(ICUB TYPE GIT
                    FOLDER src
                    CMAKE_ARGS -DICUB_INSTALL_WITH_RPATH:BOOL=ON
                    CMAKE_CACHE_ARGS -DENABLE_icubmod_cartesiancontrollerserver:BOOL=ON
-                                    -DENABLE_icubmod_cartesiancontrollerclient:BOOL=ON
+                                    -DENABLE_icubmod_cartesiancontrollerclient:sBOOL=ON
                                     -DENABLE_icubmod_gazecontrollerclient:BOOL=ON
                                     -DENABLE_icubmod_serial:BOOL=${ROBOTOLOGY_ENABLE_ICUB_HEAD}
                                     -DENABLE_icubmod_serialport:BOOL=${ROBOTOLOGY_ENABLE_ICUB_HEAD}
@@ -91,7 +97,8 @@ ycm_ep_helper(ICUB TYPE GIT
                                     -DICUBMAIN_COMPILE_SIMULATORS:BOOL=${ICUBMAIN_COMPILE_SIMULATORS}
                                     -DICUB_COMPILE_BINDINGS:BOOL=${ICUB_COMPILE_BINDINGS}
                                     -DCREATE_PYTHON:BOOL=${ROBOTOLOGY_USES_PYTHON}
-                                    -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA})
+                                    -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA}
+                                    ${ICUB_PYTHON_INSTALL_CMAKE_ARGS})
 
 set(ICUB_CONDA_DEPENDENCIES ace libopencv gsl ipopt libode qt-main sdl)
 
diff --git a/cmake/BuildYARP.cmake b/cmake/BuildYARP.cmake
index dfc8e577d..6f4b0e375 100644
--- a/cmake/BuildYARP.cmake
+++ b/cmake/BuildYARP.cmake
@@ -35,13 +35,8 @@ else()
   set(YARP_USE_I2C OFF)
 endif()
 
-# For what regards Python installation, the options changes depending
-# on whether we are installing YARP from source, or generating a
-# conda package on Windows as in that case the installation location
-# will need to be outside of CMAKE_INSTALL_PREFIX
-# See https://github.com/robotology/robotology-superbuild/issues/641
-if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES AND WIN32)
-  list(APPEND YARP_OPTIONAL_CMAKE_ARGS "-DCMAKE_INSTALL_PYTHON3DIR:PATH=%SP_DIR%")
+if(ROBOTOLOGY_USES_PYTHON)
+  list(APPEND YARP_OPTIONAL_DEPS "-DCMAKE_INSTALL_PYTHON3DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
 ycm_ep_helper(YARP TYPE GIT
diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
index 241218039..69d36ebd9 100644
--- a/cmake/Buildbipedal-locomotion-framework.cmake
+++ b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -50,8 +50,8 @@ endif()
 # will need to be outside of CMAKE_INSTALL_PREFIX
 # See https://github.com/robotology/robotology-superbuild/issues/641
 set(bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "")
-if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES)
-  list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
+if(ROBOTOLOGY_USES_PYTHON)
+  list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_PYTHON_INSTALL_DIR:BOOL=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
 if(ROBOTOLOGY_USES_PCL_AND_VTK)
diff --git a/cmake/BuildiDynTree.cmake b/cmake/BuildiDynTree.cmake
index 48787129e..15f40327c 100644
--- a/cmake/BuildiDynTree.cmake
+++ b/cmake/BuildiDynTree.cmake
@@ -16,8 +16,8 @@ list(APPEND iDynTree_DEPENDS OsqpEigen)
 # will need to be outside of CMAKE_INSTALL_PREFIX
 # See https://github.com/robotology/robotology-superbuild/issues/641
 set(iDynTree_OPTIONAL_CMAKE_ARGS "")
-if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES AND WIN32)
-  list(APPEND iDynTree_OPTIONAL_CMAKE_ARGS "-DIDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
+if(ROBOTOLOGY_USES_PYTHON)
+  list(APPEND iDynTree_OPTIONAL_CMAKE_ARGS "-DIDYNTREE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 endif()
 
