diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
index ff24b5646..0e19014c0 100644
--- a/cmake/Buildbipedal-locomotion-framework.cmake
+++ b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -40,13 +40,6 @@ if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES)
   list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
 endif()
 
-# Workaround for https://github.com/robotology/robotology-superbuild/issues/802
-if(ROBOTOLOGY_USES_PYTHON AND NOT WIN32)
-  set(BUILD_PYTHON_BINDINGS ON)
-else()
-  set(BUILD_PYTHON_BINDINGS OFF)
-endif()
-
 ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
               STYLE GITHUB
               REPOSITORY dic-iit/bipedal-locomotion-framework.git
@@ -61,7 +54,7 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
                          -DFRAMEWORK_USE_cppad:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_LieGroupControllers:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
-                         -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=${BUILD_PYTHON_BINDINGS}
+                         -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON
                          ${bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS}
               DEPENDS ${bipedal-locomotion-framework_DEPENDS})
 
@@ -75,8 +68,5 @@ if(ROBOTOLOGY_USES_PYTHON)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES pybind11-abi)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES python)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES numpy)
-  # manifpy is not available on Windows on conda-forge, see https://github.com/conda-forge/manif-feedstock/issues/7
-  if(NOT WIN32)
-    list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES manifpy)
-  endif()
+  list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES manifpy)
 endif()
diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
index 515900a2e..4b9d61e80 100644
--- a/cmake/Buildmanif.cmake
+++ b/cmake/Buildmanif.cmake
@@ -4,7 +4,7 @@
 
 include(YCMEPHelper)
 
-# Workaround for https://github.com/robotology/robotology-superbuild/issues/802
+# Workaround for https://github.com/robotology/robotology-superbuild/pull/838#issuecomment-887367047
 if(ROBOTOLOGY_USES_PYTHON AND NOT WIN32)
   set(BUILD_PYTHON_BINDINGS ON)
 else()