diff --git a/.gitmodules b/.gitmodules
index ce4fc4593..69ac5fe4e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -7,5 +7,3 @@
 [submodule "external/cereal"]
 	path = external/cereal
 	url = https://github.com/USCiLab/cereal.git
-[submodule "cmake"]
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3fcef102b..7b563420a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Added
 * Allow use of installed cereal and jrl-cmakemodules via cmake
+* Add compatibility with jrl-cmakemodules workspace ([#339](https://github.com/Simple-Robotics/proxsuite/pull/339))
 
 ## [0.6.6] - 2024-06-15
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3e1f47aac..7f305d3a7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@
 
 cmake_minimum_required(VERSION 3.10)
 
-if(DEFINED PROJECT_NAME)
+if(DEFINED PROJECT_NAME AND NOT PROJECT_WORKSPACE)
   set(PROXSUITE_AS_SUBPROJECT ON)
 endif()
 
@@ -14,6 +14,10 @@ set(PROJECT_URL "http://github.com/Simple-Robotics/proxsuite")
 set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
 set(PROJECT_USE_CMAKE_EXPORT TRUE)
 set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
+# To enable jrl-cmakemodules compatibility with workspace we must define the two
+# following lines
+set(PROJECT_AUTO_RUN_FINALIZE FALSE)
+set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake-module")
@@ -241,3 +245,5 @@ if(BUILD_PYTHON_INTERFACE)
     FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
     DESTINATION share/${PROJECT_NAME}/hook)
 endif(BUILD_PYTHON_INTERFACE)
+
+setup_project_finalize()
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index 0c4f00a43..6f6ea47ef 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -1,4 +1,4 @@
-add_custom_target(bench)
+add_custom_target(${PROJECT_NAME}_bench)
 
 macro(proxsuite_benchmark bench_name)
   if(BUILD_BENCHMARK)
@@ -12,7 +12,7 @@ macro(proxsuite_benchmark bench_name)
   else()
     target_link_libraries(${bench_name} PUBLIC proxsuite)
   endif()
-  add_dependencies(bench ${bench_name})
+  add_dependencies(${PROJECT_NAME}_bench ${bench_name})
 endmacro(proxsuite_benchmark)
 
 proxsuite_benchmark(timings-lp)
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index c27344875..02e94c2cc 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -18,7 +18,7 @@ file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/external/pybind11)
 add_subdirectory(external/pybind11
                  ${CMAKE_CURRENT_BINARY_DIR}/external/pybind11)
 
-add_custom_target(python)
+add_custom_target(${PROJECT_NAME}_python)
 
 # Collect files
 file(GLOB_RECURSE PYWRAP_HEADERS ${CMAKE_CURRENT_LIST_DIR}/src/*.hpp)
@@ -27,7 +27,7 @@ file(GLOB_RECURSE PYWRAP_SOURCES ${CMAKE_CURRENT_LIST_DIR}/src/*.cpp)
 # Add simd feature detectors for current intel CPU
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
   python3_add_library(instructionset MODULE helpers/instruction-set.cpp)
-  add_dependencies(python instructionset)
+  add_dependencies(${PROJECT_NAME}_python instructionset)
   target_link_libraries(instructionset PRIVATE proxsuite pybind11::module)
   set_target_properties(
     instructionset
@@ -35,18 +35,18 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
                PREFIX ""
                SUFFIX ${PYTHON_EXT_SUFFIX}
                LIBRARY_OUTPUT_DIRECTORY
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                LIBRARY_OUTPUT_DIRECTORY_RELEASE
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                LIBRARY_OUTPUT_DIRECTORY_DEBUG
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                # On Windows, shared library are treat as binary
                RUNTIME_OUTPUT_DIRECTORY
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                RUNTIME_OUTPUT_DIRECTORY_RELEASE
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                RUNTIME_OUTPUT_DIRECTORY_DEBUG
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
   if(UNIX AND NOT APPLE)
     set_target_properties(instructionset PROPERTIES INSTALL_RPATH
                                                     "\$ORIGIN/../../..")
@@ -70,7 +70,7 @@ endfunction(list_filter)
 
 function(CREATE_PYTHON_TARGET target_name COMPILE_OPTIONS dependencies)
   python3_add_library(${target_name} MODULE ${PYWRAP_SOURCES} ${PYWRAP_HEADERS})
-  add_dependencies(python ${target_name})
+  add_dependencies(${PROJECT_NAME}_python ${target_name})
 
   target_link_libraries(${target_name} PUBLIC ${dependencies} pybind11::module)
   target_compile_options(${target_name} PRIVATE ${COMPILE_OPTIONS})
@@ -104,18 +104,18 @@ function(CREATE_PYTHON_TARGET target_name COMPILE_OPTIONS dependencies)
                PREFIX ""
                SUFFIX ${PYTHON_EXT_SUFFIX}
                LIBRARY_OUTPUT_DIRECTORY
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                LIBRARY_OUTPUT_DIRECTORY_RELEASE
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                LIBRARY_OUTPUT_DIRECTORY_DEBUG
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                # On Windows, shared library are treat as binary
                RUNTIME_OUTPUT_DIRECTORY
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                RUNTIME_OUTPUT_DIRECTORY_RELEASE
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
                RUNTIME_OUTPUT_DIRECTORY_DEBUG
-               "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
+               "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
 
