From 257c2c5cd6042cba3a3857ef831b04a242337960 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Wed, 12 Feb 2025 20:49:39 +0100
Subject: [PATCH 1/4] Change from cmake-format to gersemi for formatting CMake
 listfiles

---
 .cmake-format.yaml      | 58 -----------------------------------------
 .gersemirc              | 12 +++++++++
 .pre-commit-config.yaml |  7 +++--
 3 files changed, 15 insertions(+), 62 deletions(-)
 delete mode 100644 .cmake-format.yaml
 create mode 100644 .gersemirc

diff --git a/.cmake-format.yaml b/.cmake-format.yaml
deleted file mode 100644
index 6758cd2853..0000000000
--- a/.cmake-format.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-markup:
-  first_comment_is_literal: true
-format:
-  line_width: 100
-parse:
-  additional_commands:
-    cxx_flags_by_compiler_frontend:
-      pargs: 0
-      kwargs:
-        OUTPUT: 1
-        GNU: '*'
-        MSVC: '*'
-        FILTER: 0
-    modernize_target_link_libraries:
-      pargs: 1
-      kwargs:
-        SCOPE: 1
-        TARGETS: '*'
-        LIBRARIES: '*'
-        INCLUDE_DIRS: '*'
-    pinocchio_target:
-      pargs: 1
-      kwargs:
-        INTERFACE: 0
-        SCALAR: 1
-        LIBRARY_PUBLIC_SCOPE: 1
-        SOURCES: '*'
-    add_pinocchio_cpp_example:
-      pargs: 1
-      kwargs:
-        PARSERS: 0
-        CPPAD: 0
-        CPPADCG: 0
-        CASADI: 0
-    add_pinocchio_unit_test:
-      pargs: 1
-      kwargs:
-        HEADER_ONLY: 0
-        PARSERS: 0
-        EXTRA: 0
-        COLLISION: 0
-        PARALLEL: 0
-        PARSERS_OPTIONAL: 0
-        EXTRA_OPTIONAL: 0
-        COLLISION_OPTIONAL: 0
-        PARALLEL_OPTIONAL: 0
-        PACKAGES: '*'
-    install_python_files:
-      pargs: 0
-      kwargs:
-        MODULE: 1
-        FILES: '*'
-    add_project_dependency:
-      pargs: '*'
-      kwargs:
-        PKG_CONFIG_REQUIRES: 1
-        FOR_COMPONENT: 1
-        FIND_EXTERNAL: 1
diff --git a/.gersemirc b/.gersemirc
new file mode 100644
index 0000000000..eedf1979f6
--- /dev/null
+++ b/.gersemirc
@@ -0,0 +1,12 @@
+definitions: [
+  ./benchmark,
+  ./bindings,
+  ./CMakeLists.txt,
+  ./cmake,
+  ./src,
+  ./unittest,
+  ./utils
+  ]
+line_length: 100
+indent: 2
+warn_about_unknown_commands: false
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8673a90b5e..cca6dbd65e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -31,11 +31,10 @@ repos:
     hooks:
       - id: ruff
       - id: ruff-format
-  - repo: https://github.com/cheshirekow/cmake-format-precommit
-    rev: v0.6.13
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.19.0
     hooks:
-      - id: cmake-format
-        additional_dependencies: [pyyaml>=5.1]
+      - id: gersemi
         exclude: pinocchiopy.pc.cmake
   - repo: https://github.com/Lucas-C/pre-commit-hooks
     rev: v1.5.5

From d80ff47ec821c04767e88c83d836dff24c971b98 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Wed, 12 Feb 2025 20:53:11 +0100
Subject: [PATCH 2/4] pre-commit: run --all (reformat listfiles using gersemi)

---
 .../cmake/linux-debug-toolchain.cmake         |    4 +-
 CMakeLists.txt                                |  255 ++--
 benchmark/CMakeLists.txt                      |   46 +-
 bindings/CMakeLists.txt                       |    4 +-
 bindings/python/CMakeLists.txt                |  193 ++-
 examples/CMakeLists.txt                       |   46 +-
 examples/casadi/CMakeLists.txt                |    6 +-
 examples/codegen/CMakeLists.txt               |   18 +-
 examples/cppad/CMakeLists.txt                 |   11 +-
 sources.cmake                                 | 1302 +++++++++--------
 src/CMakeLists.txt                            |  236 +--
 unittest/CMakeLists.txt                       |  290 ++--
 unittest/algorithm/utils/CMakeLists.txt       |    4 +-
 unittest/casadi/CMakeLists.txt                |   26 +-
 unittest/cppad/CMakeLists.txt                 |   16 +-
 unittest/cppadcg/CMakeLists.txt               |   16 +-
 unittest/packaging/external/CMakeLists.txt    |   11 +-
 unittest/packaging/pkgconfig/CMakeLists.txt   |    6 +-
 unittest/python/CMakeLists.txt                |  108 +-
 unittest/python/casadi/CMakeLists.txt         |    4 +-
 unittest/python/pybind11/CMakeLists.txt       |   13 +-
 utils/CMakeLists.txt                          |    4 +-
 22 files changed, 1403 insertions(+), 1216 deletions(-)

diff --git a/.github/workflows/cmake/linux-debug-toolchain.cmake b/.github/workflows/cmake/linux-debug-toolchain.cmake
index a56234b0a3..a08155ee86 100644
--- a/.github/workflows/cmake/linux-debug-toolchain.cmake
+++ b/.github/workflows/cmake/linux-debug-toolchain.cmake
@@ -1,6 +1,4 @@
 # Don't generate debug symbols.
 # This is useless for the CI build (we don't retrieve any binaries) and can stop the build
 # by taking all the disk space.
-set(CMAKE_CXX_FLAGS_DEBUG
-    ""
-    CACHE STRING "")
+set(CMAKE_CXX_FLAGS_DEBUG "" CACHE STRING "")
diff --git a/CMakeLists.txt b/CMakeLists.txt
index df25fb61b8..564c3837c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,8 +6,9 @@
 cmake_minimum_required(VERSION 3.10)
 
 set(PROJECT_NAME pinocchio)
-set(PROJECT_DESCRIPTION
-    "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
+set(
+  PROJECT_DESCRIPTION
+  "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
 )
 set(PROJECT_URL "http://github.com/stack-of-tasks/pinocchio")
 set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
@@ -39,20 +40,24 @@ else()
     get_property(
       JRL_CMAKE_MODULES
       TARGET jrl-cmakemodules::jrl-cmakemodules
-      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+    )
     message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
   elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
     message(
       FATAL_ERROR
-        "\nCan't find jrl-cmakemodules. Please either:\n"
-        "  - use git submodule: 'git submodule update --init'\n"
-        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
-        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n")
+      "\nCan't find jrl-cmakemodules. Please either:\n"
+      "  - use git submodule: 'git submodule update --init'\n"
+      "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+      "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+    )
   else()
     message(STATUS "JRL cmakemodules not found. Let's fetch it.")
     include(FetchContent)
-    FetchContent_Declare("jrl-cmakemodules"
-                         GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+    )
     FetchContent_MakeAvailable("jrl-cmakemodules")
     FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
   endif()
@@ -84,7 +89,7 @@ if(POLICY CMP0177)
 endif()
 include("${JRL_CMAKE_MODULES}/base.cmake")
 
-compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 project(${PROJECT_NAME} ${PROJECT_ARGS})
 
 include("${JRL_CMAKE_MODULES}/python.cmake")
@@ -103,13 +108,13 @@ endif()
 include(CMakeDependentOption)
 
 # If needed, set CMake policy for APPLE systems
-apply_default_apple_configuration()
+APPLY_DEFAULT_APPLE_CONFIGURATION()
 if(CMAKE_VERSION VERSION_GREATER "3.12")
   cmake_policy(SET CMP0074 NEW)
 endif()
 
 # Force C++ standard to be C++11 at least
-check_minimal_cxx_standard(11 ENFORCE)
+CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
 
 # --- OPTIONS ----------------------------------------
 option(BUILD_BENCHMARK "Build the benchmarks" OFF)
@@ -121,9 +126,10 @@ option(BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit ver
 if(DEFINED BUILD_UNIT_TESTS)
   message(
     AUTHOR_WARNING
-      "BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.\
+    "BUILD_UNIT_TESTS is deprecated. Use BUILD_TESTING instead.\
     If you are manually building Pinocchio from source in an existing build folder,\
-    we suggest that you delete your build folder and make a new one.")
+    we suggest that you delete your build folder and make a new one."
+  )
   set(BUILD_TESTING ${BUILD_UNIT_TESTS})
 endif(DEFINED BUILD_UNIT_TESTS)
 
@@ -132,24 +138,41 @@ option(BUILD_ADVANCED_TESTING "Build the advanced tests (multiprecision, etc.) o
 # --- OPTIONAL DEPENDENCIES -------------------------
 option(BUILD_WITH_URDF_SUPPORT "Build the library with the URDF format support" ON)
 option(BUILD_WITH_SDF_SUPPORT "Build the library with the SDF format support" OFF)
-option(BUILD_WITH_COLLISION_SUPPORT
-       "Build the library with the collision support (required HPP-FCL)" OFF)
-option(BUILD_WITH_AUTODIFF_SUPPORT
-       "Build the library with the automatic differentiation support (via CppAD)" OFF)
+option(
+  BUILD_WITH_COLLISION_SUPPORT
+  "Build the library with the collision support (required HPP-FCL)"
+  OFF
+)
+option(
+  BUILD_WITH_AUTODIFF_SUPPORT
+  "Build the library with the automatic differentiation support (via CppAD)"
+  OFF
+)
 option(BUILD_WITH_CASADI_SUPPORT "Build the library with the support of CASADI" OFF)
 # cppadcodgen don't build well with CL
 if(NOT WIN32)
-  option(BUILD_WITH_CODEGEN_SUPPORT
-         "Build the library with the support of code generation (via CppADCodeGen)" OFF)
+  option(
+    BUILD_WITH_CODEGEN_SUPPORT
+    "Build the library with the support of code generation (via CppADCodeGen)"
+    OFF
+  )
 endif()
 option(BUILD_WITH_OPENMP_SUPPORT "Build the library with the OpenMP support" OFF)
 option(BUILD_WITH_EXTRA_SUPPORT "Build the library with extra algorithms support" OFF)
 cmake_dependent_option(
   BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT
-  "Build the Python interface with Boost.Multiprecision MPFR support" OFF BUILD_PYTHON_INTERFACE
-  OFF)
-cmake_dependent_option(BUILD_WITH_LIBPYTHON "Build the library with Python format support" ON
-                       "BUILD_PYTHON_INTERFACE" OFF)
+  "Build the Python interface with Boost.Multiprecision MPFR support"
+  OFF
+  BUILD_PYTHON_INTERFACE
+  OFF
+)
+cmake_dependent_option(
+  BUILD_WITH_LIBPYTHON
+  "Build the library with Python format support"
+  ON
+  "BUILD_PYTHON_INTERFACE"
+  OFF
+)
 if(APPLE)
   option(BUILD_WITH_ACCELERATE_SUPPORT "Build Pinocchio with the Accelerate support" OFF)
 else(APPLE)
@@ -209,28 +232,28 @@ set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/models")
 # --- DEPENDENCIES -----------------------------------
 # ----------------------------------------------------
 set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/CppAD/" ${CMAKE_MODULE_PATH})
-add_project_dependency(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
+ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.5")
 
 if(BUILD_WITH_URDF_SUPPORT)
-  add_project_dependency(urdfdom_headers REQUIRED)
-  add_project_dependency(urdfdom REQUIRED PKG_CONFIG_REQUIRES "urdfdom >= 0.2.0")
+  ADD_PROJECT_DEPENDENCY(urdfdom_headers REQUIRED)
+  ADD_PROJECT_DEPENDENCY(urdfdom REQUIRED PKG_CONFIG_REQUIRES "urdfdom >= 0.2.0")
   set(urdfdom_VERSION ${urdfdom_headers_VERSION})
   list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_URDFDOM")
 
   if(${urdfdom_VERSION} VERSION_GREATER "0.4.2")
-    check_minimal_cxx_standard(11 ENFORCE)
+    CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
     message(
       STATUS
-        "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard."
+      "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard."
     )
   endif()
 endif()
 
 if(BUILD_WITH_SDF_SUPPORT)
   include(${CMAKE_CURRENT_LIST_DIR}/cmake/sdformat.cmake)
-  search_for_sdformat(REQUIRED)
+  SEARCH_FOR_SDFORMAT(REQUIRED)
   if(SDFormat_FOUND)
-    check_minimal_cxx_standard(11 REQUIRED)
+    CHECK_MINIMAL_CXX_STANDARD(11 REQUIRED)
     include_directories(${SDFormat_INCLUDE_DIRS})
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${SDFormat_CXX_FLAGS}")
     list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_SDFORMAT")
@@ -247,97 +270,109 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   if(BUILD_WITH_CODEGEN_SUPPORT)
     # No need to add cppadcg to pkg-config (no lib and header in the same directory than cppad)
-    add_project_dependency(cppadcg 2.4.1 REQUIRED)
+    ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED)
     list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_cppadcg)
   endif(BUILD_WITH_CODEGEN_SUPPORT)
 
-  add_project_dependency(
-    cppad 20180000.0 REQUIRED
+  ADD_PROJECT_DEPENDENCY(
+    cppad
+    20180000.0
+    REQUIRED
     PKG_CONFIG_REQUIRES "cppad >= 20220624.0"
-    FIND_EXTERNAL "CppAD")
+    FIND_EXTERNAL "CppAD"
+  )
   list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_cppad)
 endif(BUILD_WITH_AUTODIFF_SUPPORT)
 
 if(BUILD_WITH_CASADI_SUPPORT)
-  add_project_dependency(casadi 3.4.5 REQUIRED PKG_CONFIG_REQUIRES "casadi >= 3.4.5")
+  ADD_PROJECT_DEPENDENCY(casadi 3.4.5 REQUIRED PKG_CONFIG_REQUIRES "casadi >= 3.4.5")
   list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_casadi)
 endif(BUILD_WITH_CASADI_SUPPORT)
 
 if(BUILD_WITH_OPENMP_SUPPORT)
-  add_project_dependency(OpenMP REQUIRED)
+  ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
 endif()
 
 if(BUILD_WITH_EXTRA_SUPPORT)
   list(APPEND LIBRARIES_DEPENDENCIES ${PROJECT_NAME}_extra qhullcpp qhull_r)
-  add_project_dependency(Qhull COMPONENTS qhullcpp qhull_r REQUIRED)
+  ADD_PROJECT_DEPENDENCY(
+    Qhull
+    COMPONENTS
+    qhullcpp
+    qhull_r
+    REQUIRED
+  )
   message(STATUS "Found Qhull.")
 endif()
 
 set(BOOST_REQUIRED_COMPONENTS filesystem serialization system)
 
-set_boost_default_options()
-export_boost_default_options()
-add_project_dependency(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
+SET_BOOST_DEFAULT_OPTIONS()
+EXPORT_BOOST_DEFAULT_OPTIONS()
+ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
 
 if(Boost_VERSION_STRING VERSION_LESS 1.81)
   if(BUILD_WITH_URDF_SUPPORT AND "${urdfdom_VERSION}" VERSION_GREATER "0.4.2")
-    check_minimal_cxx_standard(11 ENFORCE)
+    CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
     message(
       STATUS
-        "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard."
+      "Since urdfdom >= 1.0.0, the default C++ standard is C++11. The project is then compiled with C++11 standard."
     )
   endif()
 else()
   # Boost.Math will be C++14 starting in July 2023 (Boost 1.82 release)
-  check_minimal_cxx_standard(14 ENFORCE)
+  CHECK_MINIMAL_CXX_STANDARD(14 ENFORCE)
 endif()
 
 if(BUILD_PYTHON_INTERFACE)
   message(
     STATUS
-      "The Python bindings of Pinocchio will be compiled along the main library. If you want to disable this feature, please set the option BUILD_PYTHON_INTERFACE to OFF."
+    "The Python bindings of Pinocchio will be compiled along the main library. If you want to disable this feature, please set the option BUILD_PYTHON_INTERFACE to OFF."
   )
 
   set(PYTHON_COMPONENTS Interpreter Development NumPy)
-  findpython(REQUIRED)
-  add_project_dependency(eigenpy 2.7.10 REQUIRED)
+  FINDPYTHON(REQUIRED)
+  ADD_PROJECT_DEPENDENCY(eigenpy 2.7.10 REQUIRED)
 
   if(BUILD_WITH_URDF_SUPPORT)
     # console_bridge is urdfdom dependency.
     #
     # We bind some enum of this library and then must link against it.
-    add_project_dependency(console_bridge REQUIRED)
+    ADD_PROJECT_DEPENDENCY(console_bridge REQUIRED)
   endif()
 
