diff --git a/pkgs/development/python-modules/aligator/default.nix b/pkgs/development/python-modules/aligator/default.nix
index 6ef954f53a0e..e6e95ac5ba71 100644
--- a/pkgs/development/python-modules/aligator/default.nix
+++ b/pkgs/development/python-modules/aligator/default.nix
@@ -12,6 +12,8 @@
   python,
   matplotlib,
   pytest,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   aligator.overrideAttrs (super: {
@@ -19,7 +21,7 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     # this is used by CMake at configure/build time
@@ -27,11 +29,12 @@ toPythonModule (
       python
     ];
 
-    propagatedBuildInputs = super.propagatedBuildInputs ++ [
-      aligator
+    propagatedBuildInputs = [
       crocoddyl
       pinocchio
-    ];
+    ]
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone aligator;
 
     nativeCheckInputs = [
       pythonImportsCheckHook
diff --git a/pkgs/development/python-modules/coal/default.nix b/pkgs/development/python-modules/coal/default.nix
index 773de813e0da..28a7e1642d4f 100644
--- a/pkgs/development/python-modules/coal/default.nix
+++ b/pkgs/development/python-modules/coal/default.nix
@@ -10,6 +10,8 @@
   eigenpy,
   pylatexenc,
   numpy,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   coal.overrideAttrs (super: {
@@ -17,7 +19,7 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     # those are used by CMake at configure/build time
@@ -26,11 +28,12 @@ toPythonModule (
       pylatexenc
     ];
 
-    propagatedBuildInputs = super.propagatedBuildInputs ++ [
+    propagatedBuildInputs = [
       boost
-      coal
       eigenpy
-    ];
+    ]
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone coal;
 
     nativeCheckInputs = [
       pythonImportsCheckHook
diff --git a/pkgs/development/python-modules/crocoddyl/default.nix b/pkgs/development/python-modules/crocoddyl/default.nix
index 5e5e449899f0..0ab83be96bc9 100644
--- a/pkgs/development/python-modules/crocoddyl/default.nix
+++ b/pkgs/development/python-modules/crocoddyl/default.nix
@@ -14,6 +14,8 @@
   ipykernel,
   python,
   scipy,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   crocoddyl.overrideAttrs (super: {
@@ -21,7 +23,7 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     # those are used by CMake at configure/build time
@@ -29,10 +31,11 @@ toPythonModule (
       python
     ];
 
-    propagatedBuildInputs = super.propagatedBuildInputs ++ [
-      crocoddyl
+    propagatedBuildInputs = [
       example-robot-data
-    ];
+    ]
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone crocoddyl;
 
     nativeCheckInputs = [
       ffmpeg
diff --git a/pkgs/development/python-modules/example-robot-data/default.nix b/pkgs/development/python-modules/example-robot-data/default.nix
index 3a9bfc18b39d..fe452c73b439 100644
--- a/pkgs/development/python-modules/example-robot-data/default.nix
+++ b/pkgs/development/python-modules/example-robot-data/default.nix
@@ -8,6 +8,8 @@
 
   python,
   pinocchio,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   example-robot-data.overrideAttrs (super: {
@@ -15,17 +17,18 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     nativeBuildInputs = super.nativeBuildInputs ++ [
       python
     ];
 
-    propagatedBuildInputs = super.propagatedBuildInputs ++ [
-      example-robot-data
+    propagatedBuildInputs = [
       pinocchio
-    ];
+    ]
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone example-robot-data;
 
     nativeCheckInputs = [
       pythonImportsCheckHook
diff --git a/pkgs/development/python-modules/mim-solvers/default.nix b/pkgs/development/python-modules/mim-solvers/default.nix
index ebb18af22dfd..ca90458c4476 100644
--- a/pkgs/development/python-modules/mim-solvers/default.nix
+++ b/pkgs/development/python-modules/mim-solvers/default.nix
@@ -19,6 +19,8 @@
 
   # nativeCheckInputs
   pytest,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   mim-solvers.overrideAttrs (super: {
@@ -26,7 +28,7 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     # this is used by CMake at configure/build time
@@ -38,12 +40,12 @@ toPythonModule (
       boost
       crocoddyl
       eigenpy
-      mim-solvers
       osqp
       proxsuite
       scipy
     ]
-    ++ super.propagatedBuildInputs;
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone mim-solvers;
 
     nativeCheckInputs = super.nativeCheckInputs ++ [
       pythonImportsCheckHook
diff --git a/pkgs/development/python-modules/ndcurves/default.nix b/pkgs/development/python-modules/ndcurves/default.nix
index 885cfa64a024..f04d1a110815 100644
--- a/pkgs/development/python-modules/ndcurves/default.nix
+++ b/pkgs/development/python-modules/ndcurves/default.nix
@@ -9,13 +9,15 @@
   boost,
   pinocchio,
   python,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   ndcurves.overrideAttrs (super: {
     pname = "py-${super.pname}";
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
     # those are used by CMake at configure/build time
     nativeBuildInputs = super.nativeBuildInputs ++ [
@@ -24,12 +26,14 @@ toPythonModule (
     propagatedBuildInputs = [
       boost
       pinocchio
-      ndcurves
     ]
-    ++ super.propagatedBuildInputs;
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone ndcurves;
+
     nativeCheckInputs = [
       pythonImportsCheckHook
     ];
+
     pythonImportsCheck = [
       "ndcurves"
     ];
diff --git a/pkgs/development/python-modules/pinocchio/default.nix b/pkgs/development/python-modules/pinocchio/default.nix
index d2f722d9ee5c..95bda9dc0959 100644
--- a/pkgs/development/python-modules/pinocchio/default.nix
+++ b/pkgs/development/python-modules/pinocchio/default.nix
@@ -10,6 +10,8 @@
   casadi,
   matplotlib,
   python,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   pinocchio.overrideAttrs (super: {
@@ -17,18 +19,19 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     nativeBuildInputs = super.nativeBuildInputs ++ [
       python
     ];
 
-    propagatedBuildInputs = super.propagatedBuildInputs ++ [
+    propagatedBuildInputs = [
       casadi
       coal
-      pinocchio
-    ];
+    ]
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone pinocchio;
 
     checkInputs = super.checkInputs ++ [
       matplotlib
diff --git a/pkgs/development/python-modules/tsid/default.nix b/pkgs/development/python-modules/tsid/default.nix
index 3894c80d2854..7fbf21fba188 100644
--- a/pkgs/development/python-modules/tsid/default.nix
+++ b/pkgs/development/python-modules/tsid/default.nix
@@ -8,6 +8,8 @@
 
   pinocchio,
   python,
+
+  buildStandalone ? true,
 }:
 toPythonModule (
   tsid.overrideAttrs (super: {
@@ -15,7 +17,7 @@ toPythonModule (
 
     cmakeFlags = super.cmakeFlags ++ [
       (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
-      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" buildStandalone)
     ];
 
     # those are used by CMake at configure/build time
@@ -23,10 +25,11 @@ toPythonModule (
       python
     ];
 
-    propagatedBuildInputs = super.propagatedBuildInputs ++ [
+    propagatedBuildInputs = [
       pinocchio
-      tsid
-    ];
+    ]
+    ++ super.propagatedBuildInputs
+    ++ lib.optional buildStandalone tsid;
 
     nativeCheckInputs = [
       pythonImportsCheckHook