diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2edc62e..4c42e3d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,6 +19,7 @@ include(FindOrBuildPackage)
 
 # Pull remote packages if not found on system.
 find_or_build_package(AMOR_API)
+find_or_build_package(AMOR_YARP_DEVICES)
 find_or_build_package(AMOR_CONFIGURATION_FILES)
 find_or_build_package(AMOR_OPENRAVE_MODELS)
 find_or_build_package(ROBOTICSLAB_DEVELOPER_MANUAL)
diff --git a/cmake/ycm-modules/BuildAMOR_API.cmake b/cmake/ycm-modules/BuildAMOR_API.cmake
index 980a203..36fbdbf 100644
--- a/cmake/ycm-modules/BuildAMOR_API.cmake
+++ b/cmake/ycm-modules/BuildAMOR_API.cmake
@@ -1,6 +1,5 @@
 include(YCMEPHelper)
 
-
 ycm_ep_helper(AMOR_API TYPE GIT
               STYLE GITHUB
               REPOSITORY roboticslab-uc3m/amor-api.git
diff --git a/cmake/ycm-modules/BuildAMOR_YARP_DEVICES.cmake b/cmake/ycm-modules/BuildAMOR_YARP_DEVICES.cmake
new file mode 100644
index 0000000..75197aa
--- /dev/null
+++ b/cmake/ycm-modules/BuildAMOR_YARP_DEVICES.cmake
@@ -0,0 +1,11 @@
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(YARP QUIET)
+find_or_build_package(ROBOTICSLAB_KINEMATICS_DYNAMICS QUIET)
+
+ycm_ep_helper(AMOR_YARP_DEVICES TYPE GIT
+              STYLE GITHUB
+              REPOSITORY roboticslab-uc3m/amor-yarp-devices.git
+              TAG master
+              DEPENDS "YARP;ROBOTICSLAB_KINEMATICS_DYNAMICS")
diff --git a/cmake/ycm-modules/BuildROBOTICSLAB_KINEMATICS_DYNAMICS.cmake b/cmake/ycm-modules/BuildROBOTICSLAB_KINEMATICS_DYNAMICS.cmake
index cdc54f7..0a0f274 100644
--- a/cmake/ycm-modules/BuildROBOTICSLAB_KINEMATICS_DYNAMICS.cmake
+++ b/cmake/ycm-modules/BuildROBOTICSLAB_KINEMATICS_DYNAMICS.cmake
@@ -3,11 +3,10 @@ include(FindOrBuildPackage)
 
 find_or_build_package(orocos_kdl QUIET)
 find_or_build_package(YARP QUIET)
-find_or_build_package(AMOR_API QUIET)
 find_or_build_package(ROBOTICSLAB_YARP_DEVICES QUIET) # proximity sensors
 
 ycm_ep_helper(ROBOTICSLAB_KINEMATICS_DYNAMICS TYPE GIT
               STYLE GITHUB
               REPOSITORY roboticslab-uc3m/kinematics-dynamics.git
               TAG master
-              DEPENDS "orocos_kdl;YARP;AMOR_API;ROBOTICSLAB_YARP_DEVICES")
+              DEPENDS "orocos_kdl;YARP;ROBOTICSLAB_YARP_DEVICES")
diff --git a/cmake/ycm-modules/BuildROBOTICSLAB_YARP_DEVICES.cmake b/cmake/ycm-modules/BuildROBOTICSLAB_YARP_DEVICES.cmake
index 6736f8f..8d2eb9d 100644
--- a/cmake/ycm-modules/BuildROBOTICSLAB_YARP_DEVICES.cmake
+++ b/cmake/ycm-modules/BuildROBOTICSLAB_YARP_DEVICES.cmake
@@ -2,10 +2,9 @@ include(YCMEPHelper)
 include(FindOrBuildPackage)
 
 find_or_build_package(YARP QUIET)
-find_or_build_package(AMOR_API QUIET)
 
 ycm_ep_helper(ROBOTICSLAB_YARP_DEVICES TYPE GIT
               STYLE GITHUB
               REPOSITORY roboticslab-uc3m/yarp-devices.git
               TAG master
-              DEPENDS "YARP;AMOR_API")
+              DEPENDS YARP)
diff --git a/doc/amor-main-install.md b/doc/amor-main-install.md
index 7cb9d58..0f056a9 100644
--- a/doc/amor-main-install.md
+++ b/doc/amor-main-install.md
@@ -6,6 +6,7 @@ First install the dependencies:
 Additionally, this project depends on YCM to download and build external packages. Although this process is intended to run automatically during the CMake configuration phase, you may still want to install YCM and said packages by yourself. In that respect, refer to [Install YCM](https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-ycm.md) and to the installation guides of any package listed below:
 
 - [amor-api](https://github.com/roboticslab-uc3m/amor-api) (private)
+- [amor-yarp-devices](https://github.com/roboticslab-uc3m/amor-yarp-devices)
 - [amor-configuration-files](https://github.com/roboticslab-uc3m/amor-configuration-files)
 - [amor-openrave-models](https://github.com/roboticslab-uc3m/amor-openrave-models)
 - [developer-manual](https://github.com/roboticslab-uc3m/developer-manual)