diff --git a/pkgs/by-name/jr/jrl-cmakemodules/package.nix b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
new file mode 100644
index 000000000000..bca4ba0e8231
--- /dev/null
+++ b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
@@ -0,0 +1,27 @@
+{
+  lib,
+  stdenv,
+  fetchFromGitHub,
+  cmake,
+}:
+
+stdenv.mkDerivation {
+  pname = "jrl-cmakemodules";
+  version = "0-unstable-2024-04-12";
+
+  src = fetchFromGitHub {
+    owner = "jrl-umi3218";
+    repo = "jrl-cmakemodules";
+    rev = "a914fa836ab4d2f01c191c93a763cfa322820dc7";
+    hash = "sha256-/VedtcRqy4SUTZfrtg01Z1lSPFRg/858hgve+nKTqPo=";
+  };
+
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = "CMake utility toolbox";
+    homepage = "https://github.com/jrl-umi3218/jrl-cmakemodules";
+    license = lib.licenses.lgpl3Plus;
+    maintainers = [ lib.maintainers.nim65s ];
+  };
+}
diff --git a/pkgs/development/python-modules/eigenpy/default.nix b/pkgs/development/python-modules/eigenpy/default.nix
index e3ec6adf2f72..ccc0254c9997 100644
--- a/pkgs/development/python-modules/eigenpy/default.nix
+++ b/pkgs/development/python-modules/eigenpy/default.nix
@@ -1,26 +1,32 @@
-{ lib
-, stdenv
-, fetchFromGitHub
-, cmake
-, doxygen
-, boost
-, eigen
-, numpy
-, scipy
+{
+  lib,
+  stdenv,
+  fetchFromGitHub,
+  cmake,
+  doxygen,
+  boost,
+  eigen,
+  jrl-cmakemodules,
+  numpy,
+  scipy,
 }:
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "eigenpy";
-  version = "3.4.0";
+  version = "3.5.0";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
-    repo = finalAttrs.pname;
+    repo = "eigenpy";
     rev = "v${finalAttrs.version}";
-    fetchSubmodules = true;
     hash = "sha256-/k5eltoeUW05FTjvStAOw+tguWLUaUced8TArrk4UDI=";
   };
 
+  outputs = [
+    "dev"
+    "out"
+  ];
+
   cmakeFlags = [
     "-DINSTALL_DOCUMENTATION=ON"
     "-DBUILD_TESTING_SCIPY=ON"
@@ -34,26 +40,26 @@ stdenv.mkDerivation (finalAttrs: {
     scipy
   ];
 
-  buildInputs = [
-    boost
-  ];
+  buildInputs = [ boost ];
 
   propagatedBuildInputs = [
     eigen
+    jrl-cmakemodules
     numpy
   ];
 
   doCheck = true;
-  pythonImportsCheck = [
-    "eigenpy"
-  ];
+  pythonImportsCheck = [ "eigenpy" ];
 
   meta = with lib; {
     description = "Bindings between Numpy and Eigen using Boost.Python";
     homepage = "https://github.com/stack-of-tasks/eigenpy";
     changelog = "https://github.com/stack-of-tasks/eigenpy/releases/tag/v${version}";
     license = licenses.bsd2;
-    maintainers = with maintainers; [ nim65s wegank ];
+    maintainers = with maintainers; [
+      nim65s
+      wegank
+    ];
     platforms = platforms.unix;
   };
 })