diff --git a/CMakeLists.txt b/CMakeLists.txt
index 30c9cfa..de71394 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,13 +8,8 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(RD_OPENRAVE_MODELS LANGUAGES NONE)
 
 # Find dependencies
-find_package(YCM 0.8 REQUIRED)
-
-# https://github.com/roboticslab-uc3m/questions-and-answers/issues/65
-find_package(YARP 3.0 QUIET)
-if(NOT YARP_FOUND)
-    find_package(YARP 2.3.70 REQUIRED)
-endif()
+find_package(YCM 0.10 REQUIRED)
+find_package(YARP 3.0 REQUIRED)
 
 # Set some useful variables.
 yarp_configure_external_installation(robotDevastation-openrave-models)