   # Check wether this a PyPy Python
   execute_process(
     COMMAND ${PYTHON_EXECUTABLE} -c "import platform; print(platform.python_implementation())"
     OUTPUT_VARIABLE _python_implementation_value
-    OUTPUT_STRIP_TRAILING_WHITESPACE ERROR_QUIET)
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+    ERROR_QUIET
+  )
 
   message(STATUS "Python compiler: ${_python_implementation_value}")
   if(_python_implementation_value MATCHES "PyPy")
     set(BUILD_WITH_PYTHON_PARSER_SUPPORT OFF)
     message(
       STATUS
-        "PyPy detected, therefore libpython is not available and BUILD_WITH_LIBPYTHON set to OFF.")
+      "PyPy detected, therefore libpython is not available and BUILD_WITH_LIBPYTHON set to OFF."
+    )
   endif()
 else()
   message(
     STATUS
-      "Pinocchio won't be compiled with its Python bindings. If you want to enable this feature, please set the option BUILD_PYTHON_INTERFACE to ON."
+    "Pinocchio won't be compiled with its Python bindings. If you want to enable this feature, please set the option BUILD_PYTHON_INTERFACE to ON."
   )
 endif()
 
 if(BUILD_WITH_HPP_FCL_SUPPORT)
-  add_project_dependency(hpp-fcl 2.1.2 REQUIRED "hpp-fcl >= 2.1.2")
+  ADD_PROJECT_DEPENDENCY(hpp-fcl 2.1.2 REQUIRED "hpp-fcl >= 2.1.2")
 endif()
 
 if(BUILD_WITH_ACCELERATE_SUPPORT)
   if(NOT ${Eigen3_VERSION} VERSION_GREATER_EQUAL "3.4.90")
     message(
       FATAL_ERROR
-        "Your version of Eigen is too low. Should be at least 3.4.90. Current version is ${Eigen3_VERSION}."
+      "Your version of Eigen is too low. Should be at least 3.4.90. Current version is ${Eigen3_VERSION}."
     )
   endif()
 
@@ -356,8 +391,11 @@ include(sources.cmake)
 # Template instantiation sources
 if(ENABLE_TEMPLATE_INSTANTIATION)
   list(APPEND ${PROJECT_NAME}_CORE_SOURCES ${${PROJECT_NAME}_TEMPLATE_INSTANTIATION_SOURCES})
-  list(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
-       ${${PROJECT_NAME}_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS})
+  list(
+    APPEND
+    ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS}
+  )
 endif()
 
 # URDF sources
@@ -374,36 +412,63 @@ endif(BUILD_WITH_SDF_SUPPORT)
 
 # Extra sources
 if(BUILD_WITH_EXTRA_SUPPORT)
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_SOURCES})
+  list(
+    APPEND
+    ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_SOURCES}
+  )
 endif()
 
 # HPP-FCL sources
 if(BUILD_WITH_HPP_FCL_SUPPORT)
   if(ENABLE_TEMPLATE_INSTANTIATION)
-    list(APPEND ${PROJECT_NAME}_COLLISION_SOURCES
-         ${${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_SOURCES})
-    list(APPEND ${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS
-         ${${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS})
+    list(
+      APPEND
+      ${PROJECT_NAME}_COLLISION_SOURCES
+      ${${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_SOURCES}
+    )
+    list(
+      APPEND
+      ${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS
+      ${${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS}
+    )
   endif()
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES})
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS})
+  list(
+    APPEND
+    ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES}
+  )
+  list(
+    APPEND
+    ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS}
+  )
   if(BUILD_WITH_OPENMP_SUPPORT)
-    list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-         ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_SOURCES})
-    list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
-         ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_PUBLIC_HEADERS})
+    list(
+      APPEND
+      ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+      ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_SOURCES}
+    )
+    list(
+      APPEND
+      ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+      ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_PUBLIC_HEADERS}
+    )
   endif()
 endif(BUILD_WITH_HPP_FCL_SUPPORT)
 
 # OpenMP sources
 if(BUILD_WITH_OPENMP_SUPPORT)
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_SOURCES})
-  list(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
-       ${${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_PUBLIC_HEADERS})
+  list(
+    APPEND
+    ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_SOURCES}
+  )
+  list(
+    APPEND
+    ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_PUBLIC_HEADERS}
+  )
 endif()
 
 # List headers to install
@@ -437,8 +502,11 @@ function(ADD_WINDOWS_DLL_PATH_TO_TEST TEST_NAME)
   if(WIN32)
     get_test_property(${TEST_NAME} ENVIRONMENT ENV_VARIABLES)
     # TODO don't do this in the future
-    list(APPEND ENV_VARIABLES
-         "PINOCCHIO_WINDOWS_DLL_PATH=$<TARGET_FILE_DIR:${PROJECT_NAME}_default>")
+    list(
+      APPEND
+      ENV_VARIABLES
+      "PINOCCHIO_WINDOWS_DLL_PATH=$<TARGET_FILE_DIR:${PROJECT_NAME}_default>"
+    )
     set_tests_properties(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   endif()
 endfunction()
@@ -465,60 +533,55 @@ add_subdirectory(benchmark)
 macro(EXPORT_VARIABLE var_name var_value)
   get_directory_property(has_parent PARENT_DIRECTORY)
   if(has_parent)
-    set(${var_name}
-        ${var_value}
-        PARENT_SCOPE)
+    set(${var_name} ${var_value} PARENT_SCOPE)
   else()
     set(${var_name} ${var_value})
   endif()
-endmacro(
-  EXPORT_VARIABLE
-  var_name
-  var_value)
+endmacro(EXPORT_VARIABLE var_name var_value)
 
 if(BUILD_WITH_URDF_SUPPORT)
-  export_variable(PINOCCHIO_USE_URDFDOM ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_URDFDOM ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_URDFDOM \"\")")
 endif()
 if(BUILD_WITH_HPP_FCL_SUPPORT)
-  export_variable(PINOCCHIO_USE_HPP_FCL ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_HPP_FCL ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_HPP_FCL \"\")")
 endif()
 if(BUILD_WITH_CPPAD_SUPPORT)
-  export_variable(PINOCCHIO_USE_CPPAD ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_CPPAD ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD \"\")")
 endif()
 if(BUILD_WITH_CPPAD_CODEGEN_SUPPORT)
-  export_variable(PINOCCHIO_USE_CPPAD_CODEGEN ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_CPPAD_CODEGEN ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD_CODEGEN \"\")")
 endif()
 if(BUILD_WITH_CASADI_SUPPORT)
-  export_variable(PINOCCHIO_USE_CASADI ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_CASADI ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CASADI \"\")")
 endif()
 if(BUILD_PYTHON_INTERFACE)
-  export_variable(PINOCCHIO_WITH_PYTHON_INTERFACE ON)
+  EXPORT_VARIABLE(PINOCCHIO_WITH_PYTHON_INTERFACE ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_WITH_PYTHON_INTERFACE \"\")")
 endif()
 if(BUILD_WITH_EXTRA_SUPPORT)
-  export_variable(PINOCCHIO_USE_EXTRA ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_EXTRA ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_EXTRA \"\")")
 endif()
 if(BUILD_WITH_PYTHON_PARSER_SUPPORT)
-  export_variable(PINOCCHIO_USE_PYTHON_PARSER ON)
+  EXPORT_VARIABLE(PINOCCHIO_USE_PYTHON_PARSER ON)
   set(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_PYTHON_PARSER \"\")")
 endif()
-export_variable(pinocchio_VERSION ${pinocchio_VERSION})
+EXPORT_VARIABLE(pinocchio_VERSION ${pinocchio_VERSION})
 
 # Setup pkg-configs flags and libs
-pkg_config_append_libs("${LIBRARIES_DEPENDENCIES}")
+PKG_CONFIG_APPEND_LIBS("${LIBRARIES_DEPENDENCIES}")
 foreach(boostlib ${BOOST_REQUIRED_COMPONENTS})
-  pkg_config_append_libs("boost_${boostlib}")
+  PKG_CONFIG_APPEND_LIBS("boost_${boostlib}")
 endforeach()
-pkg_config_append_cflags("${CFLAGS_DEPENDENCIES}")
-pkg_config_append_cflags("${CFLAGS_OPTIONS}")
+PKG_CONFIG_APPEND_CFLAGS("${CFLAGS_DEPENDENCIES}")
+PKG_CONFIG_APPEND_CFLAGS("${CFLAGS_OPTIONS}")
 
 # Install catkin package.xml
 install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 
-setup_project_finalize()
+SETUP_PROJECT_FINALIZE()
diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
index c8adf74be8..ce9ebc9a33 100644
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -18,8 +18,10 @@ macro(ADD_BENCH bench_name)
   if(NumExtraMacroArgs GREATER 0)
     set(link_to_main_lib ${ARGV1})
     if(link_to_main_lib)
-      set_target_properties(${bench_name} PROPERTIES COMPILE_DEFINITIONS
-                                                     PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
+      set_target_properties(
+        ${bench_name}
+        PROPERTIES COMPILE_DEFINITIONS PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}"
+      )
       target_link_libraries(${bench_name} PUBLIC ${PROJECT_NAME})
     endif(link_to_main_lib)
   endif()
@@ -28,10 +30,7 @@ macro(ADD_BENCH bench_name)
 endmacro(ADD_BENCH)
 
 macro(ADD_TEST_CFLAGS target flag)
-  set_property(
-    TARGET ${target}
-    APPEND_STRING
-    PROPERTY COMPILE_FLAGS " ${flag}")
+  set_property(TARGET ${target} APPEND_STRING PROPERTY COMPILE_FLAGS " ${flag}")
 endmacro(ADD_TEST_CFLAGS)
 
 if(CPPAD_FOUND)
@@ -44,53 +43,56 @@ endif(cppadcg_FOUND)
 
 # timings
 #
-add_bench(timings TRUE)
+ADD_BENCH(timings TRUE)
 if(cppadcg_FOUND)
-  add_bench(timings-cg TRUE)
+  ADD_BENCH(timings-cg TRUE)
   target_link_libraries(timings-cg PUBLIC ${CMAKE_DL_LIBS} ${cppad_LIBRARY})
 endif(cppadcg_FOUND)
 
 if(BUILD_WITH_OPENMP_SUPPORT)
-  add_bench(timings-parallel TRUE)
+  ADD_BENCH(timings-parallel TRUE)
 endif(BUILD_WITH_OPENMP_SUPPORT)
 
 # timings
 #
-add_bench(timings-cholesky TRUE)
+ADD_BENCH(timings-cholesky TRUE)
 
 # timings derivatives
 
-add_bench(timings-derivatives TRUE)
+ADD_BENCH(timings-derivatives TRUE)
 if(CPPAD_FOUND)
   # timings-cppad-jit
-  add_bench(timings-cppad-jit TRUE)
+  ADD_BENCH(timings-cppad-jit TRUE)
   target_link_libraries(timings-derivatives PUBLIC ${cppad_LIBRARY})
   target_link_libraries(timings-cppad-jit PUBLIC ${cppad_LIBRARY} ${CMAKE_DL_LIBS})
-  target_compile_definitions(timings-cppad-jit
-                             PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
+  target_compile_definitions(
+    timings-cppad-jit
+    PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\"
+  )
 endif()
 
 # timings-eigen
 #
-add_bench(timings-eigen)
-modernize_target_link_libraries(
+ADD_BENCH(timings-eigen)
+MODERNIZE_TARGET_LINK_LIBRARIES(
   timings-eigen
   SCOPE PUBLIC
   TARGETS Eigen3::Eigen
-  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}
+)
 
 # timings-geometry
 #
 if(URDFDOM_FOUND AND hpp-fcl_FOUND)
-  add_bench(timings-geometry TRUE)
+  ADD_BENCH(timings-geometry TRUE)
 endif(URDFDOM_FOUND AND hpp-fcl_FOUND)
 
 # timings-jacobian
 #
-add_bench(timings-jacobian TRUE)
+ADD_BENCH(timings-jacobian TRUE)
 
 # timings-contact-dynamics
 #
-add_bench(timings-delassus-operations TRUE)
-add_bench(timings-contact-dynamics TRUE)
-add_bench(timings-constrained-dynamics-derivatives TRUE)
+ADD_BENCH(timings-delassus-operations TRUE)
+ADD_BENCH(timings-contact-dynamics TRUE)
+ADD_BENCH(timings-constrained-dynamics-derivatives TRUE)
diff --git a/bindings/CMakeLists.txt b/bindings/CMakeLists.txt
index b92c77e82b..274f920b04 100644
--- a/bindings/CMakeLists.txt
+++ b/bindings/CMakeLists.txt
@@ -4,7 +4,5 @@
 
 add_subdirectory(python)
 if(BUILD_PYTHON_INTERFACE)
-  set(PYWRAP
-      ${PYWRAP}
-      PARENT_SCOPE)
+  set(PYWRAP ${PYWRAP} PARENT_SCOPE)
 endif(BUILD_PYTHON_INTERFACE)
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 41fe8e28f3..c9d2fac140 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -5,14 +5,16 @@
 
 include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 include(${JRL_CMAKE_MODULES}/stubs.cmake)
-set(CMAKE_MODULE_PATH "${JRL_CMAKE_MODULES}/find-external/GMP"
-                      "${JRL_CMAKE_MODULES}/find-external/MPFR" ${CMAKE_MODULE_PATH})
+set(
+  CMAKE_MODULE_PATH
+  "${JRL_CMAKE_MODULES}/find-external/GMP"
+  "${JRL_CMAKE_MODULES}/find-external/MPFR"
+  ${CMAKE_MODULE_PATH}
+)
 
 # --- PYTHON TARGET --- #
 set(PYWRAP ${PROJECT_NAME}_pywrap)
-set(PYWRAP
-    ${PYWRAP}
-    PARENT_SCOPE)
+set(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
 # --- COMPILE WRAPPER
 make_directory("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
@@ -51,54 +53,59 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
   # loaded (see https://github.com/stack-of-tasks/pinocchio/issues/2462).
   set_target_properties(
     ${PYTHON_LIB_NAME}
-    PROPERTIES PREFIX ""
-               DEFINE_SYMBOL "${PYWRAP}_EXPORTS"
-               CXX_VISIBILITY_PRESET hidden
-               VISIBILITY_INLINES_HIDDEN ON)
+    PROPERTIES
+      PREFIX ""
+      DEFINE_SYMBOL "${PYWRAP}_EXPORTS"
+      CXX_VISIBILITY_PRESET hidden
+      VISIBILITY_INLINES_HIDDEN ON
+  )
 
   # Do not report:
   #
   # * -Wconversion as the BOOST_PYTHON_FUNCTION_OVERLOADS implicitly converts.
   # * -Wcomment as latex equations have multi-line comments.
   # * -Wself-assign-overloaded as bp::self operations trigger this (Clang only).
-  cxx_flags_by_compiler_frontend(
+  CXX_FLAGS_BY_COMPILER_FRONTEND(
     GNU -Wno-conversion -Wno-comment -Wno-self-assign-overloaded
     OUTPUT PRIVATE_OPTIONS
-    FILTER)
+    FILTER
+  )
   target_compile_options(${PYTHON_LIB_NAME} PRIVATE ${PRIVATE_OPTIONS})
 
   set(PINOCCHIO_PYTHON_CONTEXT_FILE_VALUE "pinocchio/bindings/python/context/${scalar_name}.hpp")
   target_compile_definitions(
     ${PYTHON_LIB_NAME}
-    PRIVATE PINOCCHIO_PYTHON_CONTEXT_FILE="${PINOCCHIO_PYTHON_CONTEXT_FILE_VALUE}"
-            PINOCCHIO_PYTHON_MODULE_NAME=${PYTHON_LIB_NAME})
+    PRIVATE
+      PINOCCHIO_PYTHON_CONTEXT_FILE="${PINOCCHIO_PYTHON_CONTEXT_FILE_VALUE}"
+      PINOCCHIO_PYTHON_MODULE_NAME=${PYTHON_LIB_NAME}
+  )
 
   set_target_properties(${PYTHON_LIB_NAME} PROPERTIES VERSION ${PROJECT_VERSION})
   if(BUILD_WITH_COMMIT_VERSION)
-    tag_library_version(${PYTHON_LIB_NAME})
+    TAG_LIBRARY_VERSION(${PYTHON_LIB_NAME})
   endif(BUILD_WITH_COMMIT_VERSION)
-  add_header_group(${PYTHON_LIB_NAME}_HEADERS)
-  add_source_group(${PYTHON_LIB_NAME}_SOURCES)
+  ADD_HEADER_GROUP(${PYTHON_LIB_NAME}_HEADERS)
+  ADD_SOURCE_GROUP(${PYTHON_LIB_NAME}_SOURCES)
 