   if(UNIX AND NOT APPLE)
     set_target_properties(${target_name} PROPERTIES INSTALL_RPATH
@@ -195,7 +195,7 @@ else()
 endif()
 
 python_build_get_target(compile_pyc)
-add_dependencies(python ${compile_pyc})
+add_dependencies(${PROJECT_NAME}_python ${compile_pyc})
 
 set(PYTHON_FILES torch/__init__.py torch/qplayer.py torch/utils.py)
 
diff --git a/cmake-module b/cmake-module
index 2bea127e8..91b8f5f21 160000
--- a/cmake-module
+++ b/cmake-module
@@ -1 +1 @@
-Subproject commit 2bea127e8113a32f216ae7a7201e36a6e7c56cc2
+Subproject commit 91b8f5f2168b123a198da079b8e6c09fd1f60285
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 13eef9ae3..db68df82d 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -1,5 +1,5 @@
-INPUT                   = @CMAKE_SOURCE_DIR@/doc \
-                          @CMAKE_SOURCE_DIR@/include \
+INPUT                   = @PROJECT_SOURCE_DIR@/doc \
+                          @PROJECT_SOURCE_DIR@/include \
 
 RECURSIVE               = YES
 
@@ -54,7 +54,7 @@ SOURCE_BROWSER          = YES
 
 ALPHABETICAL_INDEX      = YES
 
-USE_MDFILE_AS_MAINPAGE  = @CMAKE_SOURCE_DIR@/doc/1-Overview.md
+USE_MDFILE_AS_MAINPAGE  = @PROJECT_SOURCE_DIR@/doc/1-Overview.md
 
 BUILTIN_STL_SUPPORT     = YES
 HAVE_DOT                = YES
diff --git a/examples/cpp/CMakeLists.txt b/examples/cpp/CMakeLists.txt
index d26c446af..fc055fc2e 100644
--- a/examples/cpp/CMakeLists.txt
+++ b/examples/cpp/CMakeLists.txt
@@ -2,19 +2,19 @@
 # Copyright (c) 2022 INRIA
 #
 
-add_custom_target(example-cpp)
+add_custom_target(${PROJECT_NAME}-example-cpp)
 
 function(ADD_PROXSUITE_CPP_EXAMPLE EXAMPLE)
   get_filename_component(EXAMPLE_NAME ${EXAMPLE} NAME_WE)
-  set(EXAMPLE_TARGET "example-cpp-${EXAMPLE_NAME}")
+  set(EXAMPLE_TARGET "${PROJECT_NAME}-example-cpp-${EXAMPLE_NAME}")
   add_unit_test(${EXAMPLE_TARGET} "${EXAMPLE}")
   target_link_libraries(${EXAMPLE_TARGET} PRIVATE proxsuite-test-util)
 
-  add_dependencies(example-cpp ${EXAMPLE_TARGET})
+  add_dependencies(${PROJECT_NAME}-example-cpp ${EXAMPLE_TARGET})
 endfunction()
 
 file(GLOB_RECURSE ${PROJECT_NAME}_CPP_EXAMPLES *.cpp)
 
 foreach(EXAMPLE ${${PROJECT_NAME}_CPP_EXAMPLES})
   add_proxsuite_cpp_example(${EXAMPLE})
-endforeach(EXAMPLE ${${PROJECT_NAME}_CPP_EXAMPLES})
+endforeach()
diff --git a/examples/julia/CMakeLists.txt b/examples/julia/CMakeLists.txt
index dd654f27a..e7022ade0 100644
--- a/examples/julia/CMakeLists.txt
+++ b/examples/julia/CMakeLists.txt
@@ -3,5 +3,6 @@ file(GLOB_RECURSE ${PROJECT_NAME}_JULIA_EXAMPLES *.jl)
 foreach(EXAMPLE ${${PROJECT_NAME}_JULIA_EXAMPLES})
   string(REGEX REPLACE "${PROJECT_SOURCE_DIR}/examples/julia/" "" EXAMPLE
                        ${EXAMPLE})
-  add_julia_unit_test("example-jl-${EXAMPLE}" "examples/julia/${EXAMPLE}")
-endforeach(EXAMPLE ${${PROJECT_NAME}_JULIA_EXAMPLES})
+  add_julia_unit_test("${PROJECT_NAME}-example-jl-${EXAMPLE}"
+                      "examples/julia/${EXAMPLE}")
+endforeach()
diff --git a/examples/python/CMakeLists.txt b/examples/python/CMakeLists.txt
index 16e4e3bd1..fb26dcb3c 100644
--- a/examples/python/CMakeLists.txt
+++ b/examples/python/CMakeLists.txt
@@ -3,6 +3,6 @@ file(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_EXAMPLES *.py)
 foreach(EXAMPLE_FILE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
   get_filename_component(EXAMPLE_NAME ${EXAMPLE_FILE} NAME_WE)
   string(REGEX REPLACE "${PROJECT_SOURCE_DIR}" "" EXAMPLE_FILE ${EXAMPLE_FILE})
-  add_python_unit_test("example-py-${EXAMPLE_NAME}" "${EXAMPLE_FILE}"
-                       "bindings/python")
-endforeach(EXAMPLE_FILE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
+  add_python_unit_test("${PROJECT_NAME}-example-py-${EXAMPLE_NAME}"
+                       "${EXAMPLE_FILE}" "bindings/python")
+endforeach()
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index a86bed82b..2bdc74162 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,8 +1,8 @@
 include(../cmake-external/doctest.cmake)
 find_package(Matio REQUIRED)
 
