diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e60ecf3..323a0a40 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,6 +51,7 @@ if(${MATH_LIBRARY_BACKEND} STREQUAL "Eigen3")
     set(MATH_BACKEND_INCLUDE_DIR "${EIGEN3_INCLUDE_DIR}")
     set(MATH_BACKEND_LIBRARIES "")
     find_package(RBDL REQUIRED)
+    set(RBDL_INCLUDE_DIR ${RBDL_INCLUDE_DIR}/..)
 elseif(${MATH_LIBRARY_BACKEND} STREQUAL "Casadi")
     find_package(Casadi REQUIRED)
     set(MATH_BACKEND_INCLUDE_DIR
@@ -139,7 +140,6 @@ target_include_directories(${BIORBD_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
     "${TinyXML_INCLUDE_DIR}"
 )
diff --git a/binding/c/CMakeLists.txt b/binding/c/CMakeLists.txt
index 67e835c9..150894c7 100644
--- a/binding/c/CMakeLists.txt
+++ b/binding/c/CMakeLists.txt
@@ -20,7 +20,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
 )
 
diff --git a/binding/matlab/CMakeLists.txt b/binding/matlab/CMakeLists.txt
index 6b2d7c7f..faadb72e 100644
--- a/binding/matlab/CMakeLists.txt
+++ b/binding/matlab/CMakeLists.txt
@@ -34,7 +34,6 @@ foreach(CPP_FILE ${CPP_FILES})
         "${CMAKE_SOURCE_DIR}/include"
         "${BIORBD_BINARY_DIR}/include"
         "${RBDL_INCLUDE_DIR}"
-        "${RBDL_INCLUDE_DIR}/.."
         "${MATH_BACKEND_INCLUDE_DIR}"
         "${Matlab_INCLUDE_DIRS}"
     )
diff --git a/binding/python3/CMakeLists.txt b/binding/python3/CMakeLists.txt
index 4908585a..873f2c5a 100644
--- a/binding/python3/CMakeLists.txt
+++ b/binding/python3/CMakeLists.txt
@@ -62,7 +62,6 @@ target_include_directories(${PYTHON_PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
     "${IPOPT_INCLUDE_DIR}"
     "${Python3_INCLUDE_DIRS}"
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 472b177b..75a76b9b 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -31,7 +31,6 @@ foreach(FILE ${EXAMPLE_FILES})
         "${CMAKE_SOURCE_DIR}/include"
         "${BIORBD_BINARY_DIR}/include"
         "${RBDL_INCLUDE_DIR}"
-        "${RBDL_INCLUDE_DIR}/.."
         "${IPOPT_INCLUDE_DIR}"
         "${MATH_BACKEND_INCLUDE_DIR}"
     )
diff --git a/examples/cpp_casadi_installed/CMakeLists.txt b/examples/cpp_casadi_installed/CMakeLists.txt
index d2a7e0a8..0b6bb5a4 100644
--- a/examples/cpp_casadi_installed/CMakeLists.txt
+++ b/examples/cpp_casadi_installed/CMakeLists.txt
@@ -27,7 +27,6 @@ add_executable(${PROJECT_NAME} ${FILE})
 target_include_directories(${PROJECT_NAME} PUBLIC 
     ${biorbd_casadi_INCLUDE_DIR}
     ${RBDLCasadi_INCLUDE_DIR}
-    ${RBDLCasadi_INCLUDE_DIR}/..
     ${Casadi_INCLUDE_DIR}
     ${Casadi_INCLUDE_DIR}/..
 	${TinyXML_INCLUDE_DIR}
diff --git a/examples/cpp_eigen_installed/CMakeLists.txt b/examples/cpp_eigen_installed/CMakeLists.txt
index d13e4958..9fed0d00 100644
--- a/examples/cpp_eigen_installed/CMakeLists.txt
+++ b/examples/cpp_eigen_installed/CMakeLists.txt
@@ -26,7 +26,6 @@ add_executable(${PROJECT_NAME} ${FILE})
 target_include_directories(${PROJECT_NAME} PUBLIC 
     ${biorbd_eigen_INCLUDE_DIR}
     ${RBDL_INCLUDE_DIR}
-    ${RBDL_INCLUDE_DIR}/..
     ${EIGEN3_INCLUDE_DIR}
 	${TinyXML_INCLUDE_DIR}
 )
diff --git a/src/Actuators/CMakeLists.txt b/src/Actuators/CMakeLists.txt
index 1a9654f3..22d9e513 100644
--- a/src/Actuators/CMakeLists.txt
+++ b/src/Actuators/CMakeLists.txt
@@ -27,7 +27,6 @@ set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "_debug")
 # Add the include
 target_include_directories(${PROJECT_NAME} PRIVATE
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
diff --git a/src/Muscles/CMakeLists.txt b/src/Muscles/CMakeLists.txt
index cb292277..a2679ba1 100644
--- a/src/Muscles/CMakeLists.txt
+++ b/src/Muscles/CMakeLists.txt
@@ -55,7 +55,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
     "${IPOPT_INCLUDE_DIR}"
 )
diff --git a/src/RigidBody/CMakeLists.txt b/src/RigidBody/CMakeLists.txt
index de63b72d..dfbea6b6 100644
--- a/src/RigidBody/CMakeLists.txt
+++ b/src/RigidBody/CMakeLists.txt
@@ -48,7 +48,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
 )
 
diff --git a/src/Utils/CMakeLists.txt b/src/Utils/CMakeLists.txt
index 974b81c8..f6b99948 100644
--- a/src/Utils/CMakeLists.txt
+++ b/src/Utils/CMakeLists.txt
@@ -46,7 +46,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
 )
 
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 95d7c5fa..99593960 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -72,7 +72,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
     "${IPOPT_INCLUDE_DIR}"
 )
diff --git a/test/binding/c/CMakeLists.txt b/test/binding/c/CMakeLists.txt
index b9dbae8b..78f9e0b6 100644
--- a/test/binding/c/CMakeLists.txt
+++ b/test/binding/c/CMakeLists.txt
@@ -12,7 +12,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
     "${CMAKE_SOURCE_DIR}/include"
     "${BIORBD_BINARY_DIR}/include"
     "${RBDL_INCLUDE_DIR}"
-    "${RBDL_INCLUDE_DIR}/.."
     "${MATH_BACKEND_INCLUDE_DIR}"
 )