-  modernize_target_link_libraries(
-    ${PYTHON_LIB_NAME}
-    SCOPE PUBLIC
-    TARGETS eigenpy::eigenpy)
+  MODERNIZE_TARGET_LINK_LIBRARIES(${PYTHON_LIB_NAME} SCOPE PUBLIC TARGETS eigenpy::eigenpy)
   target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PROJECT_NAME})
 
   if(BUILD_WITH_URDF_SUPPORT)
     # Link directly against console_bridge since we bind some enums and call
     # console_bridge::setLogLevel function.
-    modernize_target_link_libraries(
+    MODERNIZE_TARGET_LINK_LIBRARIES(
       ${PYTHON_LIB_NAME}
       SCOPE PUBLIC
       TARGETS console_bridge::console_bridge
       LIBRARIES ${console_bridge_LIBRARIES}
-      INCLUDE_DIRS ${console_bridge_INCLUDE_DIRS})
+      INCLUDE_DIRS ${console_bridge_INCLUDE_DIRS}
+    )
   endif()
   if(BUILD_WITH_HPP_FCL_SUPPORT)
-    target_compile_definitions(${PYTHON_LIB_NAME}
-                               PRIVATE -DPINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS)
+    target_compile_definitions(
+      ${PYTHON_LIB_NAME}
+      PRIVATE -DPINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS
+    )
   endif()
   if(WIN32)
     target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY})
@@ -108,22 +115,25 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
 
   set_target_properties(
     ${PYTHON_LIB_NAME}
-    PROPERTIES PREFIX ""
-               SUFFIX ${PYTHON_EXT_SUFFIX}
-               OUTPUT_NAME "${PYTHON_LIB_NAME}"
-               LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
-               # On Windows, shared library are treat as binary
-               RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
+    PROPERTIES
+      PREFIX ""
+      SUFFIX ${PYTHON_EXT_SUFFIX}
+      OUTPUT_NAME "${PYTHON_LIB_NAME}"
+      LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+      # On Windows, shared library are treat as binary
+      RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+  )
 
   if(UNIX)
-    get_relative_rpath(${${PYWRAP}_INSTALL_DIR} ${PYWRAP}_INSTALL_RPATH)
+    GET_RELATIVE_RPATH(${${PYWRAP}_INSTALL_DIR} ${PYWRAP}_INSTALL_RPATH)
     set_target_properties(${PYTHON_LIB_NAME} PROPERTIES INSTALL_RPATH "${${PYWRAP}_INSTALL_RPATH}")
   endif()
 
   install(
     TARGETS ${PYTHON_LIB_NAME}
     EXPORT ${TARGETS_EXPORT_NAME}
-    DESTINATION ${PINOCCHIO_PYTHON_INSTALL_DIR})
+    DESTINATION ${PINOCCHIO_PYTHON_INSTALL_DIR}
+  )
 endfunction()
 
 function(INSTALL_PYTHON_FILES)
@@ -140,7 +150,7 @@ function(INSTALL_PYTHON_FILES)
   endif()
 
   foreach(f ${ARGS_FILES})
-    python_build(${SOURCE_PATH} ${f})
+    PYTHON_BUILD(${SOURCE_PATH} ${f})
     install(FILES ${SOURCE_PATH}/${f} DESTINATION ${INSTALL_PATH})
   endforeach()
 endfunction()
@@ -149,7 +159,7 @@ if(BUILD_PYTHON_INTERFACE)
   add_custom_target(${PROJECT_NAME}-python)
   set_target_properties(${PROJECT_NAME}-python PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
-  python_build_get_target(python_build_target)
+  PYTHON_BUILD_GET_TARGET(python_build_target)
   add_dependencies(${PROJECT_NAME}-python ${python_build_target})
 
   set(PKG_CONFIG_PYWRAP_REQUIRES "eigenpy >= 2.6.5")
@@ -160,30 +170,34 @@ if(BUILD_PYTHON_INTERFACE)
   endif()
   set(PINOCCHIO_PYTHON_INSTALL_DIR ${ABSOLUTE_PYTHON_SITELIB}/${PROJECT_NAME})
 
-  pinocchio_python_bindings_specific_type(default)
+  PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE(default)
   set(PYTHON_LIB_NAME "${PYWRAP}_default")
   set(STUBGEN_DEPENDENCIES "${PYWRAP}_default")
 
   if(BUILD_WITH_AUTODIFF_SUPPORT)
-    pinocchio_python_bindings_specific_type(cppad cppad)
+    PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE(cppad cppad)
     # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
     # This can happen when Pinocchio is build in Debug mode and pycppad is build in Release mode.
     # See
     # https://coin-or.github.io/CppAD/doc/preprocessor.htm#Documented%20Here.CPPAD_DEBUG_AND_RELEASE.
     target_compile_definitions(
-      ${PYWRAP}_cppad PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION
-                              CPPAD_DEBUG_AND_RELEASE)
-    target_include_directories(${PYWRAP}_cppad SYSTEM
-                               PUBLIC $<BUILD_INTERFACE:${cppad_INCLUDE_DIR}>)
+      ${PYWRAP}_cppad
+      PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION CPPAD_DEBUG_AND_RELEASE
+    )
+    target_include_directories(
+      ${PYWRAP}_cppad
+      SYSTEM
+      PUBLIC $<BUILD_INTERFACE:${cppad_INCLUDE_DIR}>
+    )
     target_link_libraries(${PYWRAP}_cppad PUBLIC ${cppad_LIBRARY})
     list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppad")
 
     # --- INSTALL SCRIPTS
-    install_python_files(MODULE cppad FILES __init__.py)
+    INSTALL_PYTHON_FILES(MODULE cppad FILES __init__.py)
   endif(BUILD_WITH_AUTODIFF_SUPPORT)
 
   if(BUILD_WITH_CODEGEN_SUPPORT)
-    pinocchio_python_bindings_specific_type(cppadcg cppadcg)
+    PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE(cppadcg cppadcg)
 
     # On osx, use default visiblitiy because of an issue with thread_local storage defined in
     # cppad/cg/cg.hpp header (see
@@ -194,80 +208,89 @@ if(BUILD_PYTHON_INTERFACE)
 
     # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
     target_compile_definitions(
-      ${PYWRAP}_cppadcg PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION
-                                CPPAD_DEBUG_AND_RELEASE)
-    target_include_directories(${PYWRAP}_cppadcg SYSTEM
-                               PUBLIC $<BUILD_INTERFACE:${cppadcg_INCLUDE_DIR}>)
+      ${PYWRAP}_cppadcg
+      PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION CPPAD_DEBUG_AND_RELEASE
+    )
+    target_include_directories(
+      ${PYWRAP}_cppadcg
+      SYSTEM
+      PUBLIC $<BUILD_INTERFACE:${cppadcg_INCLUDE_DIR}>
+    )
     target_link_libraries(${PYWRAP}_cppadcg PUBLIC ${cppadcg_LIBRARY} ${cppad_LIBRARY})
     list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppadcg")
 
     # --- INSTALL SCRIPTS
-    install_python_files(MODULE cppadcg FILES __init__.py)
+    INSTALL_PYTHON_FILES(MODULE cppadcg FILES __init__.py)
   endif(BUILD_WITH_CODEGEN_SUPPORT)
 
   if(BUILD_WITH_CASADI_SUPPORT)
-    pinocchio_python_bindings_specific_type(casadi)
+    PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE(casadi)
     target_link_libraries(${PYWRAP}_casadi PUBLIC casadi)
     list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_casadi")
 
     # --- INSTALL SCRIPTS
-    install_python_files(MODULE casadi FILES __init__.py)
+    INSTALL_PYTHON_FILES(MODULE casadi FILES __init__.py)
   endif(BUILD_WITH_CASADI_SUPPORT)
 
   if(BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT)
     find_package(GMP REQUIRED 6.0.0)
     find_package(MPFR REQUIRED 4.0.0)
-    pinocchio_python_bindings_specific_type(mpfr)
+    PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE(mpfr)
 
     target_link_libraries(${PYWRAP}_mpfr PRIVATE gmp mpfr)
     list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_mpfr")
 
     # --- INSTALL SCRIPTS
-    install_python_files(MODULE mpfr FILES __init__.py)
+    INSTALL_PYTHON_FILES(MODULE mpfr FILES __init__.py)
   endif(BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT)
 
   # --- INSTALL SCRIPTS
-  install_python_files(
-    FILES __init__.py
-          deprecated.py
-          deprecation.py
-          utils.py
-          robot_wrapper.py
-          romeo_wrapper.py
-          explog.py
-          shortcuts.py
-          windows_dll_manager.py)
+  INSTALL_PYTHON_FILES(
+    FILES
+      __init__.py
+      deprecated.py
+      deprecation.py
+      utils.py
+      robot_wrapper.py
+      romeo_wrapper.py
+      explog.py
+      shortcuts.py
+      windows_dll_manager.py
+  )
 
   # --- INSTALL DERIVATIVE SCRIPTS
-  install_python_files(MODULE derivative FILES xm.py dcrba.py lambdas.py)
+  INSTALL_PYTHON_FILES(MODULE derivative FILES xm.py dcrba.py lambdas.py)
 
   # --- INSTALL VISUALIZATION SCRIPTS
-  install_python_files(
+  INSTALL_PYTHON_FILES(
     MODULE visualize
-    FILES __init__.py
-          base_visualizer.py
-          gepetto_visualizer.py
-          meshcat_visualizer.py
-          panda3d_visualizer.py
-          rviz_visualizer.py
-          visualizers.py)
+    FILES
+      __init__.py
+      base_visualizer.py
+      gepetto_visualizer.py
+      meshcat_visualizer.py
+      panda3d_visualizer.py
+      rviz_visualizer.py
+      visualizers.py
+  )
 
   # --- STUBS --- #
   if(GENERATE_PYTHON_STUBS)
-    python_build_get_target(python_build_target_name)
-    load_stubgen()
+    PYTHON_BUILD_GET_TARGET(python_build_target_name)
+    LOAD_STUBGEN()
     # Set PYWRAP and PROJECT_NAME as stubs dependencies.
     #
     # PROJECT_NAME is mandatory (even if it's a PYWRAP dependency) to find PROJECT_NAME name DLL on
     # windows.
-    generate_stubs(
+    GENERATE_STUBS(
       ${CMAKE_CURRENT_BINARY_DIR}
       ${PROJECT_NAME}
       ${ABSOLUTE_PYTHON_SITELIB}
       ${PYWRAP}_default
       ${PROJECT_NAME}_default
       ${STUBGEN_DEPENDENCIES}
-      ${python_build_target_name})
+      ${python_build_target_name}
+    )
   endif(GENERATE_PYTHON_STUBS)
 
   # --- PACKAGING --- #
@@ -283,8 +306,9 @@ if(BUILD_PYTHON_INTERFACE)
 
   set(_PKG_CONFIG_PYWRAP_LIBS "-L\${libdir} -l${PYWRAP}")
   if(APPLE)
-    set(_PKG_CONFIG_PYWRAP_LIBS
-        "${_PKG_CONFIG_PYWRAP_LIBS} -Wl,-undefined,dynamic_lookup,${Boost_${UPPERCOMPONENT}_LIBRARY}"
+    set(
+      _PKG_CONFIG_PYWRAP_LIBS
+      "${_PKG_CONFIG_PYWRAP_LIBS} -Wl,-undefined,dynamic_lookup,${Boost_${UPPERCOMPONENT}_LIBRARY}"
     )
   else(APPLE)
     set(_PKG_CONFIG_PYWRAP_LIBS "${_PKG_CONFIG_PYWRAP_LIBS} ${LIBINCL_KW}boost_python")
@@ -299,13 +323,16 @@ if(BUILD_PYTHON_INTERFACE)
     set(_PKG_CONFIG_PYWRAP_CFLAGS "${_PKG_CONFIG_PYWRAP_CFLAGS} ${cflags}")
   endforeach()
 
-  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/pinocchiopy.pc.cmake"
-                 "${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc")
+  configure_file(
+    "${CMAKE_CURRENT_SOURCE_DIR}/pinocchiopy.pc.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc"
+  )
 
   install(
     FILES "${CMAKE_CURRENT_BINARY_DIR}/pinocchiopy.pc"
     DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
-    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
+    PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
+  )
 
   if(DOXYGEN_FOUND AND DOXYGEN_VERSION VERSION_GREATER 1.8.17)
     set(DOXYGEN_GENERATE_HTML YES)
@@ -313,7 +340,11 @@ if(BUILD_PYTHON_INTERFACE)
     set(DOXYGEN_PROJECT_NAME "Pinocchio PyBind11 helpers.")
     set(_source_headers_root "../../include/${PROJECT_NAME}/bindings/python")
     doxygen_add_docs(
-      doc_pybind11 ${_source_headers_root}/pybind11.hpp ${_source_headers_root}/pybind11-all.hpp
-      USE_STAMP_FILE COMMENT "Generating documentation of the PyBind11 helpers.")
+      doc_pybind11
+      ${_source_headers_root}/pybind11.hpp
+      ${_source_headers_root}/pybind11-all.hpp
+      USE_STAMP_FILE
+      COMMENT "Generating documentation of the PyBind11 helpers."
+    )
   endif()
 endif(BUILD_PYTHON_INTERFACE)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index bbb2e5427a..4439d14342 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -3,7 +3,7 @@
 #
 
 # Compute flags outside the macro to avoid recomputing it for each tests
-cxx_flags_by_compiler_frontend(MSVC _USE_MATH_DEFINES OUTPUT EXAMPLE_PRIVATE_DEFINITIONS)
+CXX_FLAGS_BY_COMPILER_FRONTEND(MSVC _USE_MATH_DEFINES OUTPUT EXAMPLE_PRIVATE_DEFINITIONS)
 
 function(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   set(options PARSERS CPPAD CPPADCG CASADI)
@@ -13,7 +13,7 @@ function(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
 
   get_filename_component(EXAMPLE_NAME ${EXAMPLE} NAME)
   set(EXAMPLE_NAME "${PROJECT_NAME}-example-cpp-${EXAMPLE_NAME}")
-  add_unit_test(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
+  ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   target_link_libraries(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
 
   if(example_PARSERS)
@@ -32,14 +32,17 @@ function(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
     target_link_libraries(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME}_casadi)
   endif()
 
-  target_compile_definitions(${EXAMPLE_NAME} PRIVATE ${EXAMPLE_PRIVATE_DEFINITIONS}
-                                                     PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}")
+  target_compile_definitions(
+    ${EXAMPLE_NAME}
+    PRIVATE ${EXAMPLE_PRIVATE_DEFINITIONS} PINOCCHIO_MODEL_DIR="${PINOCCHIO_MODEL_DIR}"
+  )
 
   # There is no RPATH in Windows, then we must use the PATH to find the DLL
   if(WIN32)
     string(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
-    set(ENV_VARIABLES
-        "PATH=${_PATH}\\\;${PROJECT_BINARY_DIR}/src\\\;${PROJECT_BINARY_DIR}/bindings/python/pinocchio"
+    set(
+      ENV_VARIABLES
+      "PATH=${_PATH}\\\;${PROJECT_BINARY_DIR}/src\\\;${PROJECT_BINARY_DIR}/bindings/python/pinocchio"
     )
     set_tests_properties(${EXAMPLE_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   endif()
@@ -71,9 +74,15 @@ if(BUILD_WITH_COLLISION_SUPPORT)
 endif()
 
 if(BUILD_PYTHON_INTERFACE)
-  set(${PROJECT_NAME}_PYTHON_EXAMPLES
-      inverse-kinematics inverse-kinematics-3d overview-simple kinematics-derivatives
-      forward-dynamics-derivatives inverse-dynamics-derivatives)
+  set(
+    ${PROJECT_NAME}_PYTHON_EXAMPLES
+    inverse-kinematics
+    inverse-kinematics-3d
+    overview-simple
+    kinematics-derivatives
+    forward-dynamics-derivatives
+    inverse-dynamics-derivatives
+  )
 
   if(BUILD_WITH_URDF_SUPPORT)
     list(
@@ -83,12 +92,18 @@ if(BUILD_PYTHON_INTERFACE)
       gepetto-viewer
       build-reduced-model
       robot-wrapper-viewer
-      geometry-models)
+      geometry-models
+    )
   endif()
 
   if(BUILD_WITH_COLLISION_SUPPORT)
-    list(APPEND ${PROJECT_NAME}_PYTHON_EXAMPLES sample-model-viewer display-shapes
-         simulation-pendulum)
+    list(
+      APPEND
+      ${PROJECT_NAME}_PYTHON_EXAMPLES
+      sample-model-viewer
+      display-shapes
+      simulation-pendulum
+    )
     if(BUILD_WITH_URDF_SUPPORT)
       list(
         APPEND
@@ -98,7 +113,8 @@ if(BUILD_PYTHON_INTERFACE)
         collisions
         collision-with-point-clouds
         append-urdf-model-with-another-model
-        simulation-contact-dynamics)
+        simulation-contact-dynamics
+      )
       if(PYTHON_VERSION_MAJOR EQUAL 3)
         list(APPEND ${PROJECT_NAME}_PYTHON_EXAMPLES static-contact-dynamics)
       endif()
@@ -111,8 +127,8 @@ if(BUILD_PYTHON_INTERFACE)
 
   foreach(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
     set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-${EXAMPLE}")
-    add_python_unit_test("${EXAMPLE_NAME}" "examples/${EXAMPLE}.py" "bindings/python")
-    add_windows_dll_path_to_test(${EXAMPLE_NAME})
+    ADD_PYTHON_UNIT_TEST("${EXAMPLE_NAME}" "examples/${EXAMPLE}.py" "bindings/python")
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME})
   endforeach()
 endif()
 
diff --git a/examples/casadi/CMakeLists.txt b/examples/casadi/CMakeLists.txt
index d3a334636c..cd875e817a 100644
--- a/examples/casadi/CMakeLists.txt
+++ b/examples/casadi/CMakeLists.txt
@@ -7,12 +7,10 @@ function(ADD_PINOCCHIO_CPP_CASADI_EXAMPLE EXAMPLE)
 endfunction()
 
 if(BUILD_WITH_CASADI_SUPPORT)
-
   add_pinocchio_cpp_casadi_example(casadi-aba)
   add_pinocchio_cpp_casadi_example(casadi-rnea)
 
   if(BUILD_PYTHON_INTERFACE)
-
     set(${PROJECT_NAME}_CASADI_PYTHON_EXAMPLES quadrotor-ocp)
     if(BUILD_WITH_COLLISION_SUPPORT)
       list(APPEND ${PROJECT_NAME}_CASADI_PYTHON_EXAMPLES cartpole)
@@ -20,8 +18,8 @@ if(BUILD_WITH_CASADI_SUPPORT)
 
     foreach(EXAMPLE ${${PROJECT_NAME}_CASADI_PYTHON_EXAMPLES})
       set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-casadi-${EXAMPLE}")
-      add_python_unit_test(${EXAMPLE_NAME} "examples/casadi/${EXAMPLE}.py" "bindings/python")
-      add_windows_dll_path_to_test(${EXAMPLE_NAME})
+      ADD_PYTHON_UNIT_TEST(${EXAMPLE_NAME} "examples/casadi/${EXAMPLE}.py" "bindings/python")
+      ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME})
     endforeach()
   endif()
 endif()
diff --git a/examples/codegen/CMakeLists.txt b/examples/codegen/CMakeLists.txt
index 4a1a423ee7..4851f84e78 100644
--- a/examples/codegen/CMakeLists.txt
+++ b/examples/codegen/CMakeLists.txt
@@ -2,17 +2,18 @@
 # Copyright (c) 2020-2023 INRIA
 #
 
