From ed0597bd4d01b97b6089ecb92e16c5cf2372b7db Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Tue, 9 Jan 2024 12:01:22 +0100
Subject: [PATCH 01/22] ci: Fix ccache env variable and use Ninja in
 Linux/MacOS build

---
 .../workflows/conda/conda-env-macos-linux.yml | 18 +++++++
 .../{conda-env.yml => conda-env-windows.yml}  |  0
 .github/workflows/macos-linux-conda.yml       | 51 +++++++++++--------
 .github/workflows/windows-conda-clang.yml     |  2 +-
 .github/workflows/windows-conda-v142.yml      |  2 +-
 5 files changed, 49 insertions(+), 24 deletions(-)
 create mode 100644 .github/workflows/conda/conda-env-macos-linux.yml
 rename .github/workflows/conda/{conda-env.yml => conda-env-windows.yml} (100%)

diff --git a/.github/workflows/conda/conda-env-macos-linux.yml b/.github/workflows/conda/conda-env-macos-linux.yml
new file mode 100644
index 0000000000..afcc3a8ace
--- /dev/null
+++ b/.github/workflows/conda/conda-env-macos-linux.yml
@@ -0,0 +1,18 @@
+name: pinocchio
+channels:
+  - conda-forge
+  - nodefaults
+dependencies:
+  - eigen=3.4.0
+  - hpp-fcl
+  - numpy
+  - boost
+  - eigenpy
+  - urdfdom
+  - python
+  - mamba
+  - cmake
+  - ccache
+  - llvm-openmp
+  - cxx-compiler
+  - pkg-config
diff --git a/.github/workflows/conda/conda-env.yml b/.github/workflows/conda/conda-env-windows.yml
similarity index 100%
rename from .github/workflows/conda/conda-env.yml
rename to .github/workflows/conda/conda-env-windows.yml
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 8e09544c32..216d02f243 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -4,10 +4,13 @@ on: [push,pull_request]
 
 jobs:
   pinocchio-conda:
-    name: Pinocchio on ${{ matrix.os }} in ${{ matrix.build_type }} mode with Conda
+    name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_DIR: ${{ matrix.CCACHE_DIR }}
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
       BUILD_ADVANCED_TESTING: ${{ matrix.BUILD_ADVANCED_TESTING }}
 
     strategy:
@@ -15,13 +18,12 @@ jobs:
       matrix:
         os: ["ubuntu-latest", "macos-latest"]
         build_type: [Release, Debug]
+        python-version: ["3.8", "3.12"]
 
         include:
           - os: ubuntu-latest
-            CCACHE_DIR: /home/runner/.ccache
             BUILD_ADVANCED_TESTING: OFF
           - os: macos-latest
-            CCACHE_DIR: /Users/runner/.ccache
             BUILD_ADVANCED_TESTING: ON
 
     steps:
@@ -31,40 +33,45 @@ jobs:
 
     - uses: actions/cache@v3
       with:
-        path: ${{ env.CCACHE_DIR }}
-        key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}
+        path: .ccache
+        key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-
 
     - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: pinocchio
         auto-update-conda: true
         environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.8
+        python-version: ${{ matrix.python-version }}
+        auto-activate-base: false
 
-    - name: Install cmake and update conda
-      shell: bash -l {0}
-      run: |
-        conda activate pinocchio
-        conda install cmake ccache llvm-openmp compilers=1.4.2 -c conda-forge
-        conda list
 
     - name: Build Pinocchio
-      shell: bash -l {0}
+      shell: bash -el {0}
       run: |
-        conda activate pinocchio
+        conda list
         echo $CONDA_PREFIX
 
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DBUILD_WITH_COLLISION_SUPPORT=ON -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }}  -DBUILD_WITH_CASADI_SUPPORT=OFF -DPYTHON_EXECUTABLE=$(which python3) -DBUILD_WITH_OPENMP_SUPPORT=ON -DINSTALL_DOCUMENTATION=ON -DOpenMP_ROOT=$CONDA_PREFIX
-        make
-        make build_tests
-        CTEST_OUTPUT_ON_FAILURE=1 make test
-        make install
+        cmake .. \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          -DBUILD_WITH_COLLISION_SUPPORT=ON \
+          -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
+          -DBUILD_WITH_CASADI_SUPPORT=OFF \
+          -DPYTHON_EXECUTABLE=$(which python3) \
+          -DBUILD_WITH_OPENMP_SUPPORT=ON \
+          -DINSTALL_DOCUMENTATION=ON \
+          -DOpenMP_ROOT=$CONDA_PREFIX
+        cmake --build . -j2
+        ctest --output-on-failure
+        cmake --install .
 
