diff --git a/CMakeLists.txt b/CMakeLists.txt
index 730cdd9..6f9e552 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,8 +1,8 @@
-# Copyright: (C) 2022 Fondazione Istituto Italiano di Tecnologia
+# Copyright: (C) Fondazione Istituto Italiano di Tecnologia
 # Authors: Silvio Traversaro
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.8...3.16)
 
 project(icub-models
   VERSION 2.3.0)
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index dbe0273..2fd933a 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -15,8 +15,13 @@ if(ICUB_MODELS_USES_PYTHON)
       if(ICUB_MODELS_DETECT_ACTIVE_PYTHON_SITEPACKAGES)
         set(ICUB_MODELS_PYTHON_INSTALL_DIR ${Python3_SITELIB})
       else()
-        execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
-          OUTPUT_VARIABLE _PYTHON_INSTDIR)
+        if(Python3_VERSION VERSION_GREATER_EQUAL 3.12)
+          execute_process(COMMAND ${Python3_EXECUTABLE} -c "import os;import sysconfig;relative_site_packages = sysconfig.get_path('purelib').replace(sysconfig.get_path('data'), '').lstrip(os.path.sep);print(relative_site_packages)"
+            OUTPUT_VARIABLE _PYTHON_INSTDIR)
+        else()
+          execute_process(COMMAND ${Python3_EXECUTABLE} -c "from distutils import sysconfig; print(sysconfig.get_python_lib(1,0,prefix=''))"
+            OUTPUT_VARIABLE _PYTHON_INSTDIR)
+        endif()
         string(STRIP ${_PYTHON_INSTDIR} _PYTHON_INSTDIR_CLEAN)
         set(ICUB_MODELS_PYTHON_INSTALL_DIR ${_PYTHON_INSTDIR_CLEAN})
       endif()