-if(cppadcg_FOUND
-   AND BUILD_WITH_CODEGEN_SUPPORT
-   AND BUILD_WITH_URDF_SUPPORT)
+if(cppadcg_FOUND AND BUILD_WITH_CODEGEN_SUPPORT AND BUILD_WITH_URDF_SUPPORT)
   function(ADD_PINOCCHIO_CPP_CODEGEN_EXAMPLE EXAMPLE)
     add_pinocchio_cpp_example(
       ${EXAMPLE}
       CPPADCG
-      PARSERS)
+      PARSERS
+    )
     target_link_libraries(${PROJECT_NAME}-example-cpp-${EXAMPLE} PUBLIC ${CMAKE_DL_LIBS})
-    target_compile_definitions(${PROJECT_NAME}-example-cpp-${EXAMPLE}
-                               PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
+    target_compile_definitions(
+      ${PROJECT_NAME}-example-cpp-${EXAMPLE}
+      PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\"
+    )
   endfunction()
 
   add_pinocchio_cpp_codegen_example(codegen-crba)
@@ -23,9 +24,8 @@ if(cppadcg_FOUND
 
     foreach(EXAMPLE ${${PROJECT_NAME}_CODEGEN_PYTHON_EXAMPLES})
       set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-${EXAMPLE}")
-      add_python_unit_test(${EXAMPLE_NAME} "examples/codegen/${EXAMPLE}.py" "bindings/python")
-      add_windows_dll_path_to_test(${EXAMPLE_NAME})
+      ADD_PYTHON_UNIT_TEST(${EXAMPLE_NAME} "examples/codegen/${EXAMPLE}.py" "bindings/python")
+      ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME})
     endforeach()
   endif()
-
 endif()
diff --git a/examples/cppad/CMakeLists.txt b/examples/cppad/CMakeLists.txt
index 988eabb246..6e9d9794dc 100644
--- a/examples/cppad/CMakeLists.txt
+++ b/examples/cppad/CMakeLists.txt
@@ -6,8 +6,10 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
   function(ADD_PINOCCHIO_CPP_AUTODIFF_EXAMPLE EXAMPLE)
     include_directories(SYSTEM ${cppadcg_INCLUDE_DIR})
     add_pinocchio_cpp_example(${EXAMPLE})
-    target_link_libraries(${PROJECT_NAME}-example-cpp-${EXAMPLE} PUBLIC ${CMAKE_DL_LIBS}
-                                                                        ${cppad_LIBRARY})
+    target_link_libraries(
+      ${PROJECT_NAME}-example-cpp-${EXAMPLE}
+      PUBLIC ${CMAKE_DL_LIBS} ${cppad_LIBRARY}
+    )
   endfunction()
 
   add_pinocchio_cpp_autodiff_example(autodiff-rnea)
@@ -17,9 +19,8 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
 
     foreach(EXAMPLE ${${PROJECT_NAME}_AUTODIFF_PYTHON_EXAMPLES})
       set(EXAMPLE_NAME "${PROJECT_NAME}-example-py-${EXAMPLE}")
-      add_python_unit_test(${EXAMPLE_NAME} "examples/cppad/${EXAMPLE}.py" "bindings/python")
-      add_windows_dll_path_to_test(${EXAMPLE_NAME})
+      ADD_PYTHON_UNIT_TEST(${EXAMPLE_NAME} "examples/cppad/${EXAMPLE}.py" "bindings/python")
+      ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME})
     endforeach()
   endif()
-
 endif()
diff --git a/sources.cmake b/sources.cmake
index f8cd400628..41b32597aa 100644
--- a/sources.cmake
+++ b/sources.cmake
@@ -2,635 +2,693 @@
 
 set(${PROJECT_NAME}_CORE_SOURCES)
 
-set(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/admm-solver.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/admm-solver.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/check.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/check.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/cholesky.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/cholesky.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/compute-all-terms.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/compute-all-terms.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-problem-data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/coulomb-friction-cone.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-data-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-model-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraints.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-cholesky.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-cholesky.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-dynamics.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-dynamics.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-info.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-jacobian.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-jacobian.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-solver-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-solver-utils.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-inverse-dynamics.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/copy.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/crba.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/crba.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/default-check.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operartor-ref.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-dense.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-rigid-body.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-sparse.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/energy.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/energy.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/geometry.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/geometry.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/jacobian.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/jacobian.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/joint-configuration.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/joint-configuration.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/model.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pgs-solver.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pgs-solver.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/proximal.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pv.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pv.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/regressor.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/regressor.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/utils/force.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/utils/motion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi-algo.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/math/matrix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/math/quaternion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/math/triangular-matrix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/spatial/se3-tpl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/utils/static-if.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/algorithm/aba.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/math/eigen_plugin.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/math/quaternion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/spatial/log.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/utils/static-if.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/codegen/code-generator-algo.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/codegen/code-generator-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/codegen/cppadcg.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/container/aligned-vector.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/container/boost-container-limits.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/context/casadi.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/context/cppad.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/context/cppadcg.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/context/default.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/context/generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/context.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/core/binary-op.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/core/unary-op.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecated-macros.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecated-namespaces.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecation.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/eigen-macros.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/macros.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/unsupported.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/casadi.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/comparison-operators.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/cppadcg.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/cppad.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/eigenvalues.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/gram-schmidt-orthonormalisation.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/lanczos-decomposition.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/matrix-block.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/matrix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/multiprecision.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/multiprecision-mpfr.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/quaternion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/rotation.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/rpy.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/rpy.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/sign.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/sincos.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/taylor-expansion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/tensor.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/triangular-matrix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/math/tridiagonal-matrix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/data.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/fcl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/force-set.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/frame.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry-object-filter.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry-object.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry-object.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/instance-filter.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-basic-visitors.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-basic-visitors.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-collection.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-common-operations.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-composite.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-composite.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-data-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-free-flyer.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-helical.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-helical-unaligned.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-mimic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-model-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-planar.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-prismatic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joints.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-spherical.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-translation.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-universal.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint-motion-subspace-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint-motion-subspace-generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint-motion-subspace.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/cartesian-product.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/cartesian-product-variant.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-algo.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-base.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-collection.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/special-euclidean.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/vector-space.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model-item.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/pool/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/pool/geometry.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/pool/model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor/fusion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/sample-models.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/sample-models.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/aligned-vector.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/archive.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/eigen.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/csv.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/fcl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/force.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/frame.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/geometry.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/inertia.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-motion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-motion-subspace.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-transform.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/motion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/se3.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/serializable.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/spatial.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/static-buffer.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/symmetric3.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/vector.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/act-on-set.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/act-on-set.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/cartesian-axis.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/classic-acceleration.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/explog.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/explog-quaternion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-dense.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-ref.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-tpl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/inertia.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/log.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/log.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-dense.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-ref.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-tpl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-zero.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-tpl.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/skew.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/spatial-axis.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/symmetric3.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/axis-label.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/cast.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/check.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/eigen-fix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/file-io.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/helpers.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/openmp.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/shared-ptr.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/static-if.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/string-generator.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/string.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/timer2.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/timer.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/version.hpp)
-
-set(${PROJECT_NAME}_PARALLEL_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/aba.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/omp.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/rnea.hpp)
-
-set(${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_SOURCES
-    ${PROJECT_SOURCE_DIR}/src/collision/collision.cpp
-    ${PROJECT_SOURCE_DIR}/src/collision/distance.cpp)
-
-set(${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/collision.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/distance.txx)
-
-set(${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/collision.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/collision.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-callbacks.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-callbacks.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/distance.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/distance.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-manager-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-manager.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-manager.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/tree-broadphase-manager.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/tree-broadphase-manager.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/fcl-pinocchio-conversions.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/pool/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/pool/broadphase-manager.hpp
-    # Deprecated header
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp)
-
-set(${PROJECT_NAME}_COLLISION_PARALLEL_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/parallel/broadphase.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/parallel/geometry.hpp
-    # Deprecated header
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/geometry.hpp)
-
-set(${PROJECT_NAME}_PARSERS_SOURCES
-    ${PROJECT_SOURCE_DIR}/src/utils/file-explorer.cpp
-    ${PROJECT_SOURCE_DIR}/src/parsers/mjcf/mjcf-graph.cpp
-    ${PROJECT_SOURCE_DIR}/src/parsers/mjcf/mjcf-graph-geom.cpp)
-
-set(${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/meshloader-fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/srdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/srdf.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/utils.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/file-explorer.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf/model.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf/geometry.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf/mjcf-graph.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sample-models.hpp)
-
-set(${PROJECT_NAME}_URDF_SOURCES
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/model.cpp
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/geometry.cpp
-    ${PROJECT_SOURCE_DIR}/src/parsers/urdf/utils.cpp)
-
-set(${PROJECT_NAME}_URDF_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/model.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/geometry.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/utils.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/types.hpp)
-
-set(${PROJECT_NAME}_SDF_SOURCES ${PROJECT_SOURCE_DIR}/src/parsers/sdf/model.cpp
-                                ${PROJECT_SOURCE_DIR}/src/parsers/sdf/geometry.cpp)
-
-set(${PROJECT_NAME}_SDF_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf/model.hxx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf/geometry.hxx)
-
-set(${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp)
+set(
+  ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/admm-solver.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/admm-solver.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/check.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/check.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/cholesky.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/cholesky.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/compute-all-terms.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/compute-all-terms.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-problem-data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/coulomb-friction-cone.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/visitors/constraint-model-visitor.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-data-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-data-generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-model-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraint-model-generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/constraints.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constraints/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-cholesky.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-cholesky.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-dynamics.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-dynamics.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-info.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-jacobian.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-jacobian.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-solver-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-solver-utils.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-inverse-dynamics.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/copy.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/crba.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/crba.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/default-check.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operartor-ref.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-dense.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-rigid-body.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/delassus-operator-sparse.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/energy.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/energy.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/geometry.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/geometry.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/jacobian.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/jacobian.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/joint-configuration.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/joint-configuration.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/model.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pgs-solver.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pgs-solver.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/proximal.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pv.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/pv.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/regressor.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/regressor.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/utils/force.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/utils/motion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi-algo.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/math/matrix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/math/quaternion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/math/triangular-matrix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/spatial/se3-tpl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/casadi/utils/static-if.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/algorithm/aba.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/math/eigen_plugin.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/math/quaternion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/spatial/log.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/autodiff/cppad/utils/static-if.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/codegen/code-generator-algo.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/codegen/code-generator-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/codegen/cppadcg.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/container/aligned-vector.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/container/boost-container-limits.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/context/casadi.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/context/cppad.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/context/cppadcg.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/context/default.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/context/generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/context.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/core/binary-op.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/core/unary-op.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecated-macros.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecated-namespaces.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/deprecation.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/eigen-macros.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/macros.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/unsupported.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/casadi.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/comparison-operators.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/cppadcg.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/cppad.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/eigenvalues.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/gram-schmidt-orthonormalisation.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/lanczos-decomposition.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/matrix-block.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/matrix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/multiprecision.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/multiprecision-mpfr.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/quaternion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/rotation.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/rpy.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/rpy.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/sign.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/sincos.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/taylor-expansion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/tensor.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/triangular-matrix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/math/tridiagonal-matrix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/data.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/fcl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/force-set.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/frame.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry-object-filter.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry-object.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/geometry-object.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/instance-filter.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-basic-visitors.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-basic-visitors.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-collection.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-common-operations.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-composite.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-composite.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-data-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-free-flyer.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-helical.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-helical-unaligned.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-mimic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-model-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-planar.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-prismatic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joints.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-spherical.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-translation.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint/joint-universal.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint-motion-subspace-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint-motion-subspace-generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/joint-motion-subspace.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/cartesian-product.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/cartesian-product-variant.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-algo.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-algo.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-base.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-collection.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/special-euclidean.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/liegroup/vector-space.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model-item.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/pool/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/pool/geometry.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/pool/model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor/fusion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/sample-models.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/sample-models.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/aligned-vector.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/archive.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/eigen.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/csv.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/fcl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/force.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/frame.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/geometry.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/inertia.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-motion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-motion-subspace.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/joints-transform.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/motion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/se3.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/serializable.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/spatial.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/static-buffer.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/symmetric3.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/serialization/vector.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/act-on-set.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/act-on-set.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/cartesian-axis.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/classic-acceleration.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/explog.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/explog-quaternion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-dense.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-ref.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/force-tpl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/inertia.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/log.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/log.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-dense.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-ref.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-tpl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/motion-zero.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/se3-tpl.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/skew.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/spatial-axis.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/symmetric3.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/axis-label.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/cast.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/check.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/eigen-fix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/file-io.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/helpers.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/openmp.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/shared-ptr.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/static-if.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/string-generator.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/string.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/timer2.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/timer.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/version.hpp
+)
+
+set(
+  ${PROJECT_NAME}_PARALLEL_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/aba.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/omp.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/rnea.hpp
+)
+
+set(
+  ${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_SOURCES
+  ${PROJECT_SOURCE_DIR}/src/collision/collision.cpp
+  ${PROJECT_SOURCE_DIR}/src/collision/distance.cpp
+)
+
+set(
+  ${PROJECT_NAME}_COLLISION_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/collision.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/distance.txx
+)
+
+set(
+  ${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/collision.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/collision.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-callbacks.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-callbacks.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/distance.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/distance.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-manager-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-manager.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/broadphase-manager.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/tree-broadphase-manager.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/tree-broadphase-manager.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/fcl-pinocchio-conversions.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/pool/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/pool/broadphase-manager.hpp
+  # Deprecated header
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+)
+
+set(
+  ${PROJECT_NAME}_COLLISION_PARALLEL_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/parallel/broadphase.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/collision/parallel/geometry.hpp
+  # Deprecated header
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/parallel/geometry.hpp
+)
+
+set(
+  ${PROJECT_NAME}_PARSERS_SOURCES
+  ${PROJECT_SOURCE_DIR}/src/utils/file-explorer.cpp
+  ${PROJECT_SOURCE_DIR}/src/parsers/mjcf/mjcf-graph.cpp
+  ${PROJECT_SOURCE_DIR}/src/parsers/mjcf/mjcf-graph-geom.cpp
+)
+
+set(
+  ${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/meshloader-fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/srdf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/srdf.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/utils.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/utils/file-explorer.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf/model.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf/geometry.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/mjcf/mjcf-graph.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sample-models.hpp
+)
+
+set(
+  ${PROJECT_NAME}_URDF_SOURCES
+  ${PROJECT_SOURCE_DIR}/src/parsers/urdf/model.cpp
+  ${PROJECT_SOURCE_DIR}/src/parsers/urdf/geometry.cpp
+  ${PROJECT_SOURCE_DIR}/src/parsers/urdf/utils.cpp
+)
+
+set(
+  ${PROJECT_NAME}_URDF_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/model.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/geometry.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/utils.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/urdf/types.hpp
+)
+
+set(
+  ${PROJECT_NAME}_SDF_SOURCES
+  ${PROJECT_SOURCE_DIR}/src/parsers/sdf/model.cpp
+  ${PROJECT_SOURCE_DIR}/src/parsers/sdf/geometry.cpp
+)
+
+set(
+  ${PROJECT_NAME}_SDF_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf/model.hxx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/sdf/geometry.hxx
+)
+
+set(
+  ${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/parsers/python.hpp
+)
 
 set(${PROJECT_NAME}_PYTHON_PARSER_SOURCES ${PROJECT_SOURCE_DIR}/src/parsers/python/model.cpp)
 
 set(${PROJECT_NAME}_EXTRA_SOURCES ${PROJECT_SOURCE_DIR}/src/extra/reachable-workspace.cpp)
 
-set(${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/extra/reachable-workspace.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/extra/reachable-workspace.hxx)
+set(
+  ${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/extra/reachable-workspace.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/extra/reachable-workspace.hxx
+)
 
 set(_binary_headers_root ${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio)
-set(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS
-    ${_binary_headers_root}/config.hpp ${_binary_headers_root}/deprecated.hpp
-    ${_binary_headers_root}/warning.hpp)
-
-set(${PROJECT_NAME}_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-cholesky.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-dynamics.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/regressor.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/joint-configuration.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/model.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/proximal.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/cholesky.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/jacobian.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/geometry.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/energy.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-jacobian.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/crba.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/compute-all-terms.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics-derivatives.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/data.txx
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/sample-models.txx)
-
-set(${PROJECT_NAME}_TEMPLATE_INSTANTIATION_SOURCES
-    ${PROJECT_SOURCE_DIR}/src/algorithm/cholesky.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/aba.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/regressor.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/contact-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/frames-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/impulse-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/model.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/constrained-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/rnea-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/compute-all-terms.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/jacobian.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/energy.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/centroidal-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/frames.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/constrained-dynamics-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/center-of-mass.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/geometry.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/kinematics.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/rnea.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/centroidal.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/aba-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/crba.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/contact-cholesky.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/joint-configuration.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/center-of-mass-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/proximal.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/kinematics-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/src/algorithm/contact-jacobian.cpp
-    ${PROJECT_SOURCE_DIR}/src/multibody/model.cpp
-    ${PROJECT_SOURCE_DIR}/src/multibody/data.cpp
-    ${PROJECT_SOURCE_DIR}/src/multibody/sample-models.cpp)
+set(
+  ${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS
+  ${_binary_headers_root}/config.hpp
+  ${_binary_headers_root}/deprecated.hpp
+  ${_binary_headers_root}/warning.hpp
+)
+
+set(
+  ${PROJECT_NAME}_TEMPLATE_INSTANTIATION_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-cholesky.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-dynamics.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/regressor.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/joint-configuration.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/model.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/proximal.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/cholesky.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/jacobian.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/geometry.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/energy.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/aba.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/frames.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/contact-jacobian.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/crba.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/constrained-dynamics.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/centroidal-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/rnea-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/impulse-dynamics.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/compute-all-terms.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/center-of-mass-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/algorithm/kinematics-derivatives.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/model.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/data.txx
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/multibody/sample-models.txx
+)
+
+set(
+  ${PROJECT_NAME}_TEMPLATE_INSTANTIATION_SOURCES
+  ${PROJECT_SOURCE_DIR}/src/algorithm/cholesky.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/aba.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/regressor.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/contact-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/frames-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/impulse-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/model.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/constrained-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/rnea-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/compute-all-terms.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/jacobian.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/energy.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/centroidal-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/frames.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/constrained-dynamics-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/center-of-mass.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/geometry.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/kinematics.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/rnea.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/centroidal.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/aba-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/crba.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/contact-cholesky.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/joint-configuration.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/center-of-mass-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/proximal.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/kinematics-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/src/algorithm/contact-jacobian.cpp
+  ${PROJECT_SOURCE_DIR}/src/multibody/model.cpp
+  ${PROJECT_SOURCE_DIR}/src/multibody/data.cpp
+  ${PROJECT_SOURCE_DIR}/src/multibody/sample-models.cpp
+)
 