 # Hack for disabling IDYNTREE_USES_IRRLICHT on Ubuntu 18.04,
diff --git a/cmake/Buildicub-models.cmake b/cmake/Buildicub-models.cmake
index d5b844921..32b2202b1 100644
--- a/cmake/Buildicub-models.cmake
+++ b/cmake/Buildicub-models.cmake
@@ -6,6 +6,7 @@ include(YCMEPHelper)
 set(icub-models_OPTIONAL_CMAKE_ARGS "")
 list(APPEND icub-models_OPTIONAL_CMAKE_ARGS "-DICUB_MODELS_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}")
 list(APPEND icub-models_OPTIONAL_CMAKE_ARGS "-DICUB_MODELS_USES_PYTHON:BOOL=${ROBOTOLOGY_USES_PYTHON}")
+list(APPEND icub-models_OPTIONAL_CMAKE_ARGS "-DICUB_MODELS_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
 
 ycm_ep_helper(icub-models
               TYPE GIT
diff --git a/cmake/Buildwearables.cmake b/cmake/Buildwearables.cmake
index 1b487b03e..69a954029 100644
--- a/cmake/Buildwearables.cmake
+++ b/cmake/Buildwearables.cmake
@@ -15,6 +15,10 @@ endif()
 
 list(APPEND WEARABLES_CMAKE_ARGS "-DWEARABLES_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}")
 
+if(ROBOTOLOGY_USES_PYTHON AND NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+    list(APPEND WEARABLES_CMAKE_ARGS "-DWEARABLES_PYTHON_INSTALL_DR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
+endif()
+
 ycm_ep_helper(wearables TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/wearables.git
diff --git a/cmake/RobSupPurePythonYCMEPHelper.cmake b/cmake/RobSupPurePythonYCMEPHelper.cmake
index 36a3a1aff..6e73692c4 100644
--- a/cmake/RobSupPurePythonYCMEPHelper.cmake
+++ b/cmake/RobSupPurePythonYCMEPHelper.cmake
@@ -26,11 +26,6 @@ function(ROB_SUP_PURE_PYTHON_YCM_EP_HELPER _name)
   # Dependencies
   find_package(Python3 COMPONENTS Interpreter REQUIRED)
 
-  execute_process(COMMAND ${Python3_EXECUTABLE}
-                  -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
-                  OUTPUT_VARIABLE _PYTHON_INSTDIR)
-  string(STRIP ${_PYTHON_INSTDIR} ROBSUB_PYTHON_INSTALL_DIR)
-
   # Check arguments
   set(_options)
   set(_oneValueArgs COMPONENT
@@ -59,6 +54,6 @@ function(ROB_SUP_PURE_PYTHON_YCM_EP_HELPER _name)
                          # See https://stackoverflow.com/questions/55708589/how-to-pass-an-environment-variable-to-externalproject-add-configure-command
                          # See https://github.com/robotology/robotology-superbuild/issues/1118
                          # To avoid the complexity of handling two commands, we just use the build step to uninstall any existing package
-                         BUILD_COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${YCM_EP_INSTALL_DIR}/${ROBSUB_PYTHON_INSTALL_DIR} pip uninstall -y ${_PYH_${_name}_PYTHON_PACKAGE_NAME}
-                         INSTALL_COMMAND ${Python3_EXECUTABLE} -m pip install --upgrade --no-deps --target=${YCM_EP_INSTALL_DIR}/${ROBSUB_PYTHON_INSTALL_DIR} -VV <SOURCE_DIR>)
+                         BUILD_COMMAND ${CMAKE_COMMAND} -E env PYTHONPATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} pip uninstall -y ${_PYH_${_name}_PYTHON_PACKAGE_NAME}
+                         INSTALL_COMMAND ${Python3_EXECUTABLE} -m pip install --upgrade --no-deps --target=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} -VV <SOURCE_DIR>)
 endfunction()