diff --git a/docker/manylinux2014/scripts/build_wheels.sh b/docker/manylinux2014/scripts/build_wheels.sh
index db8b726b2f3e44225ea48b6a0a82504fda5385ee..73df1a9e53b7d73864e9b4a5fe703c8e5900f57d 100755
--- a/docker/manylinux2014/scripts/build_wheels.sh
+++ b/docker/manylinux2014/scripts/build_wheels.sh
@@ -12,62 +12,59 @@ for PYBIN in /opt/python/*/bin; do
   PYVERSION=$(find "$PYBIN" -type f -name 'python*.*' | head -1 | grep -Eo "[0-9]\.[0-9]")
   export CMAKE_PREFIX_PATH="$(find / -path "*$PYVERSION*" -type d -name cmake | tr '\n' ':')/opt/openrobots"
 
-
   # Build wheels
   "$PYBIN/python" setup.py bdist_wheel -j"$(nproc)" -DBUILD_TESTING=OFF -DINSTALL_DOCUMENTATION=OFF \
       -DCMAKE_INSTALL_LIBDIR=lib -DPYTHON_STANDARD_LAYOUT=ON -DENFORCE_MINIMAL_CXX_STANDARD=ON
 
   # Bundle external shared libraries into the wheels
-  MAIN_LIB_DIR="$PWD/_skbuild/linux-x86_64-$PYVERSION/cmake-install/lib"
-  OTHER_LIB_DIRS=$(find / -path "*$PYVERSION*.libs/*" -name *.so | xargs dirname | tr '\n' ':')
+  INSTALLED_PREFIX="$PWD/_skbuild/linux-x86_64-$PYVERSION/cmake-install"
+  OTHER_LIB_DIRS=$(find / -path "*$PYVERSION*.libs/*" -name '*.so' -0 | xargs dirname | tr '\n' ':')
   WHEEL_NAME=$(ls -Art dist/ | tail -n 1)
 
   # Repair it
-  LD_LIBRARY_PATH="$MAIN_LIB_DIR:$OTHER_LIB_DIRS$LD_LIBRARY_PATH" \
+  LD_LIBRARY_PATH="$INSTALLED_PREFIX/lib:$OTHER_LIB_DIRS$LD_LIBRARY_PATH" \
     auditwheel repair "dist/$WHEEL_NAME" --plat "$PLAT" -w /io/wheelhouse/
   rm -rf _skbuild dist
 
-  # Extract it to move the libs
+  # Extract it
   WHEEL_DIR="${TARGET/-/_}-$VERSION"
   WHEEL="$(find /io/wheelhouse/ -name "$WHEEL_DIR-cp${PYVERSION/.}*-manylinux2014*.whl")"
   wheel unpack "$WHEEL"
   PACKAGE_DIR="$WHEEL_DIR/$WHEEL_DIR.data/data/lib/python$PYVERSION/site-packages/$PACKAGE"
-  MAIN_LIB="$(find $PACKAGE_DIR -name '*.so')"
-
-  # Put the libs inside the package directory so the relative path to the libs is always the same
-  mv "$WHEEL_DIR/${TARGET/-/_}.libs" "$PACKAGE_DIR"/
-  LIB_DIR="$PACKAGE_DIR/${TARGET/-/_}.libs" # Reassign value because it has changed
+  MAIN_LIB="$(find "$PACKAGE_DIR" -name '*.so')"
 
-  # Change the rpath of the main library so it can find its dependencies
-  patchelf --set-rpath "\$ORIGIN/${TARGET/-/_}.libs" "$MAIN_LIB"
+  # set the RPATH right for the installed wheel
+  LIB_DIR="${TARGET/-/_}.libs"
+  patchelf --set-rpath "\$ORIGIN/../${LIB_DIR}" "$MAIN_LIB"
 
-  # Set the rpath of the other shared libraries to LIB_DIR so they can find needed libraries in this directory
-  for lib in "$LIB_DIR"/*; do
-    patchelf --set-rpath '$ORIGIN' "$lib"
+  # Set the rpath of the other shared libraries in LIB_DIR
+  for lib in "$WHEEL_DIR/${LIB_DIR}"/*
+  do patchelf --set-rpath '$ORIGIN' "$lib"
   done
 
-  wheel pack "$WHEEL_DIR" -d /io/wheelhouse
+  # Remove libs in double
+  rm -f "$WHEEL_DIR/$WHEEL_DIR.data/data/lib/"lib*so*
 
-  # Install packages and test
-  "$PYBIN/pip" install "$TARGET" --no-index --find-links=/io/wheelhouse/
-  (cd "$HOME"; "$PYBIN/python" "/io/config/$TARGET/test.py") || touch "/io/wheelhouse/$PYVERSION-$TARGET"
-
-  # Fix generated .cmake files (need to be done after installing the wheels so we know where the shared libraries are installed)
-  MAIN_LIB=$(find / ! -path "*$WHEEL_DIR*" -path "*$PYVERSION*${TARGET/-/_}.libs/*" -name "*$TARGET*.so*")
-  MAIN_LIB_NAME=$(basename "$MAIN_LIB") # libeigenpy-[hash].so
-  MAIN_LIB_NAME_NO_HASH=$(echo $MAIN_LIB_NAME | sed 's/-[[:xdigit:]]\{8\}//') # libeigenpy.so
+  MAIN_LIB=$(find "$WHEEL_DIR/$LIB_DIR" -name "lib$PACKAGE-*.so") # eigenpy-2.5.0/eigenpy.libs/libeigenpy-0c5e8890.so
+  MAIN_LIB_NAME=$(basename "$MAIN_LIB_NAME") # libeigenpy-0c5e8890.so
+  MAIN_LIB_NAME_NO_HASH=$(echo "$MAIN_LIB_NAME" | sed 's/-[[:xdigit:]]\{8\}//') # libeigenpy.so
 
   # .cmake files should not have references to _skbuild, this is only a temporary fix to be able to build hpp-fcl
   for file in $WHEEL_DIR/$WHEEL_DIR.data/data/lib/cmake/$TARGET/*.cmake
   do
-    sed -i "s:/src/_skbuild/linux-x86_64-.*/cmake-install/lib/\(.*\)\.so:\${_IMPORT_PREFIX}/lib/python$PYVERSION/site-packages/$TARGET/$TARGET.libs/\1.so:"  "$file" || true  # TODO HERERERERERERE
+    sed -i "s:/src/_skbuild/linux-x86_64-.*/cmake-install/lib/\(.*\)\.so:\${_IMPORT_PREFIX}/${LIB_DIR}/\1.so:" "$file" || true
     sed -i "s:$MAIN_LIB_NAME_NO_HASH:$MAIN_LIB_NAME:" "$file" || true
     sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/include:${_IMPORT_PREFIX}/include:' "$file" || true
     sed -i 's:/src/_skbuild/linux-x86_64-.*/cmake-install/lib:${_IMPORT_PREFIX}/lib:' "$file" || true
   done
 
+  # Repack and clean
   wheel pack "$WHEEL_DIR" -d /io/wheelhouse
   rm -rf "${WHEEL_DIR:?}"/
+
+  # Install packages and test
+  "$PYBIN/pip" install "$TARGET" --no-index --find-links=/io/wheelhouse/
+  (cd "$HOME"; "$PYBIN/python" "/io/config/$TARGET/test.py") || touch "/io/wheelhouse/$PYVERSION-$TARGET"
 done
 
 rm -rf "$TARGET".egg-info/ dist/