diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index f95d41ead8..189771fd56 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -12,7 +12,27 @@ jobs:
         os: [ubuntu-20.04,ubuntu-18.04] 
     
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
+      with:
+        fetch-depth: 0
+        submodules: recursive 
+
+    # extract branch name
+    - name: Get branch name (merge)
+      if: github.event_name != 'pull_request'
+      shell: bash
+      run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV
+
+    # extract branch name on pull request
+    - name: Get branch name (pull request)
+      if: github.event_name == 'pull_request'
+      shell: bash
+      run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV
+
+    # print branch name
+    - name: Debug
+      run: echo ${{ env.BRANCH_NAME }}
+
     - name: Register robotpkg
       run: | 
         sudo sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
@@ -45,7 +65,6 @@ jobs:
     - name: Run cmake
       run: |
         git submodule update --init
-        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
         export PATH=$PATH:/opt/openrobots/bin
         export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
         export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
@@ -59,7 +78,13 @@ jobs:
         export CTEST_OUTPUT_ON_FAILURE=1
         make test
         sudo make install
-        cd ../unittest/packaging
+
+    - name: Test packaging
+      run: |
+        export PATH=$PATH:/opt/openrobots/bin
+        export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
+        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
+        cd ./unittest/packaging/cmake
         mkdir build
         cd build
         export CMAKE_PREFIX_PATH=/usr/local
@@ -67,5 +92,26 @@ jobs:
         make
         ./run_rnea
         ./load_urdf
-        cd ../../../build
+        cd ../../pkgconfig
+        mkdir build
+        cd build
+        cmake ..
+        make
+        ./run_rnea
+        cd ../../external
+        export PINOCCHIO_GIT_REPOSITORY="file://"$GITHUB_WORKSPACE
+        #export PINOCCHIO_GIT_REPOSITORY=$(git remote get-url origin)
+        export PINOCCHIO_GIT_TAG="test-external-"$(git rev-parse --short HEAD)
+        git tag $PINOCCHIO_GIT_TAG 
+        mkdir build
+        cd build
+        cmake ..
+        make
+        ./run_rnea
+        ./load_urdf
+        
+
+    - name: Uninstall project
+      run: |
+        cd build
         sudo make uninstall
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 61a0d5c08c..f829122c0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,21 +17,21 @@ SET(CXX_DISABLE_WERROR True)
 SET(CMAKE_VERBOSE_MAKEFILE True)
 
 # Check if the submodule cmake have been initialized
-IF(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
+IF(NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/cmake/base.cmake")
   MESSAGE(FATAL_ERROR "\nPlease run the following command first:\ngit submodule update --init\n")
 ENDIF()
 
 SET(DOXYGEN_USE_MATHJAX YES)
 SET(DOXYGEN_USE_TEMPLATE_CSS YES)
 
-INCLUDE(cmake/base.cmake)
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/base.cmake)
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
 PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 
-INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/python.cmake)
-INCLUDE(cmake/ide.cmake)
-INCLUDE(cmake/apple.cmake)
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/boost.cmake)
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/python.cmake)
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/ide.cmake)
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/cmake/apple.cmake)
 
 # If needed, set CMake policy for APPLE systems
 APPLY_DEFAULT_APPLE_CONFIGURATION()
@@ -45,7 +45,7 @@ ENDIF(WIN32)
 # --- OPTIONS ----------------------------------------
 OPTION(BUILD_BENCHMARK "Build the benchmarks" OFF)
 OPTION(BUILD_UTILS "Build the utils" OFF)
-OPTION(BUILD_PYTHON_INTERFACE "Build the Python binding" ON)
+OPTION(BUILD_PYTHON_INTERFACE "Build the Python bindings" ON)
 OPTION(BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit version" OFF)
 
 IF(DEFINED BUILD_UNIT_TESTS)
@@ -262,21 +262,27 @@ ADD_SUBDIRECTORY(benchmark)
 
 # --- PACKAGING ----------------------------------------------------------------
 IF(BUILD_WITH_URDF_SUPPORT)
+  SET(PINOCCHIO_USE_URDFDOM ON PARENT_SCOPE)
   SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_URDFDOM \"\")")
 ENDIF()
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  SET(PINOCCHIO_USE_HPP_FCL ON)
   SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_HPP_FCL \"\")")
 ENDIF()
 IF(BUILD_WITH_CPPAD_SUPPORT)
+  SET(PINOCCHIO_USE_CPPAD ON)
   SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD \"\")")
 ENDIF()
 IF(BUILD_WITH_CPPAD_CODEGEN_SUPPORT)
+  SET(PINOCCHIO_USE_CPPAD_CODEGEN ON)
   SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CPPAD_CODEGEN \"\")")
 ENDIF()
 IF(BUILD_WITH_CASADI_SUPPORT)
+  SET(PINOCCHIO_USE_CASADI ON)
   SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_USE_CASADI \"\")")
 ENDIF()
 IF(BUILD_PYTHON_INTERFACE)
+  SET(PINOCCHIO_WITH_PYTHON_INTERFACE ON)
   SET(PACKAGE_EXTRA_MACROS "${PACKAGE_EXTRA_MACROS}\nset(PINOCCHIO_WITH_PYTHON_INTERFACE \"\")")
 ENDIF()
 