     - name: Uninstall Pinocchio
-      shell: bash -l {0}
+      shell: bash -el {0}
       run: |
         cd build
-        make uninstall
+        cmake --build . --target uninstall
diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda-clang.yml
index 028bc8f348..db299c53d2 100644
--- a/.github/workflows/windows-conda-clang.yml
+++ b/.github/workflows/windows-conda-clang.yml
@@ -26,7 +26,7 @@ jobs:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       with:
         activate-environment: pinocchio
-        environment-file: .github/workflows/conda/conda-env.yml
+        environment-file: .github/workflows/conda/conda-env-windows.yml
         python-version: 3.7
     - name: Install cmake and update conda
       run: |
diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
index 29e8d3d741..f765d5ceba 100644
--- a/.github/workflows/windows-conda-v142.yml
+++ b/.github/workflows/windows-conda-v142.yml
@@ -25,7 +25,7 @@ jobs:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       with:
         activate-environment: pinocchio
-        environment-file: .github/workflows/conda/conda-env.yml
+        environment-file: .github/workflows/conda/conda-env-windows.yml
         python-version: 3.7
     - name: Install cmake and update conda
       run: |

From f5c25e344613a116d3f3cc071285e5a74f921fa1 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Tue, 9 Jan 2024 12:12:39 +0100
Subject: [PATCH 02/22] ci: Add Python version in cache key

---
 .github/workflows/macos-linux-conda.yml | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 216d02f243..0a25f89cf3 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -34,8 +34,8 @@ jobs:
     - uses: actions/cache@v3
       with:
         path: .ccache
-        key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
-        restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-
+        key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
 
     - uses: conda-incubator/setup-miniconda@v3
       with:
@@ -75,3 +75,18 @@ jobs:
       run: |
         cd build
         cmake --build . --target uninstall
+
+  check:
+    if: always()
+    name: check-macos-linux-conda
+
+    needs:
+    - pinocchio-conda
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}

From 37b3d7428269263302c69a265ce2d05eb56941a8 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Tue, 9 Jan 2024 12:23:02 +0100
Subject: [PATCH 03/22] ci: Use the right environment

---
 .github/workflows/macos-linux-conda.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index 0a25f89cf3..dd1d5fb384 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -41,7 +41,7 @@ jobs:
       with:
         activate-environment: pinocchio
         auto-update-conda: true
-        environment-file: .github/workflows/conda/conda-env.yml
+        environment-file: .github/workflows/conda/conda-env-macos-linux.yml
         python-version: ${{ matrix.python-version }}
         auto-activate-base: false
 

From d95ba2e47282160d17b6d5189c3ec9308a1c6fb6 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Tue, 9 Jan 2024 15:15:48 +0100
Subject: [PATCH 04/22] ci: Use ccache in Windows build

---
 ...-linux.yml => environment_macos_linux.yml} |  5 +-
 ...nv-windows.yml => environment_windows.yml} |  6 +-
 .github/workflows/macos-linux-conda.yml       |  3 +-
 .github/workflows/windows-conda-clang.yml     | 62 +++++++-------
 .github/workflows/windows-conda-v142.yml      | 82 +++++++------------
 5 files changed, 71 insertions(+), 87 deletions(-)
 rename .github/workflows/conda/{conda-env-macos-linux.yml => environment_macos_linux.yml} (89%)
 rename .github/workflows/conda/{conda-env-windows.yml => environment_windows.yml} (75%)

diff --git a/.github/workflows/conda/conda-env-macos-linux.yml b/.github/workflows/conda/environment_macos_linux.yml
similarity index 89%
rename from .github/workflows/conda/conda-env-macos-linux.yml
rename to .github/workflows/conda/environment_macos_linux.yml
index afcc3a8ace..a465fe2ad5 100644
--- a/.github/workflows/conda/conda-env-macos-linux.yml
+++ b/.github/workflows/conda/environment_macos_linux.yml
@@ -1,7 +1,6 @@
 name: pinocchio
 channels:
   - conda-forge
-  - nodefaults
 dependencies:
   - eigen=3.4.0
   - hpp-fcl
@@ -10,9 +9,9 @@ dependencies:
   - eigenpy
   - urdfdom
   - python
-  - mamba
   - cmake
   - ccache
+  - pkg-config
+  - ninja
   - llvm-openmp
   - cxx-compiler
-  - pkg-config
diff --git a/.github/workflows/conda/conda-env-windows.yml b/.github/workflows/conda/environment_windows.yml
similarity index 75%
rename from .github/workflows/conda/conda-env-windows.yml
rename to .github/workflows/conda/environment_windows.yml
index 6d0dc37225..426ee8a438 100644
--- a/.github/workflows/conda/conda-env-windows.yml
+++ b/.github/workflows/conda/environment_windows.yml
@@ -1,7 +1,6 @@
 name: pinocchio
 channels:
   - conda-forge
-  - nodefaults
 dependencies:
   - eigen=3.4.0
   - hpp-fcl
@@ -10,4 +9,7 @@ dependencies:
   - eigenpy
   - urdfdom
   - python
-  - mamba
+  - cmake
+  - ccache
+  - pkg-config
+  - ninja
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
index dd1d5fb384..7c45fc236a 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-conda.yml
@@ -41,7 +41,7 @@ jobs:
       with:
         activate-environment: pinocchio
         auto-update-conda: true
-        environment-file: .github/workflows/conda/conda-env-macos-linux.yml
+        environment-file: .github/workflows/conda/environment_macos_linux.yml
         python-version: ${{ matrix.python-version }}
         auto-activate-base: false
 
