diff --git a/3rdparty/libccd/CMakeLists.txt b/3rdparty/libccd/CMakeLists.txt
index 31aa7b7..6736f49 100644
--- a/3rdparty/libccd/CMakeLists.txt
+++ b/3rdparty/libccd/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.15)
+cmake_minimum_required(VERSION 3.13)
 
 if(POLICY CMP0042)
   cmake_policy(SET CMP0042 NEW)
diff --git a/3rdparty/rbdl/CMakeLists.txt b/3rdparty/rbdl/CMakeLists.txt
index e4d70fc..567906d 100644
--- a/3rdparty/rbdl/CMakeLists.txt
+++ b/3rdparty/rbdl/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.15)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.13)
 
 SET ( RBDL_VERSION_MAJOR 2 )
 SET ( RBDL_VERSION_MINOR 6 )
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f63d39d..87ffe38 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required (VERSION 3.15)
+cmake_minimum_required (VERSION 3.13)
 
 cmake_policy(SET CMP0077 NEW)