diff --git a/cmake b/cmake
index 5cb34667bd..ef309d5a23 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 5cb34667bde62b5676e2b869dc6d13d598a4e2e3
+Subproject commit ef309d5a23037324b48749ab8faf30846dc0e7f0
diff --git a/unittest/packaging/CMakeLists.txt b/unittest/packaging/cmake/CMakeLists.txt
similarity index 62%
rename from unittest/packaging/CMakeLists.txt
rename to unittest/packaging/cmake/CMakeLists.txt
index c67e262dc8..f9a52e0dfb 100644
--- a/unittest/packaging/CMakeLists.txt
+++ b/unittest/packaging/cmake/CMakeLists.txt
@@ -2,16 +2,14 @@ cmake_minimum_required(VERSION 2.6)
 
 project(ExtraLib CXX)
 find_package(pinocchio REQUIRED)
-find_package(PythonInterp REQUIRED)
-find_package(PythonLibs REQUIRED)
 
-set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/../../models")
+set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/../../../models")
 add_definitions('-DPINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\"')
 
-add_executable(run_rnea run_rnea.cpp)
+add_executable(run_rnea ../run_rnea.cpp)
 target_link_libraries(run_rnea PUBLIC pinocchio::pinocchio)
 
 if(DEFINED PINOCCHIO_USE_URDFDOM)
-  add_executable(load_urdf load_urdf.cpp)
+  add_executable(load_urdf ../load_urdf.cpp)
   target_link_libraries(load_urdf PUBLIC pinocchio::pinocchio)
 endif(DEFINED PINOCCHIO_USE_URDFDOM)
diff --git a/unittest/packaging/external/CMakeLists.txt b/unittest/packaging/external/CMakeLists.txt
new file mode 100644
index 0000000000..f5a92e1304
--- /dev/null
+++ b/unittest/packaging/external/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.11)
+
+project(ExtraLib CXX)
+
+message(STATUS "PINOCCHIO_GIT_REPOSITORY: $ENV{PINOCCHIO_GIT_REPOSITORY}")
+message(STATUS "PINOCCHIO_GIT_TAG: $ENV{PINOCCHIO_GIT_TAG}")
+
+include(FetchContent)
+FetchContent_Declare(
+#FetchContent_Populate(
+  Pinocchio
+  GIT_REPOSITORY $ENV{PINOCCHIO_GIT_REPOSITORY}
+  GIT_TAG $ENV{PINOCCHIO_GIT_TAG}
+  GIT_SUBMODULES cmake
+  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: ${pinocchio_BINARY_DIR}")
+  set(BUILD_PYTHON_INTERFACE OFF CACHE INTERNAL "Build Python bindings")
+  set(BUILD_TESTING OFF CACHE INTERNAL "Build unit tests")
+  add_subdirectory(${pinocchio_SOURCE_DIR} ${pinocchio_BINARY_DIR}) # name is lowercased
+endif()
+# or simply FetchContent_MakeAvailable(Pinocchio)
+
+set(PINOCCHIO_MODEL_DIR "${PROJECT_SOURCE_DIR}/../../../models")
+add_definitions('-DPINOCCHIO_MODEL_DIR=\"${PINOCCHIO_MODEL_DIR}\"')
+
+add_executable(run_rnea ../run_rnea.cpp)
+target_link_libraries(run_rnea PUBLIC pinocchio)
+
+if(DEFINED PINOCCHIO_USE_URDFDOM)
+  add_executable(load_urdf ../load_urdf.cpp)
+  target_link_libraries(load_urdf PUBLIC pinocchio)
+endif(DEFINED PINOCCHIO_USE_URDFDOM)
diff --git a/unittest/packaging/pkgconfig/CMakeLists.txt b/unittest/packaging/pkgconfig/CMakeLists.txt
new file mode 100644
index 0000000000..352d2eca50
--- /dev/null
+++ b/unittest/packaging/pkgconfig/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.6)
+
+project(ExtraLib CXX)
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PINOCCHIO REQUIRED pinocchio)
+
+include_directories(SYSTEM ${PINOCCHIO_INCLUDE_DIRS})
+add_executable(run_rnea ../run_rnea.cpp)
+target_link_libraries(run_rnea PUBLIC ${PINOCCHIO_LDFLAGS})
+message(STATUS "${PINOCCHIO_LDFLAGS}")