 # Define Pinocchio Python binding sources and headers
 
-set(${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/explog.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/classic-acceleration.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/symmetric3.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/motion.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/force.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/inertia.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/se3.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/contact-info.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/contact-solver-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/proximal.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/algorithms.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/constraints/coulomb-friction-cone.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/pybind11-all.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/pybind11.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/constant.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/version.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/pickle-vector.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/macros.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/path.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/std-vector.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/printable.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/dependencies.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/conversions.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/address.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/copyable.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/registration.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/pickle.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/pickle-map.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/list.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/std-aligned-vector.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/eigen.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/comparable.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/std-map.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/cast.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/deprecation.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/namespace.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/cppadcg.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/cppad.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/casadi.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/default.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/mpfr.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/generic.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/fwd.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/serialization/serialization.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/serialization/serializable.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/tridiagonal-matrix.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/lanczos-decomposition.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/multiprecision/boost/number.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/broadphase-manager-base.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/geometry-functors.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/tree-broadphase-manager.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/frame.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/geometry-model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint-model.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint-data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/liegroups.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/geometry-data.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/geometry-object.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/urdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/sdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/mjcf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/srdf.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/extra/extras.hpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-symmetric3.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-force.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-inertia.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-SE3.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-motion.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-explog.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-skew.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-impulse-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-model.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-centroidal.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-aba.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-algorithms.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/admm-solver.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/pgs-solver.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-com.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-frames.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-energy.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-constrained-dynamics-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-rnea-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-kinematics.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-geometry.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-aba-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-solvers.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-inverse-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-joints.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-constrained-dynamics.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-rnea.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-jacobian.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/constraints/expose-cones.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-cholesky.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-regressor.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-kinematics-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-cat.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-frames-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-centroidal-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-jacobian.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-delassus.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-impulse-dynamics-derivatives.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-kinematic-regressor.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-crba.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/module.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/utils/version.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/utils/dependencies.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/utils/conversions.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/utils/path.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-linalg.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-tridiagonal-matrix.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-lanczos-decomposition.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-rpy.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-eigen-types.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/serialization/serialization.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-model.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-liegroups.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-geometry.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-frame.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-data.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/joint/expose-joints.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/sample-models.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/sdf/model.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/sdf/geometry.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/expose-parsers.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/urdf/console-bridge.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/urdf/model.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/urdf/geometry.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/srdf.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/mjcf/model.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/parsers/mjcf/geometry.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/extra/expose-extras.cpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase-callbacks.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-collision.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-fcl.cpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/fcl/transform.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/broadphase-manager.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/collision.hpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/multibody/pool/expose-pool.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/parallel/aba.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/parallel/expose-parallel.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/parallel/rnea.cpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/pool/model.hpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/parallel/expose-parallel.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/parallel/geometry.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/parallel/broadphase.cpp
-    ${PROJECT_SOURCE_DIR}/bindings/python/collision/pool/expose-pool.cpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/pool/geometry.hpp
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/pool/broadphase-manager.hpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/extra/expose-reachable-workspace.cpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_MPFR_PUBLIC_HEADERS
-    ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/multiprecision/boost/number.hpp)
-
-set(${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_MPFR_SOURCES
-    ${PROJECT_SOURCE_DIR}/bindings/python/extra/mpfr/boost_number.cpp)
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/explog.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/classic-acceleration.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/symmetric3.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/motion.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/force.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/inertia.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/spatial/se3.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/contact-info.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/contact-cholesky.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/contact-solver-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/delassus-operator.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/proximal.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/algorithms.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/algorithm/constraints/coulomb-friction-cone.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/pybind11-all.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/pybind11.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/constant.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/version.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/pickle-vector.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/macros.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/path.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/std-vector.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/printable.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/dependencies.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/conversions.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/address.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/copyable.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/registration.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/pickle.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/pickle-map.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/list.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/std-aligned-vector.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/eigen.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/comparable.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/std-map.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/cast.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/deprecation.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/utils/namespace.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/cppadcg.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/cppad.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/casadi.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/default.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/mpfr.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/context/generic.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/fwd.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/serialization/serialization.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/serialization/serializable.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/tridiagonal-matrix.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/lanczos-decomposition.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/multiprecision/boost/number.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/broadphase-manager-base.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/geometry-functors.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/tree-broadphase-manager.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/frame.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/geometry-model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint-model.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/joint/joint-data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/liegroups.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/geometry-data.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/geometry-object.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/urdf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/sdf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/mjcf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/parsers/srdf.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/extra/extras.hpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-symmetric3.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-force.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-inertia.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-SE3.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-motion.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-explog.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/spatial/expose-skew.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-impulse-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-model.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-centroidal.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-aba.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-algorithms.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/admm-solver.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/pgs-solver.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-com.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-frames.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-energy.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-constrained-dynamics-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-rnea-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-kinematics.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-geometry.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-aba-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-solvers.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-inverse-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-joints.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-constrained-dynamics.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-rnea.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-contact-jacobian.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/constraints/expose-cones.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-cholesky.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-regressor.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-kinematics-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-cat.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-frames-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-centroidal-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-jacobian.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-delassus.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-impulse-dynamics-derivatives.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-kinematic-regressor.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/expose-crba.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/module.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/utils/version.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/utils/dependencies.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/utils/conversions.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/utils/path.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-linalg.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-tridiagonal-matrix.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-lanczos-decomposition.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-rpy.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/math/expose-eigen-types.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/serialization/serialization.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-model.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-liegroups.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-geometry.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-frame.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/expose-data.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/joint/expose-joints.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/sample-models.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/sdf/model.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/sdf/geometry.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/expose-parsers.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/urdf/console-bridge.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/urdf/model.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/urdf/geometry.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/srdf.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/mjcf/model.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/parsers/mjcf/geometry.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/extra/expose-extras.cpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-broadphase-callbacks.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-collision.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/expose-fcl.cpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/fcl/transform.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/broadphase-manager.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/collision.hpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_SOURCES
+  ${PROJECT_SOURCE_DIR}/bindings/python/multibody/pool/expose-pool.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/parallel/aba.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/parallel/expose-parallel.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/algorithm/parallel/rnea.cpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_PARALLEL_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/multibody/pool/model.hpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_SOURCES
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/parallel/expose-parallel.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/parallel/geometry.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/parallel/broadphase.cpp
+  ${PROJECT_SOURCE_DIR}/bindings/python/collision/pool/expose-pool.cpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PARALLEL_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/pool/geometry.hpp
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/collision/pool/broadphase-manager.hpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_SOURCES
+  ${PROJECT_SOURCE_DIR}/bindings/python/extra/expose-reachable-workspace.cpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_MPFR_PUBLIC_HEADERS
+  ${PROJECT_SOURCE_DIR}/include/pinocchio/bindings/python/math/multiprecision/boost/number.hpp
+)
+
+set(
+  ${PROJECT_NAME}_BINDINGS_PYTHON_EXTRA_MPFR_SOURCES
+  ${PROJECT_SOURCE_DIR}/bindings/python/extra/mpfr/boost_number.cpp
+)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 500d657f15..7ad64b873f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -14,42 +14,48 @@ add_library(${PROJECT_NAME}_headers INTERFACE)
 # Enforce the preprocessed version of boost::list and boost::vector This information is redundant
 # with the content of include/pinocchio/container/boost-container-limits.hpp but it avoids any
 # compilation issue.
-target_compile_definitions(${PROJECT_NAME}_headers INTERFACE BOOST_MPL_LIMIT_LIST_SIZE=30
-                                                             BOOST_MPL_LIMIT_VECTOR_SIZE=30)
+target_compile_definitions(
+  ${PROJECT_NAME}_headers
+  INTERFACE BOOST_MPL_LIMIT_LIST_SIZE=30 BOOST_MPL_LIMIT_VECTOR_SIZE=30
+)
 
 if(INITIALIZE_WITH_NAN)
   target_compile_definitions(${PROJECT_NAME}_headers INTERFACE EIGEN_INITIALIZE_MATRICES_BY_NAN)
 endif()
 
 if(CHECK_RUNTIME_MALLOC)
-  target_compile_definitions(${PROJECT_NAME}_headers INTERFACE PINOCCHIO_EIGEN_CHECK_MALLOC
-                                                               EIGEN_RUNTIME_NO_MALLOC)
+  target_compile_definitions(
+    ${PROJECT_NAME}_headers
+    INTERFACE PINOCCHIO_EIGEN_CHECK_MALLOC EIGEN_RUNTIME_NO_MALLOC
+  )
 endif(CHECK_RUNTIME_MALLOC)
 
-modernize_target_link_libraries(
+MODERNIZE_TARGET_LINK_LIBRARIES(
   ${PROJECT_NAME}_headers
   SCOPE INTERFACE
   TARGETS Eigen3::Eigen
-  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
-modernize_target_link_libraries(
+  INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR}
+)
+MODERNIZE_TARGET_LINK_LIBRARIES(
   ${PROJECT_NAME}_headers
   SCOPE INTERFACE
   TARGETS Boost::boost Boost::serialization
   LIBRARIES ${Boost_SERIALIZATION_LIBRARY}
-  INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
+  INCLUDE_DIRS ${Boost_INCLUDE_DIRS}
+)
 
 target_include_directories(
   ${PROJECT_NAME}_headers
-  INTERFACE $<INSTALL_INTERFACE:include> $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-            $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
+  INTERFACE
+    $<INSTALL_INTERFACE:include>
+    $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+)
 
-cxx_flags_by_compiler_frontend(
-  MSVC "/bigobj"
-  OUTPUT PUBLIC_OPTIONS
-  FILTER)
+CXX_FLAGS_BY_COMPILER_FRONTEND(MSVC "/bigobj" OUTPUT PUBLIC_OPTIONS FILTER)
 target_compile_options(${PROJECT_NAME}_headers INTERFACE ${PUBLIC_OPTIONS})
 
-cxx_flags_by_compiler_frontend(MSVC "NOMINMAX" OUTPUT PUBLIC_DEFINITIONS)
+CXX_FLAGS_BY_COMPILER_FRONTEND(MSVC "NOMINMAX" OUTPUT PUBLIC_DEFINITIONS)
 target_compile_definitions(${PROJECT_NAME}_headers INTERFACE ${PUBLIC_DEFINITIONS})
 
 install(
@@ -57,7 +63,8 @@ install(
   EXPORT ${TARGETS_EXPORT_NAME}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+)
 
 # Define a compiled target This functions take sources and scalar type to use
 function(PINOCCHIO_TARGET target_name)
@@ -78,9 +85,7 @@ function(PINOCCHIO_TARGET target_name)
 
   # Export PUBLIC scope to caller
   if(ARGS_LIBRARY_PUBLIC_SCOPE)
-    set(${ARGS_LIBRARY_PUBLIC_SCOPE}
-        ${LIBRARY_PUBLIC_SCOPE}
-        PARENT_SCOPE)
+    set(${ARGS_LIBRARY_PUBLIC_SCOPE} ${LIBRARY_PUBLIC_SCOPE} PARENT_SCOPE)
   endif()
 
   add_library(${LIB_NAME} ${LIBRARY_TYPE})
@@ -90,16 +95,17 @@ function(PINOCCHIO_TARGET target_name)
   # INSTALL_RPATH and VERSION on an INTERFACE target.
   if(NOT ARGS_INTERFACE OR CMAKE_VERSION GREATER 3.16)
     target_sources(${LIB_NAME} PRIVATE ${ARGS_SOURCES})
-    target_sources(
-      ${LIB_NAME} PRIVATE ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}) # For IDE to get includes part of
-                                                                  # the project automatically.
+    target_sources(${LIB_NAME} PRIVATE ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}) # For IDE to get includes part of
+    # the project automatically.
     set_target_properties(
       ${LIB_NAME}
-      PROPERTIES LINKER_LANGUAGE CXX
-                 INSTALL_RPATH "\$ORIGIN"
-                 VERSION ${PROJECT_VERSION}
-                 CXX_VISIBILITY_PRESET hidden
-                 VISIBILITY_INLINES_HIDDEN ON)
+      PROPERTIES
+        LINKER_LANGUAGE CXX
+        INSTALL_RPATH "\$ORIGIN"
+        VERSION ${PROJECT_VERSION}
+        CXX_VISIBILITY_PRESET hidden
+        VISIBILITY_INLINES_HIDDEN ON
+    )
   endif()
 
   if(ENABLE_TEMPLATE_INSTANTIATION AND NOT ARGS_INTERFACE)
@@ -107,16 +113,20 @@ function(PINOCCHIO_TARGET target_name)
     target_compile_definitions(
       ${LIB_NAME}
       PUBLIC PINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION
-      PRIVATE PINOCCHIO_CONTEXT_FILE="${PINOCCHIO_CONTEXT_FILE_VALUE}")
+      PRIVATE PINOCCHIO_CONTEXT_FILE="${PINOCCHIO_CONTEXT_FILE_VALUE}"
+    )
   endif()
 
   target_include_directories(
-    ${LIB_NAME} ${LIBRARY_PUBLIC_SCOPE} $<INSTALL_INTERFACE:include>
+    ${LIB_NAME}
+    ${LIBRARY_PUBLIC_SCOPE}
+    $<INSTALL_INTERFACE:include>
     $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
+    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  )
 
   if(BUILD_WITH_COMMIT_VERSION)
-    tag_library_version(${LIB_NAME})
+    TAG_LIBRARY_VERSION(${LIB_NAME})
   endif()
 
   install(
@@ -124,66 +134,61 @@ function(PINOCCHIO_TARGET target_name)
     EXPORT ${TARGETS_EXPORT_NAME}
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
     ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  )
 endfunction()
 
 # Define a template instantiation target
 function(PINOCCHIO_SPECIFIC_TYPE scalar_name scope)
   set(LIB_NAME "${PROJECT_NAME}_${scalar_name}")
   if(ENABLE_TEMPLATE_INSTANTIATION)
-    pinocchio_target(
+    PINOCCHIO_TARGET(
       ${LIB_NAME}
       SCALAR ${scalar_name}
       SOURCES ${${PROJECT_NAME}_CORE_SOURCES}
-      LIBRARY_PUBLIC_SCOPE PUBLIC_SCOPE)
+      LIBRARY_PUBLIC_SCOPE PUBLIC_SCOPE
+    )
     # By default DEFINE_SYMBOL add -D${LIB_NAME}_EXPORTS. Don't use ${LIB_NAME}_EXPORTS define since
     # pinocchio/config.hpp use pinocchio_EXPORTS. This allow to use the same DLLAPI define for all
     # template instantiation libraries.
     set_target_properties(${LIB_NAME} PROPERTIES DEFINE_SYMBOL "${PROJECT_NAME}_EXPORTS")
-    set(${scope}
-        ${PUBLIC_SCOPE}
-        PARENT_SCOPE)
+    set(${scope} ${PUBLIC_SCOPE} PARENT_SCOPE)
   else()
-    pinocchio_target(
+    PINOCCHIO_TARGET(
       ${LIB_NAME}
       SCALAR ${scalar_name}
       SOURCES ${${PROJECT_NAME}_CORE_SOURCES}
       LIBRARY_PUBLIC_SCOPE PUBLIC_SCOPE
-      INTERFACE)
-    set(${scope}
-        ${PUBLIC_SCOPE}
-        PARENT_SCOPE)
+      INTERFACE
+    )
+    set(${scope} ${PUBLIC_SCOPE} PARENT_SCOPE)
   endif()
 endfunction()
 
 function(PINOCCHIO_CONFIG directory lib_name)
   string(TOUPPER ${lib_name} upper_lib_name)
-  generate_configuration_header_v2(
-    INCLUDE_DIR
-    ${PROJECT_BINARY_DIR}/include
-    HEADER_DIR
-    pinocchio/${directory}
-    FILENAME
-    config.hpp
-    LIBRARY_NAME
-    ${upper_lib_name}
-    EXPORT_SYMBOL
-    ${lib_name}_EXPORTS)
+  GENERATE_CONFIGURATION_HEADER_V2(
+    INCLUDE_DIR ${PROJECT_BINARY_DIR}/include
+    HEADER_DIR pinocchio/${directory}
+    FILENAME config.hpp
+    LIBRARY_NAME ${upper_lib_name}
+    EXPORT_SYMBOL ${lib_name}_EXPORTS
+  )
 endfunction()
 
