[CMake] sync submodule and its use

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passed robotpkg-py-hpp-spline-py2-18.04-release #95923

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passed robotpkg-py-hpp-spline-py3-16.04-release #95921

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passed robotpkg-py-hpp-spline-py3-18.04-release #95922

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passed robotpkg-py-hpp-spline-py3-20.04-release #95924

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passed robotpkg-py-hpp-spline-py3-buster-release #95925

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passed robotpkg-py-hpp-spline-py3-stretch-release #95926

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