diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 5871905fa2fa18d4205165414fd6a34a2d364289..12b96bc5172ab9468fde0e19256578fff090ad2d 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -7,7 +7,7 @@ jobs:
     name: ${{ matrix.os }} - ${{ matrix.build_type }} ${{ matrix.cxx_options }}
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_DIR: .ccache # Enable ccache
+      CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
 
     strategy:
       fail-fast: false
@@ -16,6 +16,11 @@ jobs:
         cxx_options: ['', '-mavx2']
         build_type: [Release, Debug]
 
+        include:
+          - os: ubuntu-latest
+            CCACHE_DIR: /home/runner/.ccache
+          - os: macos-latest
+            CCACHE_DIR: /Users/runner/.ccache
 
         exclude:
           - build_type: Debug
@@ -42,6 +47,9 @@ jobs:
         path: ${{ env.CCACHE_DIR }}
         key: ccache-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}
 
+    - name: Prepare cache dir
+      run: sudo mkdir -p ${CCACHE_DIR}/tmp && sudo chown -R $(id -un) ${CCACHE_DIR}
+
     - name: Install cmake and update conda
       shell: bash -l {0}
       run: |
diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
index cd6f67e083f53184df9a612617f594d2ac456cd8..6d3afba8df45a7731ab0b85608cd2da87238242e 100644
--- a/.github/workflows/ros_ci.yml
+++ b/.github/workflows/ros_ci.yml
@@ -17,7 +17,7 @@ jobs:
           - {ROS_DISTRO: rolling}
           - {ROS_DISTRO: humble}
     env:
-      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      CCACHE_DIR: /home/runner/.ccache # Enable ccache
       PRERELEASE: true
       BUILDER: colcon
     runs-on: ubuntu-latest
@@ -30,15 +30,6 @@ jobs:
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      - name: Echo CCACHE_DIR
-        shell: bash -l {0}
-        env: ${{ matrix.env }}
-        run: |
-          echo CCACHE_DIR=${CCACHE_DIR}
-      - name: Echo CCACHE_DIR
-        shell: bash -l {0}
-        run: |
-          echo CCACHE_DIR=${CCACHE_DIR}
       # Run industrial_ci
       - uses: 'ros-industrial/industrial_ci@6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6'
         env: ${{ matrix.env }}
diff --git a/cmake b/cmake
index 4d27540ed207ea1ff0ece2aed5d03229b1dbb59b..b54e1e2f1c7b369d5e7d328cd5fe43518bd32bc0 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 4d27540ed207ea1ff0ece2aed5d03229b1dbb59b
+Subproject commit b54e1e2f1c7b369d5e7d328cd5fe43518bd32bc0
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 380cf67cbbb2daea7e5938eed538cb28c316ce5f..ba1356310263622dbfdd102f103e772a0ca47748 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2014-2021 CNRS INRIA
+# Copyright (c) 2014-2023 CNRS INRIA
 #
 
 # --- LIBRARY --- #
@@ -9,6 +9,7 @@ set(PYWRAP
     PARENT_SCOPE)
 
 make_directory("${${PROJECT_NAME}_BINARY_DIR}/python/${PROJECT_NAME}")
+include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 include("${JRL_CMAKE_MODULES}/stubs.cmake")
 
 add_custom_target(python)
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 745ba0f13f8f202c1984f0978c3186898675c401..7da4556f6cc56562c935df8a95a55329e6a448b4 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -49,10 +49,6 @@ function(config_bind_optional tagname opttype)
   configure_file(python/test_optional.py.in
                  ${CMAKE_CURRENT_BINARY_DIR}/python/${py_file})
   add_lib_unit_test(${MODNAME})
-  message(
-    STATUS
-      "Adding unit test py-optional-${tagname} with file ${py_file} and module ${MODNAME}"
-  )
   add_python_unit_test("py-optional-${tagname}" "unittest/python/${py_file}"
                        "unittest")
 endfunction()