-add_source_group(${PROJECT_NAME}_CORE_SOURCES)
-add_source_group(${PROJECT_NAME}_PARSERS_SOURCES)
-add_source_group(${PROJECT_NAME}_EXTRA_SOURCES)
-add_header_group(${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
-add_header_group(${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS)
-add_header_group(${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS)
-add_header_group(${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS)
-add_header_group(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS)
+ADD_SOURCE_GROUP(${PROJECT_NAME}_CORE_SOURCES)
+ADD_SOURCE_GROUP(${PROJECT_NAME}_PARSERS_SOURCES)
+ADD_SOURCE_GROUP(${PROJECT_NAME}_EXTRA_SOURCES)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_GENERATED_PUBLIC_HEADERS)
 
 # Define the default target (double).
 #
 # This target will also have hpp-fcl and workspace module in it.
-pinocchio_specific_type(default DEFAULT_SCOPE)
+PINOCCHIO_SPECIFIC_TYPE(default DEFAULT_SCOPE)
 
 # Some core library algorithms have different behavior if PINOCCHIO_WITH_HPP_FCL is defined. Since
 # some are template instantiated, or some user can link only on pinocchio_default, we muste define
@@ -191,22 +196,26 @@ pinocchio_specific_type(default DEFAULT_SCOPE)
 if(BUILD_WITH_HPP_FCL_SUPPORT)
   target_compile_definitions(pinocchio_default PUBLIC PINOCCHIO_WITH_HPP_FCL)
   target_include_directories(
-    pinocchio_default PUBLIC $<TARGET_PROPERTY:hpp-fcl::hpp-fcl,INTERFACE_INCLUDE_DIRECTORIES>)
-
+    pinocchio_default
+    PUBLIC $<TARGET_PROPERTY:hpp-fcl::hpp-fcl,INTERFACE_INCLUDE_DIRECTORIES>
+  )
 endif()
 
 # Define the extra target This target hold extra algorithms.
 if(BUILD_WITH_EXTRA_SUPPORT)
   set(EXTRA_LIB_NAME "${PROJECT_NAME}_extra")
 
-  pinocchio_target(
+  PINOCCHIO_TARGET(
     ${EXTRA_LIB_NAME}
     SCALAR default
-    SOURCES ${${PROJECT_NAME}_EXTRA_SOURCES} ${${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS})
-  pinocchio_config(extra ${EXTRA_LIB_NAME})
+    SOURCES ${${PROJECT_NAME}_EXTRA_SOURCES} ${${PROJECT_NAME}_EXTRA_PUBLIC_HEADERS}
+  )
+  PINOCCHIO_CONFIG(extra ${EXTRA_LIB_NAME})
 
-  target_link_libraries(${EXTRA_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Qhull::qhullcpp
-                                                 Qhull::qhull_r)
+  target_link_libraries(
+    ${EXTRA_LIB_NAME}
+    PUBLIC ${PROJECT_NAME}_default Qhull::qhullcpp Qhull::qhull_r
+  )
 
   target_compile_definitions(${EXTRA_LIB_NAME} PUBLIC PINOCCHIO_WITH_EXTRA_SUPPORT)
 endif()
@@ -215,11 +224,12 @@ endif()
 if(BUILD_WITH_OPENMP_SUPPORT)
   set(PARALLEL_LIB_NAME "${PROJECT_NAME}_parallel")
 
-  pinocchio_target(
+  PINOCCHIO_TARGET(
     ${PARALLEL_LIB_NAME}
     SCALAR default
     SOURCES ${${PROJECT_NAME}_PARALLEL_PUBLIC_HEADERS}
-    INTERFACE)
+    INTERFACE
+  )
 
   target_link_libraries(${PARALLEL_LIB_NAME} INTERFACE ${PROJECT_NAME}_default OpenMP::OpenMP_CXX)
 endif()
@@ -228,11 +238,12 @@ endif()
 if(BUILD_WITH_HPP_FCL_SUPPORT)
   set(COLLISION_LIB_NAME "${PROJECT_NAME}_collision")
 
-  pinocchio_target(
+  PINOCCHIO_TARGET(
     ${COLLISION_LIB_NAME}
     SCALAR default
-    SOURCES ${${PROJECT_NAME}_COLLISION_SOURCES} ${${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS})
-  pinocchio_config(collision ${COLLISION_LIB_NAME})
+    SOURCES ${${PROJECT_NAME}_COLLISION_SOURCES} ${${PROJECT_NAME}_COLLISION_PUBLIC_HEADERS}
+  )
+  PINOCCHIO_CONFIG(collision ${COLLISION_LIB_NAME})
 
   target_compile_definitions(${COLLISION_LIB_NAME} PUBLIC PINOCCHIO_WITH_HPP_FCL)
   target_link_libraries(${COLLISION_LIB_NAME} PUBLIC ${PROJECT_NAME}_default hpp-fcl::hpp-fcl)
@@ -241,14 +252,17 @@ if(BUILD_WITH_HPP_FCL_SUPPORT)
   if(BUILD_WITH_OPENMP_SUPPORT)
     set(COLLISION_PARALLEL_LIB_NAME "${PROJECT_NAME}_collision_parallel")
 
-    pinocchio_target(
+    PINOCCHIO_TARGET(
       ${COLLISION_PARALLEL_LIB_NAME}
       SCALAR default
       SOURCES ${${PROJECT_NAME}_COLLISION_PARALLEL_PUBLIC_HEADERS}
-      INTERFACE)
+      INTERFACE
+    )
 
-    target_link_libraries(${COLLISION_PARALLEL_LIB_NAME} INTERFACE ${COLLISION_LIB_NAME}
-                                                                   OpenMP::OpenMP_CXX)
+    target_link_libraries(
+      ${COLLISION_PARALLEL_LIB_NAME}
+      INTERFACE ${COLLISION_LIB_NAME} OpenMP::OpenMP_CXX
+    )
   endif()
 endif()
 
@@ -258,31 +272,35 @@ endif()
 if(BUILD_WITH_PARSERS_SUPPORT)
   set(PARSERS_LIB_NAME "${PROJECT_NAME}_parsers")
 
-  pinocchio_target(
+  PINOCCHIO_TARGET(
     ${PARSERS_LIB_NAME}
     SCALAR default
-    SOURCES ${${PROJECT_NAME}_PARSERS_SOURCES} ${${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS})
-  pinocchio_config(parsers ${PARSERS_LIB_NAME})
+    SOURCES ${${PROJECT_NAME}_PARSERS_SOURCES} ${${PROJECT_NAME}_PARSERS_PUBLIC_HEADERS}
+  )
+  PINOCCHIO_CONFIG(parsers ${PARSERS_LIB_NAME})
 
   target_link_libraries(${PARSERS_LIB_NAME} PUBLIC ${PROJECT_NAME}_default)
   if(BUILD_WITH_HPP_FCL_SUPPORT)
     target_link_libraries(${PARSERS_LIB_NAME} PUBLIC ${PROJECT_NAME}_collision)
   endif()
 
-  modernize_target_link_libraries(
+  MODERNIZE_TARGET_LINK_LIBRARIES(
     ${PARSERS_LIB_NAME}
     SCOPE PUBLIC
     TARGETS Boost::filesystem
     LIBRARIES ${Boost_FILESYSTEM_LIBRARY}}
-    INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
+    INCLUDE_DIRS ${Boost_INCLUDE_DIRS}
+  )
 
   # Special care of urdfdom version
   if(BUILD_WITH_URDF_SUPPORT)
     target_compile_definitions(${PARSERS_LIB_NAME} PUBLIC PINOCCHIO_WITH_URDFDOM)
 
     if(${urdfdom_VERSION} VERSION_LESS "0.3.0")
-      target_compile_definitions(${PARSERS_LIB_NAME}
-                                 PRIVATE PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME)
+      target_compile_definitions(
+        ${PARSERS_LIB_NAME}
+        PRIVATE PINOCCHIO_URDFDOM_COLLISION_WITH_GROUP_NAME
+      )
     endif()
     # defines types from version 0.4.0
     if(NOT ${urdfdom_VERSION} VERSION_LESS "0.4.0")
@@ -293,12 +311,13 @@ if(BUILD_WITH_PARSERS_SUPPORT)
       target_compile_definitions(${PARSERS_LIB_NAME} PRIVATE PINOCCHIO_URDFDOM_USE_STD_SHARED_PTR)
     endif()
 
-    modernize_target_link_libraries(
+    MODERNIZE_TARGET_LINK_LIBRARIES(
       ${PARSERS_LIB_NAME}
       SCOPE PUBLIC
       TARGETS urdfdom::urdf_parser
       LIBRARIES ${urdfdom_LIBRARIES}
-      INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
+      INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS}
+    )
   endif()
 
   if(BUILD_WITH_SDF_SUPPORT)
@@ -310,45 +329,57 @@ endif()
 
 # Define cppad codegen target.
 if(BUILD_WITH_CODEGEN_SUPPORT)
-  pinocchio_specific_type(cppadcg CPPADCG_SCOPE)
+  PINOCCHIO_SPECIFIC_TYPE(cppadcg CPPADCG_SCOPE)
   # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
   # This can happen when Pinocchio is build in Debug mode using another library using cppad.
   target_compile_definitions(${PROJECT_NAME}_cppadcg PUBLIC CPPAD_DEBUG_AND_RELEASE)
-  target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE}
-                             $<BUILD_INTERFACE:${cppadcg_INCLUDE_DIR}>)
-  target_link_libraries(${PROJECT_NAME}_cppadcg ${CPPADCG_SCOPE} ${cppadcg_LIBRARY}
-                        ${cppad_LIBRARY})
+  target_include_directories(
+    ${PROJECT_NAME}_cppadcg
+    SYSTEM
+    ${CPPADCG_SCOPE}
+    $<BUILD_INTERFACE:${cppadcg_INCLUDE_DIR}>
+  )
+  target_link_libraries(
+    ${PROJECT_NAME}_cppadcg
+    ${CPPADCG_SCOPE}
+    ${cppadcg_LIBRARY}
+    ${cppad_LIBRARY}
+  )
 endif()
 
 # Define cppad target.
 if(BUILD_WITH_AUTODIFF_SUPPORT)
-  pinocchio_specific_type(cppad CPPAD_SCOPE)
+  PINOCCHIO_SPECIFIC_TYPE(cppad CPPAD_SCOPE)
   # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
   # This can happen when Pinocchio is build in Debug mode using another library using cppad.
   target_compile_definitions(${PROJECT_NAME}_cppad PUBLIC CPPAD_DEBUG_AND_RELEASE)
-  target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE}
-                             $<BUILD_INTERFACE:${cppad_INCLUDE_DIR}>)
+  target_include_directories(
+    ${PROJECT_NAME}_cppad
+    SYSTEM
+    ${CPPAD_SCOPE}
+    $<BUILD_INTERFACE:${cppad_INCLUDE_DIR}>
+  )
   target_link_libraries(${PROJECT_NAME}_cppad ${CPPAD_SCOPE} ${cppad_LIBRARY})
 endif()
 
 # Define casadi target.
 if(BUILD_WITH_CASADI_SUPPORT)
-  pinocchio_specific_type(casadi CASADI_SCOPE)
+  PINOCCHIO_SPECIFIC_TYPE(casadi CASADI_SCOPE)
   target_link_libraries(${PROJECT_NAME}_casadi ${CASADI_SCOPE} casadi)
 endif()
 
 if(BUILD_WITH_PYTHON_PARSER_SUPPORT)
   set(PYTHON_PARSER_LIB_NAME "${PROJECT_NAME}_python_parser")
 
-  pinocchio_target(
+  PINOCCHIO_TARGET(
     ${PYTHON_PARSER_LIB_NAME}
     SCALAR default
-    SOURCES ${${PROJECT_NAME}_PYTHON_PARSER_SOURCES}
-            ${${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS})
-  pinocchio_config(python_parser ${PYTHON_PARSER_LIB_NAME})
+    SOURCES ${${PROJECT_NAME}_PYTHON_PARSER_SOURCES} ${${PROJECT_NAME}_PYTHON_PARSER_PUBLIC_HEADERS}
+  )
+  PINOCCHIO_CONFIG(python_parser ${PYTHON_PARSER_LIB_NAME})
 
   target_link_libraries(${PYTHON_PARSER_LIB_NAME} PUBLIC ${PROJECT_NAME}_default Python3::Python)
-  target_link_boost_python(${PYTHON_PARSER_LIB_NAME} PUBLIC)
+  TARGET_LINK_BOOST_PYTHON(${PYTHON_PARSER_LIB_NAME} PUBLIC)
 endif()
 
 # Define main target (default, parsers, extra).
@@ -378,4 +409,5 @@ install(
   EXPORT ${TARGETS_EXPORT_NAME}
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+)
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 5518dc1b48..0d33ac1880 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -8,62 +8,64 @@
 # --- MACROS ------------------------------------------------------------------
 
 function(ADD_TEST_CFLAGS target)
-  get_cpp_test_name(${target} ${CMAKE_CURRENT_SOURCE_DIR} test_name)
+  GET_CPP_TEST_NAME(${target} ${CMAKE_CURRENT_SOURCE_DIR} test_name)
   foreach(ARG ${ARGN})
-    set_property(
-      TARGET ${test_name}
-      APPEND_STRING
-      PROPERTY COMPILE_FLAGS "${ARG} ")
+    set_property(TARGET ${test_name} APPEND_STRING PROPERTY COMPILE_FLAGS "${ARG} ")
   endforeach()
 endfunction()
 
 # Compute flags outside the macro to avoid recomputing it for each tests
-cxx_flags_by_compiler_frontend(MSVC _USE_MATH_DEFINES OUTPUT TEST_PRIVATE_DEFINITIONS)
+CXX_FLAGS_BY_COMPILER_FRONTEND(MSVC _USE_MATH_DEFINES OUTPUT TEST_PRIVATE_DEFINITIONS)
 
 function(GET_CPP_TEST_NAME name src_dir full_test_name)
   string(REPLACE "${PINOCCHIO_UNIT_TEST_DIR}" "" prefix_name "${src_dir}")
   string(REGEX REPLACE "[/]" "-" prefix_name "${prefix_name}-")
 
-  set(${full_test_name}
-      "${PROJECT_NAME}-test-cpp${prefix_name}${name}"
-      PARENT_SCOPE)
+  set(${full_test_name} "${PROJECT_NAME}-test-cpp${prefix_name}${name}" PARENT_SCOPE)
 endfunction()
 
 set(PINOCCHIO_UNIT_TEST_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 
 function(ADD_PINOCCHIO_UNIT_TEST name)
-  set(options
-      HEADER_ONLY
-      PARSERS
-      EXTRA
-      COLLISION
-      PARALLEL
-      PYTHON_PARSER
-      PARSERS_OPTIONAL
-      EXTRA_OPTIONAL
-      COLLISION_OPTIONAL
-      PARALLEL_OPTIONAL)
+  set(
+    options
+    HEADER_ONLY
+    PARSERS
+    EXTRA
+    COLLISION
+    PARALLEL
+    PYTHON_PARSER
+    PARSERS_OPTIONAL
+    EXTRA_OPTIONAL
+    COLLISION_OPTIONAL
+    PARALLEL_OPTIONAL
+  )
   set(oneValueArgs)
   set(multiValueArgs PACKAGES)
   cmake_parse_arguments(unit_test "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
 
   set(PKGS ${unit_test_PACKAGES})
 
-  get_cpp_test_name(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
-  add_unit_test(${TEST_NAME} ${name}.cpp)
+  GET_CPP_TEST_NAME(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
+  ADD_UNIT_TEST(${TEST_NAME} ${name}.cpp)
 
   set(MODULE_NAME "${NAME}Test")
   string(REPLACE "-" "_" MODULE_NAME ${MODULE_NAME})
   target_compile_definitions(
     ${TEST_NAME}
-    PRIVATE ${TEST_PRIVATE_DEFINITIONS} BOOST_TEST_DYN_LINK BOOST_TEST_MODULE=${MODULE_NAME}
-            PINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\")
+    PRIVATE
+      ${TEST_PRIVATE_DEFINITIONS}
+      BOOST_TEST_DYN_LINK
+      BOOST_TEST_MODULE=${MODULE_NAME}
+      PINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\"
+  )
 
   # There is no RPATH in Windows, then we must use the PATH to find the DLL
   if(WIN32)
     string(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
-    set(ENV_VARIABLES
-        "PATH=${_PATH}\\\;${PROJECT_BINARY_DIR}/src\\\;${PROJECT_BINARY_DIR}/bindings/python/pinocchio"
+    set(
+      ENV_VARIABLES
+      "PATH=${_PATH}\\\;${PROJECT_BINARY_DIR}/src\\\;${PROJECT_BINARY_DIR}/bindings/python/pinocchio"
     )
     set_tests_properties(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   endif()
@@ -96,9 +98,9 @@ function(ADD_PINOCCHIO_UNIT_TEST name)
 
   if(unit_test_PYTHON_PARSER)
     target_link_libraries(${TEST_NAME} PUBLIC ${PROJECT_NAME}_python_parser)
-    add_windows_dll_path_to_test(${TEST_NAME})
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
     get_test_property(${TEST_NAME} ENVIRONMENT ENV_VARIABLES)
-    compute_pythonpath(PYTHON_ENV_VARIABLES "bindings/python")
+    COMPUTE_PYTHONPATH(PYTHON_ENV_VARIABLES "bindings/python")
     list(APPEND ENV_VARIABLES ${PYTHON_ENV_VARIABLES})
     if(WIN32)
       # This line is mandatory because of Github action. The test run well on Windows + Conda. This
@@ -110,11 +112,12 @@ function(ADD_PINOCCHIO_UNIT_TEST name)
     set_tests_properties(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   endif()
 
-  modernize_target_link_libraries(
+  MODERNIZE_TARGET_LINK_LIBRARIES(
     ${TEST_NAME}
     SCOPE PRIVATE
     TARGETS Boost::unit_test_framework
-    LIBRARIES ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+    LIBRARIES ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY}
+  )
 
   if(PKGS)
     target_link_libraries(${TEST_NAME} PRIVATE ${PKGS})
@@ -123,7 +126,7 @@ endfunction()
 
 macro(ADD_PINOCCHIO_PARALLEL_UNIT_TEST NAME)
   if(BUILD_WITH_OPENMP_SUPPORT)
-    add_pinocchio_unit_test(${ARGV} PARALLEL)
+    ADD_PINOCCHIO_UNIT_TEST(${ARGV} PARALLEL)
   endif()
 endmacro()
 
@@ -131,116 +134,91 @@ endmacro()
 find_package(Boost COMPONENTS unit_test_framework)
 
 # Header only
-add_pinocchio_unit_test(macros HEADER_ONLY)
+ADD_PINOCCHIO_UNIT_TEST(macros HEADER_ONLY)
 
 # Math components
-add_pinocchio_unit_test(eigen-basic-op)
-add_pinocchio_unit_test(eigen-tensor)
-add_pinocchio_unit_test(sincos)
-add_pinocchio_unit_test(quaternion)
-add_pinocchio_unit_test(rpy)
-add_pinocchio_unit_test(rotation)
-add_pinocchio_unit_test(vector)
-add_pinocchio_unit_test(eigenvalues)
-add_pinocchio_unit_test(tridiagonal-matrix)
+ADD_PINOCCHIO_UNIT_TEST(eigen-basic-op)
+ADD_PINOCCHIO_UNIT_TEST(eigen-tensor)
+ADD_PINOCCHIO_UNIT_TEST(sincos)
+ADD_PINOCCHIO_UNIT_TEST(quaternion)
+ADD_PINOCCHIO_UNIT_TEST(rpy)
+ADD_PINOCCHIO_UNIT_TEST(rotation)
+ADD_PINOCCHIO_UNIT_TEST(vector)
+ADD_PINOCCHIO_UNIT_TEST(eigenvalues)
+ADD_PINOCCHIO_UNIT_TEST(tridiagonal-matrix)
 # TOOD This test contains an undefined behavior and is not stable. Reactivte the test when the fix
 # is merged.
 
