diff --git a/CMakeLists.txt b/CMakeLists.txt
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -73,9 +73,8 @@
     collision-bullet
     collision-ode
     utils
     utils-urdf
   CONFIG
   VERSION 6.9
   REQUIRED_BY dartsim
-  PKGCONFIG dart
   PKGCONFIG_VER_COMPARISON >=)
@@ -82,7 +82,6 @@
 #--------------------------------------
 # Find bullet for the bullet plugin wrapper
 gz_find_package(GzBullet
   VERSION 2.87
   REQUIRED_BY bullet bullet-featherstone
-  PKGCONFIG bullet
   PKGCONFIG_VER_COMPARISON >=)