-add_library(doctest STATIC doctest/doctest.cpp)
-target_include_directories(doctest PUBLIC ./doctest)
+add_library(${PROJECT_NAME}-doctest STATIC doctest/doctest.cpp)
+target_include_directories(${PROJECT_NAME}-doctest PUBLIC ./doctest)
 add_library(cnpy OBJECT src/cnpy.cpp)
 target_link_libraries(cnpy Eigen3::Eigen)
 target_include_directories(cnpy PUBLIC ./include)
@@ -20,13 +20,14 @@ else()
 endif()
 
 macro(proxsuite_test name path)
-  add_executable(test-cpp-${name} ${path})
-  doctest_discover_tests(test-cpp-${name})
-  target_link_libraries(test-cpp-${name} PUBLIC proxsuite doctest
-                                                proxsuite-test-util)
-  target_compile_definitions(test-cpp-${name}
+  set(target_name ${PROJECT_NAME}-test-cpp-${name})
+  add_executable(${target_name} ${path})
+  # doctest_discover_tests(${target_name})
+  target_link_libraries(${target_name} PUBLIC proxsuite ${PROJECT_NAME}-doctest
+                                              proxsuite-test-util)
+  target_compile_definitions(${target_name}
                              PRIVATE PROBLEM_PATH="${CMAKE_CURRENT_SOURCE_DIR}")
-  add_dependencies(build_tests test-cpp-${name})
+  add_dependencies(build_tests ${target_name})
 endmacro()
 
 proxsuite_test(dense_ruiz_equilibration src/dense_ruiz_equilibration.cpp)
@@ -45,7 +46,8 @@ proxsuite_test(cvxpy src/cvxpy.cpp)
 
 if(BUILD_WITH_OPENMP_SUPPORT)
   proxsuite_test(parallel src/parallel_qp_solve.cpp)
-  target_link_libraries(test-cpp-parallel PRIVATE OpenMP::OpenMP_CXX)
+  target_link_libraries(${PROJECT_NAME}-test-cpp-parallel
+                        PRIVATE OpenMP::OpenMP_CXX)
 endif()
 
 # Test serialization
@@ -54,19 +56,19 @@ macro(ADD_TEST_CFLAGS target flag)
     TARGET ${target}
     APPEND_STRING
     PROPERTY COMPILE_FLAGS " ${flag}")
-endmacro(ADD_TEST_CFLAGS)
+endmacro()
 
 make_directory("${CMAKE_CURRENT_BINARY_DIR}/serialization-data")
 proxsuite_test(serialization src/serialization.cpp)
 add_test_cflags(
-  test-cpp-serialization
+  ${PROJECT_NAME}-test-cpp-serialization
   "-DTEST_SERIALIZATION_FOLDER=\\\\\"${CMAKE_CURRENT_BINARY_DIR}/serialization-data\\\\\""
 )
 if(cereal_FOUND)
-  target_link_libraries(test-cpp-serialization PRIVATE cereal)
+  target_link_libraries(${PROJECT_NAME}-test-cpp-serialization PRIVATE cereal)
 else()
   target_include_directories(
-    test-cpp-serialization SYSTEM
+    ${PROJECT_NAME}-test-cpp-serialization SYSTEM
     PRIVATE ${PROJECT_SOURCE_DIR}/external/cereal/include)
 endif()
 
@@ -87,7 +89,7 @@ if(BUILD_PYTHON_INTERFACE)
   foreach(TEST_FILE ${${PROJECT_NAME}_PYTHON_UNITTEST})
     get_filename_component(TEST_NAME ${TEST_FILE} NAME_WE)
     string(REGEX REPLACE "${PROJECT_SOURCE_DIR}/" "" TEST_FILE ${TEST_FILE})
-    add_python_unit_test("test-py-${TEST_NAME}" "${TEST_FILE}"
+    add_python_unit_test("${PROJECT_NAME}-test-py-${TEST_NAME}" "${TEST_FILE}"
                          "bindings/python")
-  endforeach(TEST_FILE ${${PROJECT_NAME}_PYTHON_UNITTEST})
+  endforeach()
 endif(BUILD_PYTHON_INTERFACE)