 # add_pinocchio_unit_test(lanczos-decomposition)
-add_pinocchio_unit_test(gram-schmidt-orthonormalisation)
+ADD_PINOCCHIO_UNIT_TEST(gram-schmidt-orthonormalisation)
 
 # Derivatives algo
-add_pinocchio_unit_test(kinematics-derivatives)
-add_pinocchio_unit_test(frames-derivatives)
-add_pinocchio_unit_test(rnea-derivatives)
-add_pinocchio_unit_test(aba-derivatives)
-add_pinocchio_unit_test(centroidal-derivatives)
-add_pinocchio_unit_test(center-of-mass-derivatives)
-add_pinocchio_unit_test(constrained-dynamics-derivatives)
-add_pinocchio_unit_test(rnea-second-order-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(kinematics-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(frames-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(rnea-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(aba-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(centroidal-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(center-of-mass-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(constrained-dynamics-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(rnea-second-order-derivatives)
 
 # Pinocchio features
-add_pinocchio_unit_test(spatial)
-add_pinocchio_unit_test(symmetric)
-add_pinocchio_unit_test(aba)
-add_pinocchio_parallel_unit_test(parallel-aba)
-add_pinocchio_unit_test(rnea)
-add_pinocchio_parallel_unit_test(parallel-rnea)
-add_pinocchio_unit_test(crba)
-add_pinocchio_unit_test(centroidal)
-add_pinocchio_unit_test(com)
-add_pinocchio_unit_test(joint-jacobian)
-add_pinocchio_unit_test(cholesky)
-add_pinocchio_unit_test(constrained-dynamics)
-add_pinocchio_unit_test(contact-models)
-add_pinocchio_unit_test(contact-dynamics)
-add_pinocchio_unit_test(contact-inverse-dynamics)
-add_pinocchio_unit_test(closed-loop-dynamics)
-add_pinocchio_unit_test(sample-models COLLISION_OPTIONAL)
-add_pinocchio_unit_test(kinematics)
+ADD_PINOCCHIO_UNIT_TEST(spatial)
+ADD_PINOCCHIO_UNIT_TEST(symmetric)
+ADD_PINOCCHIO_UNIT_TEST(aba)
+ADD_PINOCCHIO_PARALLEL_UNIT_TEST(parallel-aba)
+ADD_PINOCCHIO_UNIT_TEST(rnea)
+ADD_PINOCCHIO_PARALLEL_UNIT_TEST(parallel-rnea)
+ADD_PINOCCHIO_UNIT_TEST(crba)
+ADD_PINOCCHIO_UNIT_TEST(centroidal)
+ADD_PINOCCHIO_UNIT_TEST(com)
+ADD_PINOCCHIO_UNIT_TEST(joint-jacobian)
+ADD_PINOCCHIO_UNIT_TEST(cholesky)
+ADD_PINOCCHIO_UNIT_TEST(constrained-dynamics)
+ADD_PINOCCHIO_UNIT_TEST(contact-models)
+ADD_PINOCCHIO_UNIT_TEST(contact-dynamics)
+ADD_PINOCCHIO_UNIT_TEST(contact-inverse-dynamics)
+ADD_PINOCCHIO_UNIT_TEST(closed-loop-dynamics)
+ADD_PINOCCHIO_UNIT_TEST(sample-models COLLISION_OPTIONAL)
+ADD_PINOCCHIO_UNIT_TEST(kinematics)
 # Test for unstable features TODO fix and reactivate these tests in next version
 # ADD_PINOCCHIO_UNIT_TEST(delassus) ADD_PINOCCHIO_UNIT_TEST(pv-solver)
-add_pinocchio_unit_test(impulse-dynamics-derivatives)
+ADD_PINOCCHIO_UNIT_TEST(impulse-dynamics-derivatives)
 if(BUILD_WITH_SDF_SUPPORT)
-  add_pinocchio_unit_test(contact-dynamics-derivatives PARSERS)
+  ADD_PINOCCHIO_UNIT_TEST(contact-dynamics-derivatives PARSERS)
 else()
-  add_pinocchio_unit_test(contact-dynamics-derivatives)
+  ADD_PINOCCHIO_UNIT_TEST(contact-dynamics-derivatives)
 endif()
-add_pinocchio_unit_test(constraint-variants)
-add_pinocchio_unit_test(impulse-dynamics)
+ADD_PINOCCHIO_UNIT_TEST(constraint-variants)
+ADD_PINOCCHIO_UNIT_TEST(impulse-dynamics)
 
-add_pinocchio_unit_test(
-  mjcf
-  PARSERS
-  COLLISION_OPTIONAL)
+ADD_PINOCCHIO_UNIT_TEST(mjcf PARSERS COLLISION_OPTIONAL)
 
 if(BUILD_WITH_URDF_SUPPORT)
-  add_pinocchio_unit_test(
-    urdf
-    PARSERS
-    COLLISION_OPTIONAL)
+  ADD_PINOCCHIO_UNIT_TEST(urdf PARSERS COLLISION_OPTIONAL)
 
-  add_pinocchio_unit_test(value PARSERS)
+  ADD_PINOCCHIO_UNIT_TEST(value PARSERS)
   if(BUILD_WITH_HPP_FCL_SUPPORT)
-    add_pinocchio_unit_test(geometry-object COLLISION)
-    add_pinocchio_unit_test(
-      geometry-model
-      PARSERS
-      COLLISION)
-    add_pinocchio_unit_test(
-      geometry-algorithms
-      PARSERS
-      COLLISION)
-    add_pinocchio_unit_test(
-      broadphase
-      PARSERS
-      COLLISION)
-    add_pinocchio_unit_test(
-      tree-broadphase
-      PARSERS
-      COLLISION)
-    add_pinocchio_parallel_unit_test(parallel-geometry PARSERS COLLISION)
-    add_pinocchio_unit_test(
-      srdf
-      PARSERS
-      COLLISION)
+    ADD_PINOCCHIO_UNIT_TEST(geometry-object COLLISION)
+    ADD_PINOCCHIO_UNIT_TEST(geometry-model PARSERS COLLISION)
+    ADD_PINOCCHIO_UNIT_TEST(geometry-algorithms PARSERS COLLISION)
+    ADD_PINOCCHIO_UNIT_TEST(broadphase PARSERS COLLISION)
+    ADD_PINOCCHIO_UNIT_TEST(tree-broadphase PARSERS COLLISION)
+    ADD_PINOCCHIO_PARALLEL_UNIT_TEST(parallel-geometry PARSERS COLLISION)
+    ADD_PINOCCHIO_UNIT_TEST(srdf PARSERS COLLISION)
   endif()
 endif()
 
 if(BUILD_WITH_SDF_SUPPORT)
-  add_pinocchio_unit_test(sdf PARSERS)
+  ADD_PINOCCHIO_UNIT_TEST(sdf PARSERS)
 endif()
 
 if(BUILD_WITH_EXTRA_SUPPORT)
-  add_pinocchio_unit_test(
-    reachable-workspace
-    PARSERS
-    EXTRA
-    COLLISION_OPTIONAL)
+  ADD_PINOCCHIO_UNIT_TEST(reachable-workspace PARSERS EXTRA COLLISION_OPTIONAL)
 endif()
 
 if(BUILD_WITH_PYTHON_PARSER_SUPPORT)
-  add_pinocchio_unit_test(python_parser PYTHON_PARSER)
+  ADD_PINOCCHIO_UNIT_TEST(python_parser PYTHON_PARSER)
 endif()
 
 if(BUILD_PYTHON_INTERFACE)
@@ -248,68 +226,72 @@ if(BUILD_PYTHON_INTERFACE)
 endif()
 
 # Test over the joints
-add_pinocchio_unit_test(all-joints)
-add_pinocchio_unit_test(joint-revolute)
-add_pinocchio_unit_test(joint-prismatic)
-add_pinocchio_unit_test(joint-planar)
-add_pinocchio_unit_test(joint-free-flyer)
-add_pinocchio_unit_test(joint-spherical)
-add_pinocchio_unit_test(joint-translation)
-add_pinocchio_unit_test(joint-generic)
-add_pinocchio_unit_test(joint-composite)
-add_pinocchio_unit_test(joint-mimic)
-add_pinocchio_unit_test(joint-helical)
-add_pinocchio_unit_test(joint-universal)
+ADD_PINOCCHIO_UNIT_TEST(all-joints)
+ADD_PINOCCHIO_UNIT_TEST(joint-revolute)
+ADD_PINOCCHIO_UNIT_TEST(joint-prismatic)
+ADD_PINOCCHIO_UNIT_TEST(joint-planar)
+ADD_PINOCCHIO_UNIT_TEST(joint-free-flyer)
+ADD_PINOCCHIO_UNIT_TEST(joint-spherical)
+ADD_PINOCCHIO_UNIT_TEST(joint-translation)
+ADD_PINOCCHIO_UNIT_TEST(joint-generic)
+ADD_PINOCCHIO_UNIT_TEST(joint-composite)
+ADD_PINOCCHIO_UNIT_TEST(joint-mimic)
+ADD_PINOCCHIO_UNIT_TEST(joint-helical)
+ADD_PINOCCHIO_UNIT_TEST(joint-universal)
 
 # Main corpus
-add_pinocchio_unit_test(model COLLISION_OPTIONAL)
-add_pinocchio_unit_test(data)
-add_pinocchio_unit_test(joint-motion-subspace)
-add_pinocchio_unit_test(compute-all-terms)
-add_pinocchio_unit_test(energy)
-add_pinocchio_unit_test(frames)
+ADD_PINOCCHIO_UNIT_TEST(model COLLISION_OPTIONAL)
+ADD_PINOCCHIO_UNIT_TEST(data)
+ADD_PINOCCHIO_UNIT_TEST(joint-motion-subspace)
+ADD_PINOCCHIO_UNIT_TEST(compute-all-terms)
+ADD_PINOCCHIO_UNIT_TEST(energy)
+ADD_PINOCCHIO_UNIT_TEST(frames)
 if(NOT MSVC AND NOT MSVC_VERSION)
-  add_pinocchio_unit_test(joint-configurations)
+  ADD_PINOCCHIO_UNIT_TEST(joint-configurations)
 endif()
-add_pinocchio_unit_test(explog)
-add_pinocchio_unit_test(finite-differences)
-add_pinocchio_unit_test(visitor)
-add_pinocchio_unit_test(algo-check)
+ADD_PINOCCHIO_UNIT_TEST(explog)
+ADD_PINOCCHIO_UNIT_TEST(finite-differences)
+ADD_PINOCCHIO_UNIT_TEST(visitor)
+ADD_PINOCCHIO_UNIT_TEST(algo-check)
 
 # Warning ignore with pragma doesn't work for a part of this test, so we ignore two warning globally
-cxx_flags_by_compiler_frontend(
+CXX_FLAGS_BY_COMPILER_FRONTEND(
   GNU -Wno-maybe-uninitialized -Wuse-after-free=0
   OUTPUT LIEGROUPS_OPTIONS
-  FILTER)
-add_pinocchio_unit_test(liegroups)
-add_test_cflags(liegroups ${LIEGROUPS_OPTIONS})
-
-add_pinocchio_unit_test(cartesian-product-liegroups)
-add_pinocchio_unit_test(regressor)
-add_pinocchio_unit_test(version)
-add_pinocchio_unit_test(copy)
-add_pinocchio_unit_test(contact-cholesky)
-add_pinocchio_unit_test(classic-acceleration)
-add_pinocchio_unit_test(coulomb-friction-cone)
+  FILTER
+)
+ADD_PINOCCHIO_UNIT_TEST(liegroups)
+ADD_TEST_CFLAGS(liegroups ${LIEGROUPS_OPTIONS})
+
+ADD_PINOCCHIO_UNIT_TEST(cartesian-product-liegroups)
+ADD_PINOCCHIO_UNIT_TEST(regressor)
+ADD_PINOCCHIO_UNIT_TEST(version)
+ADD_PINOCCHIO_UNIT_TEST(copy)
+ADD_PINOCCHIO_UNIT_TEST(contact-cholesky)
+ADD_PINOCCHIO_UNIT_TEST(classic-acceleration)
+ADD_PINOCCHIO_UNIT_TEST(coulomb-friction-cone)
 
 # Serialization
 make_directory("${CMAKE_CURRENT_BINARY_DIR}/serialization-data")
-add_pinocchio_unit_test(serialization COLLISION_OPTIONAL)
-add_test_cflags(
+ADD_PINOCCHIO_UNIT_TEST(serialization COLLISION_OPTIONAL)
+ADD_TEST_CFLAGS(
   serialization
-  "-DTEST_SERIALIZATION_FOLDER=\\\"${CMAKE_CURRENT_BINARY_DIR}/serialization-data\\\"")
-add_pinocchio_unit_test(csv)
-add_test_cflags(
-  csv "-DTEST_SERIALIZATION_FOLDER=\\\"${CMAKE_CURRENT_BINARY_DIR}/serialization-data\\\"")
+  "-DTEST_SERIALIZATION_FOLDER=\\\"${CMAKE_CURRENT_BINARY_DIR}/serialization-data\\\""
+)
+ADD_PINOCCHIO_UNIT_TEST(csv)
+ADD_TEST_CFLAGS(
+  csv
+  "-DTEST_SERIALIZATION_FOLDER=\\\"${CMAKE_CURRENT_BINARY_DIR}/serialization-data\\\""
+)
 
 add_subdirectory(algorithm)
 
 # Multiprecision arithmetic
 if(BUILD_ADVANCED_TESTING)
-  add_pinocchio_unit_test(multiprecision)
+  ADD_PINOCCHIO_UNIT_TEST(multiprecision)
 
   if(MPFR_FOUND)
-    add_pinocchio_unit_test(multiprecision-mpfr PACKAGES mpfr gmp)
+    ADD_PINOCCHIO_UNIT_TEST(multiprecision-mpfr PACKAGES mpfr gmp)
   endif()
 endif()
 
diff --git a/unittest/algorithm/utils/CMakeLists.txt b/unittest/algorithm/utils/CMakeLists.txt
index 220bc47f37..ce0290012b 100644
--- a/unittest/algorithm/utils/CMakeLists.txt
+++ b/unittest/algorithm/utils/CMakeLists.txt
@@ -1,2 +1,2 @@
-add_pinocchio_unit_test(motion)
-add_pinocchio_unit_test(force)
+ADD_PINOCCHIO_UNIT_TEST(motion)
+ADD_PINOCCHIO_UNIT_TEST(force)
diff --git a/unittest/casadi/CMakeLists.txt b/unittest/casadi/CMakeLists.txt
index 74f48ba6bb..c615908933 100644
--- a/unittest/casadi/CMakeLists.txt
+++ b/unittest/casadi/CMakeLists.txt
@@ -3,8 +3,8 @@
 #
 
 macro(ADD_CASADI_UNIT_TEST name)
-  add_pinocchio_unit_test(${name} PACKAGES casadi)
-  get_cpp_test_name(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
+  ADD_PINOCCHIO_UNIT_TEST(${name} PACKAGES casadi)
+  GET_CPP_TEST_NAME(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
   set_tests_properties(${TEST_NAME} PROPERTIES TIMEOUT 3000)
   add_dependencies(${PROJECT_NAME}-test-casadi ${TEST_NAME})
 endmacro()
@@ -13,17 +13,17 @@ if(BUILD_WITH_CASADI_SUPPORT)
   add_custom_target(${PROJECT_NAME}-test-casadi)
   set_target_properties(${PROJECT_NAME}-test-casadi PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
-  add_casadi_unit_test(basic)
-  add_casadi_unit_test(spatial)
-  add_casadi_unit_test(explog)
-  add_casadi_unit_test(joints)
-  add_casadi_unit_test(algorithms)
+  ADD_CASADI_UNIT_TEST(basic)
+  ADD_CASADI_UNIT_TEST(spatial)
+  ADD_CASADI_UNIT_TEST(explog)
+  ADD_CASADI_UNIT_TEST(joints)
+  ADD_CASADI_UNIT_TEST(algorithms)
   if(BUILD_ADVANCED_TESTING)
-    add_casadi_unit_test(aba)
-    add_casadi_unit_test(constraint-dynamics-derivatives)
-    add_casadi_unit_test(constraint-dynamics)
-    add_casadi_unit_test(aba-derivatives)
+    ADD_CASADI_UNIT_TEST(aba)
+    ADD_CASADI_UNIT_TEST(constraint-dynamics-derivatives)
+    ADD_CASADI_UNIT_TEST(constraint-dynamics)
+    ADD_CASADI_UNIT_TEST(aba-derivatives)
   endif()
-  add_casadi_unit_test(integrate-derivatives)
-  add_casadi_unit_test(rnea-derivatives)
+  ADD_CASADI_UNIT_TEST(integrate-derivatives)
+  ADD_CASADI_UNIT_TEST(rnea-derivatives)
 endif()
diff --git a/unittest/cppad/CMakeLists.txt b/unittest/cppad/CMakeLists.txt
index 93d099512d..a6b2ce97ad 100644
--- a/unittest/cppad/CMakeLists.txt
+++ b/unittest/cppad/CMakeLists.txt
@@ -5,8 +5,8 @@
 # Automatic differentiation
 macro(ADD_CPPAD_UNIT_TEST name)
   include_directories(SYSTEM ${cppad_INCLUDE_DIR})
-  add_pinocchio_unit_test(${name} PACKAGES ${cppad_LIBRARY})
-  get_cpp_test_name(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
+  ADD_PINOCCHIO_UNIT_TEST(${name} PACKAGES ${cppad_LIBRARY})
+  GET_CPP_TEST_NAME(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
   add_dependencies(${PROJECT_NAME}-test-cpp-cppad ${TEST_NAME})
 endmacro()
 
