diff --git a/cmake/BuildHumanDynamicsEstimation.cmake b/cmake/BuildHumanDynamicsEstimation.cmake
index eb6935ae7..aca5e787e 100644
--- a/cmake/BuildHumanDynamicsEstimation.cmake
+++ b/cmake/BuildHumanDynamicsEstimation.cmake
@@ -11,8 +11,24 @@ find_or_build_package(osqp QUIET)
 find_or_build_package(OsqpEigen QUIET)
 find_or_build_package(robometry QUIET)
 
+# For what regards Python installation, the options changes depending
+# on whether we are installing HDE in the superbuild, or generating a
+# conda package
+# See https://github.com/robotology/robotology-superbuild/issues/641
+set(HDE_OPTIONAL_CMAKE_ARGS "")
+if(ROBOTOLOGY_USES_PYTHON) 
+  if (NOT ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+    # If we are not generating a conda recipe, the bindings need to go in the ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR
+    list(APPEND HDE_OPTIONAL_CMAKE_ARGS "-DHDE_PYTHON_INSTALL_DIR=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
+  else()
+    # If we are building a conda package, the active environment is the correct place were to install the python bindings
+    list(APPEND HDE_OPTIONAL_CMAKE_ARGS "-DHDE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
+  endif()
+endif()
+
+
 if(WIN32)
-    list(APPEND HDE_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
+    list(APPEND HDE_OPTIONAL_CMAKE_ARGS -DXSENS_MVN_USE_SDK:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} -DENABLE_XsensSuit:BOOL=${ROBOTOLOGY_USES_XSENS_MVN_SDK} )
 endif()
 
 ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
@@ -21,7 +37,7 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
               TAG master
               COMPONENT human_dynamics
               FOLDER src
-              CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON ${HDE_CMAKE_ARGS}
+              CMAKE_ARGS -DHUMANSTATEPROVIDER_ENABLE_VISUALIZER:BOOL=ON -DHDE_COMPILE_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON} ${HDE_OPTIONAL_CMAKE_ARGS}
               DEPENDS iDynTree
                       YARP
                       osqp
@@ -30,3 +46,8 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
                       robometry)
 
 set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)
+
+if(ROBOTOLOGY_USES_PYTHON)
+    list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES python)
+    list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES pybind11)
+endif()
diff --git a/cmake/BuildiDynTree.cmake b/cmake/BuildiDynTree.cmake
index d06edaeb0..11d25727e 100644
--- a/cmake/BuildiDynTree.cmake
+++ b/cmake/BuildiDynTree.cmake
@@ -11,7 +11,7 @@ set(iDynTree_DEPENDS "")
 list(APPEND iDynTree_DEPENDS OsqpEigen)
 
 # For what regards Python installation, the options changes depending
-# on whether we are installing YARP from source, or generating a
+# on whether we are installing iDynTree 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
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index d0719eb7d..416abe717 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -122,7 +122,7 @@ repositories:
   HumanDynamicsEstimation:
     type: git
     url: https://github.com/robotology/human-dynamics-estimation.git
-    version: v4.0.0
+    version: v4.0.1
   human-gazebo:
     type: git
     url: https://github.com/robotology/human-gazebo.git