@@ -14,10 +14,10 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
   add_custom_target(${PROJECT_NAME}-test-cpp-cppad)
   set_target_properties(${PROJECT_NAME}-test-cpp-cppad PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True)
 
-  add_cppad_unit_test(basic)
-  add_cppad_unit_test(spatial)
-  add_cppad_unit_test(joints)
-  add_cppad_unit_test(algorithms)
-  add_cppad_unit_test(derivatives)
-  add_cppad_unit_test(joint-configurations)
+  ADD_CPPAD_UNIT_TEST(basic)
+  ADD_CPPAD_UNIT_TEST(spatial)
+  ADD_CPPAD_UNIT_TEST(joints)
+  ADD_CPPAD_UNIT_TEST(algorithms)
+  ADD_CPPAD_UNIT_TEST(derivatives)
+  ADD_CPPAD_UNIT_TEST(joint-configurations)
 endif()
diff --git a/unittest/cppadcg/CMakeLists.txt b/unittest/cppadcg/CMakeLists.txt
index ea8c7e1e0c..ff783a67a6 100644
--- a/unittest/cppadcg/CMakeLists.txt
+++ b/unittest/cppadcg/CMakeLists.txt
@@ -1,8 +1,8 @@
 macro(ADD_CPPADCG_UNIT_TEST name)
   include_directories(SYSTEM ${cppad_INCLUDE_DIR})
   include_directories(SYSTEM ${cppadcodegen_INCLUDE_DIR})
-  add_pinocchio_unit_test(${name} PACKAGES ${cppad_LIBRARY} ${CMAKE_DL_LIBS})
-  get_cpp_test_name(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
+  ADD_PINOCCHIO_UNIT_TEST(${name} PACKAGES ${cppad_LIBRARY} ${CMAKE_DL_LIBS})
+  GET_CPP_TEST_NAME(${name} ${CMAKE_CURRENT_SOURCE_DIR} TEST_NAME)
   add_dependencies(${PROJECT_NAME}-test-cpp-cppadcg ${TEST_NAME})
   target_compile_definitions(${TEST_NAME} PUBLIC PINOCCHIO_CXX_COMPILER=\"${CMAKE_CXX_COMPILER}\")
 endmacro()
@@ -10,13 +10,15 @@ endmacro()
 if(BUILD_WITH_AUTODIFF_SUPPORT)
   if(BUILD_WITH_CODEGEN_SUPPORT)
     add_custom_target(${PROJECT_NAME}-test-cpp-cppadcg)
-    set_target_properties(${PROJECT_NAME}-test-cpp-cppadcg PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD
-                                                                      True)
+    set_target_properties(
+      ${PROJECT_NAME}-test-cpp-cppadcg
+      PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD True
+    )
 
-    add_cppadcg_unit_test(basic)
+    ADD_CPPADCG_UNIT_TEST(basic)
     if(BUILD_ADVANCED_TESTING)
-      add_cppadcg_unit_test(algorithms)
-      add_cppadcg_unit_test(joint-configurations)
+      ADD_CPPADCG_UNIT_TEST(algorithms)
+      ADD_CPPADCG_UNIT_TEST(joint-configurations)
     endif()
   endif()
 endif()
diff --git a/unittest/packaging/external/CMakeLists.txt b/unittest/packaging/external/CMakeLists.txt
index b8a1fcf168..6fab4608a7 100644
--- a/unittest/packaging/external/CMakeLists.txt
+++ b/unittest/packaging/external/CMakeLists.txt
@@ -12,19 +12,16 @@ FetchContent_Declare(
   GIT_REPOSITORY $ENV{PINOCCHIO_GIT_REPOSITORY}
   GIT_TAG $ENV{PINOCCHIO_GIT_TAG}
   GIT_SUBMODULES cmake
-  GIT_SHALLOW ON)
+  GIT_SHALLOW ON
+)
 
 FetchContent_GetProperties(Pinocchio)
 if(NOT pinocchio_POPULATED) # name is lowercased
   FetchContent_Populate(Pinocchio)
   message(STATUS "pinocchio source dir: ${pinocchio_SOURCE_DIR}")
   message(STATUS "pinocchio binary dir: ${pinocchio_BINARY_DIR}")
-  set(BUILD_PYTHON_INTERFACE
-      OFF
-      CACHE INTERNAL "Build Python bindings")
-  set(BUILD_TESTING
-      OFF
-      CACHE INTERNAL "Build unit tests")
+  set(BUILD_PYTHON_INTERFACE OFF CACHE INTERNAL "Build Python bindings")
+  set(BUILD_TESTING OFF CACHE INTERNAL "Build unit tests")
   add_subdirectory(${pinocchio_SOURCE_DIR} ${pinocchio_BINARY_DIR}) # name is lowercased
 endif()
 # or simply FetchContent_MakeAvailable(Pinocchio)
diff --git a/unittest/packaging/pkgconfig/CMakeLists.txt b/unittest/packaging/pkgconfig/CMakeLists.txt
index 4b12379a1a..4a08307116 100644
--- a/unittest/packaging/pkgconfig/CMakeLists.txt
+++ b/unittest/packaging/pkgconfig/CMakeLists.txt
@@ -15,8 +15,10 @@ if("-DPINOCCHIO_WITH_URDFDOM" IN_LIST PINOCCHIO_CFLAGS)
   add_executable(load_urdf ../load_urdf.cpp)
   target_link_libraries(load_urdf PRIVATE ${PINOCCHIO_LDFLAGS})
   target_include_directories(load_urdf SYSTEM PRIVATE ${PINOCCHIO_INCLUDE_DIRS})
-  target_compile_definitions(load_urdf PRIVATE ${PINOCCHIO_CFLAGS_OTHER}
-                                               "PINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\"")
+  target_compile_definitions(
+    load_urdf
+    PRIVATE ${PINOCCHIO_CFLAGS_OTHER} "PINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\""
+  )
 endif()
 
 message(STATUS "LDFLAGS: ${PINOCCHIO_LDFLAGS}")
diff --git a/unittest/python/CMakeLists.txt b/unittest/python/CMakeLists.txt
index 40bc6c7e7c..507f6246bf 100644
--- a/unittest/python/CMakeLists.txt
+++ b/unittest/python/CMakeLists.txt
@@ -2,49 +2,51 @@
 # Copyright (c) 2015-2023 CNRS INRIA
 #
 
-set(${PROJECT_NAME}_PYTHON_TESTS
-    bindings
-    # Multibody
-    bindings_joint_composite
-    bindings_joints
-    bindings_model
-    bindings_data
-    bindings_geometry_model
-    bindings_liegroups
-    # Spatial
-    bindings_force
-    bindings_frame
-    bindings_inertia
-    bindings_spatial
-    bindings_motion
-    bindings_SE3
-    explog
-    rpy
-    # Algo
-    bindings_com
-    bindings_kinematic_regressor
-    bindings_regressor
-    bindings_dynamics
-    bindings_kinematics
-    bindings_rnea
-    bindings_aba
-    bindings_joint_algorithms
-    # Algo derivatives
-    bindings_kinematics_derivatives
-    bindings_frame_derivatives
-    bindings_forward_dynamics_derivatives
-    bindings_inverse_dynamics_derivatives
-    bindings_centroidal_dynamics_derivatives
-    bindings_com_velocity_derivatives
-    # Parsers
-    bindings_sample_models
-    # Others
-    robot_wrapper
-    utils
-    serialization
-    version
-    bindings_std_vector
-    bindings_std_map)
+set(
+  ${PROJECT_NAME}_PYTHON_TESTS
+  bindings
+  # Multibody
+  bindings_joint_composite
+  bindings_joints
+  bindings_model
+  bindings_data
+  bindings_geometry_model
+  bindings_liegroups
+  # Spatial
+  bindings_force
+  bindings_frame
+  bindings_inertia
+  bindings_spatial
+  bindings_motion
+  bindings_SE3
+  explog
+  rpy
+  # Algo
+  bindings_com
+  bindings_kinematic_regressor
+  bindings_regressor
+  bindings_dynamics
+  bindings_kinematics
+  bindings_rnea
+  bindings_aba
+  bindings_joint_algorithms
+  # Algo derivatives
+  bindings_kinematics_derivatives
+  bindings_frame_derivatives
+  bindings_forward_dynamics_derivatives
+  bindings_inverse_dynamics_derivatives
+  bindings_centroidal_dynamics_derivatives
+  bindings_com_velocity_derivatives
+  # Parsers
+  bindings_sample_models
+  # Others
+  robot_wrapper
+  utils
+  serialization
+  version
+  bindings_std_vector
+  bindings_std_map
+)
 
 if(BUILD_WITH_HPP_FCL_SUPPORT)
   set(${PROJECT_NAME}_PYTHON_TESTS ${${PROJECT_NAME}_PYTHON_TESTS} bindings_geometry_object)
@@ -52,14 +54,19 @@ if(BUILD_WITH_HPP_FCL_SUPPORT)
 endif()
 
 if(urdfdom_FOUND)
-  set(${PROJECT_NAME}_PYTHON_TESTS ${${PROJECT_NAME}_PYTHON_TESTS} bindings_urdf
-                                   bindings_geometry_model_urdf bindings_contact_inverse_dynamics)
+  set(
+    ${PROJECT_NAME}_PYTHON_TESTS
+    ${${PROJECT_NAME}_PYTHON_TESTS}
+    bindings_urdf
+    bindings_geometry_model_urdf
+    bindings_contact_inverse_dynamics
+  )
 endif(urdfdom_FOUND)
 
 foreach(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
   set(TEST_NAME "${PROJECT_NAME}-test-py-${TEST}")
-  add_python_unit_test(${TEST_NAME} "unittest/python/${TEST}.py" "bindings/python")
-  add_windows_dll_path_to_test(${TEST_NAME})
+  ADD_PYTHON_UNIT_TEST(${TEST_NAME} "unittest/python/${TEST}.py" "bindings/python")
+  ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
 endforeach(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
 
 make_directory("${CMAKE_CURRENT_BINARY_DIR}/serialization-data")
@@ -74,7 +81,7 @@ if(MEMORYCHECK_COMMAND AND MEMORYCHECK_COMMAND MATCHES ".*valgrind$")
 
   foreach(TEST ${${PROJECT_NAME}_PYTHON_MEMORYCHECK_TESTS})
     set(TEST_NAME "${PROJECT_NAME}-test-py-memory-${TEST}")
-    add_python_memorycheck_unit_test_v2(
+    ADD_PYTHON_MEMORYCHECK_UNIT_TEST_V2(
       NAME
       ${TEST_NAME}
       SOURCE
@@ -82,8 +89,9 @@ if(MEMORYCHECK_COMMAND AND MEMORYCHECK_COMMAND MATCHES ".*valgrind$")
       SUPP
       "unittest/python/${TEST}.supp"
       MODULES
-      "bindings/python")
-    add_windows_dll_path_to_test(${TEST_NAME})
+      "bindings/python"
+    )
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
   endforeach()
 else()
   message(STATUS "Valgrind not found, memory checks are disabled")
diff --git a/unittest/python/casadi/CMakeLists.txt b/unittest/python/casadi/CMakeLists.txt
index b635845708..f613be401e 100644
--- a/unittest/python/casadi/CMakeLists.txt
+++ b/unittest/python/casadi/CMakeLists.txt
@@ -6,6 +6,6 @@ set(${PROJECT_NAME}_PYTHON_CASADI_TESTS bindings_main_algo)
 
 foreach(test ${${PROJECT_NAME}_PYTHON_CASADI_TESTS})
   set(TEST_NAME "${PROJECT_NAME}-test-py-casadi-${test}")
-  add_python_unit_test(${TEST_NAME} "unittest/python/casadi/${test}.py" "bindings/python")
-  add_windows_dll_path_to_test(${TEST_NAME})
+  ADD_PYTHON_UNIT_TEST(${TEST_NAME} "unittest/python/casadi/${test}.py" "bindings/python")
+  ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
 endforeach()
diff --git a/unittest/python/pybind11/CMakeLists.txt b/unittest/python/pybind11/CMakeLists.txt
index ecc8984dfa..f341f14c34 100644
--- a/unittest/python/pybind11/CMakeLists.txt
+++ b/unittest/python/pybind11/CMakeLists.txt
@@ -1,9 +1,6 @@
 if(CMAKE_VERSION VERSION_GREATER 4.11)
   include(FetchContent)
-  FetchContent_Declare(
-    pybind11
-    GIT_REPOSITORY https://github.com/pybind/pybind11
-    GIT_TAG v2.10.0)
+  FetchContent_Declare(pybind11 GIT_REPOSITORY https://github.com/pybind/pybind11 GIT_TAG v2.10.0)
   FetchContent_GetProperties(pybind11)
   if(NOT pybind11_POPULATED)
     FetchContent_Populate(pybind11)
@@ -32,7 +29,11 @@ if(CMAKE_VERSION VERSION_GREATER 4.11)
       target_compile_definitions(cpp2pybind11 PRIVATE -DNOMINMAX)
     endif(WIN32)
 
-    add_python_unit_test("test-py-cpp2pybind11" "unittest/python/pybind11/test-cpp2pybind11.py"
-                         "bindings/python" "unittest/python/pybind11")
+    ADD_PYTHON_UNIT_TEST(
+      "test-py-cpp2pybind11"
+      "unittest/python/pybind11/test-cpp2pybind11.py"
+      "bindings/python"
+      "unittest/python/pybind11"
+    )
   endif()
 endif()
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
index 74988f237b..255a4354e8 100644
--- a/utils/CMakeLists.txt
+++ b/utils/CMakeLists.txt
@@ -6,7 +6,6 @@
 # --- MACROS ------------------------------------------------------------------
 # --- MACROS ------------------------------------------------------------------
 macro(ADD_UTIL NAME UTIL_SRC)
-
   if(BUILD_UTILS)
     add_executable(${NAME} "${UTIL_SRC}.cpp")
   else(BUILD_UTILS)
@@ -20,7 +19,6 @@ macro(ADD_UTIL NAME UTIL_SRC)
   if(BUILD_UTILS)
     install(TARGETS ${NAME} DESTINATION bin)
   endif(BUILD_UTILS)
-
 endmacro(ADD_UTIL)
 
 # --- RULES -------------------------------------------------------------------
@@ -29,5 +27,5 @@ endmacro(ADD_UTIL)
 add_custom_target(utils)
 
 if(urdfdom_FOUND)
-  add_util(pinocchio_read_model pinocchio_read_model)
+  ADD_UTIL(pinocchio_read_model pinocchio_read_model)
 endif(urdfdom_FOUND)

From 2a9977afdd04f98ddcf3289fd28f32f8b3ee4e9d Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Wed, 12 Feb 2025 20:53:46 +0100
Subject: [PATCH 3/4] Update git-blame-ignore-revs

---
 .git-blame-ignore-revs | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
index 5fc6723b30..8309e345bf 100644
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
@@ -9,3 +9,6 @@
 
 # pre-commit run -a (2024-09-04)
 d7c57794672df89734a80c40c0bd3166c7a984c6
+
+# pre-commit run -a (2025-02-12)
+9f7b29a448498699de547ea84ce5f1e8f2a6e8ea

From 4b48ff8e01eacdc5f5e378cc54ba881834c7cdbb Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Wed, 12 Feb 2025 20:58:45 +0100
Subject: [PATCH 4/4] pre-commit config: checkout submodules to use the
 cmakemodules' definitions

I keep forgetting to do this every single time...
---
 .pre-commit-config.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index cca6dbd65e..8e06069ee7 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,6 +2,7 @@ ci:
   autoupdate_branch: devel
   autofix_prs: false
   autoupdate_schedule: quarterly
+  submodules: true
 repos:
   - repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v19.1.6