@@ -56,6 +56,7 @@ jobs:
         cd build
 
         cmake .. \
+          -G "Ninja" \
           -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
           -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
           -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda-clang.yml
index db299c53d2..f9044a4890 100644
--- a/.github/workflows/windows-conda-clang.yml
+++ b/.github/workflows/windows-conda-clang.yml
@@ -6,45 +6,43 @@ on:
 jobs:
   build:
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
     strategy:
       fail-fast: false
       matrix:
-        name: [windows-latest-clang-cl]
-
-        include:
-          - name: windows-latest-clang-cl
-            os: windows-2019
-            compiler: clang-cl
+        os: ["windows-2019"]
 
     steps:
     - uses: actions/checkout@v4
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
-    - uses: goanpeca/setup-miniconda@v2
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v3
+      with:
+        path: .ccache
+        key: ccache-windows-conda-clang-${{ matrix.os }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-clang-${{ matrix.os }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: pinocchio
-        environment-file: .github/workflows/conda/conda-env-windows.yml
-        python-version: 3.7
-    - name: Install cmake and update conda
-      run: |
-        conda install cmake -c main
-        conda list
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/environment_windows.yml
+        python-version: "3.10"
+        auto-activate-base: false
 
     - name: Build Pinocchio
       shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
-
         call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
+        :: Tell Ninja to use clang-cl
+        set CC=clang-cl
+        set CXX=clang-cl
 
         :: Create build directory
         mkdir build
@@ -52,24 +50,28 @@ jobs:
 
         :: Configure
         cmake ^
-          -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
+          -G "Ninja" ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
           -DCMAKE_BUILD_TYPE=Release ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DBUILD_WITH_URDF_SUPPORT=ON ^
-          -DBUILD_PYTHON_INTERFACE=ON ^
+          -DBUILD_PYTHON_INTERFACE=OFF ^
           -DBUILD_WITH_COLLISION_SUPPORT=ON ^
+          -DBUILD_TESTING=ON ^
           -DINSTALL_DOCUMENTATION=ON ^
           ..
 
-        :: Build
+        :: Build and Install
         cmake --build . --config Release --target install
+        if errorlevel 1 exit 1
 
         :: Testing
-        set PATH=%PATH%;%CONDA_PREFIX%\Lib\site-packages\pinocchio
         ctest --output-on-failure -C Release -V
+        if errorlevel 1 exit 1
 
         :: Test Python import
         cd ..
         python -c "import pinocchio"
+        if errorlevel 1 exit 1
diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
index f765d5ceba..2f021fd16f 100644
--- a/.github/workflows/windows-conda-v142.yml
+++ b/.github/workflows/windows-conda-v142.yml
@@ -6,46 +6,39 @@ on:
 jobs:
   build:
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
     strategy:
       fail-fast: false
       matrix:
-        name: [windows-latest]
-
-        include:
-          - name: windows-latest
-            os: windows-2019
+        os: ["windows-2019"]
 
     steps:
     - uses: actions/checkout@v4
-    - name: Checkout submodules
-      run: |
-        git submodule update --init
-    - uses: goanpeca/setup-miniconda@v2
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       with:
-        activate-environment: pinocchio
-        environment-file: .github/workflows/conda/conda-env-windows.yml
-        python-version: 3.7
-    - name: Install cmake and update conda
-      run: |
-        conda install cmake -c main
-        conda list
+        submodules: recursive
 
-    - name: Display the path
-      run: echo %cd%
-      shell: cmd
+    - uses: actions/cache@v3
+      with:
+        path: .ccache
+        key: ccache-windows-conda-vs-${{ matrix.os }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-vs-${{ matrix.os }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        activate-environment: pinocchio
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/environment_windows.yml
+        python-version: "3.10"
+        auto-activate-base: false
 
     - name: Build Pinocchio
       shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-
         call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
 
         :: Create build directory
@@ -54,8 +47,9 @@ jobs:
 
         :: Configure
         cmake ^
-          -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 ^
+          -G "Ninja" ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
           -DCMAKE_BUILD_TYPE=Release ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
@@ -66,29 +60,15 @@ jobs:
           -DINSTALL_DOCUMENTATION=ON ^
           ..
 
-        :: Build
+        :: Build and Install
         cmake --build . --config Release --target install
+        if errorlevel 1 exit 1
 
-#    - name: Start SSH session
-#      uses: luchihoratiu/debug-via-ssh@main
-#      with:
-#        NGROK_AUTH_TOKEN: ${{ secrets.NGROK_AUTH_TOKEN }}
-#        SSH_PASS: ${{ secrets.SSH_PASS }}
-#
-    - name: Testing
-      shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
-      run: |
         :: Testing
-        pushd build
-        set PATH=%PATH%;%CONDA_PREFIX%\Lib\site-packages\pinocchio
-        set PATH=%PATH%;%CONDA_PREFIX%\Library\Lib
-        set PATH=%PATH%;%CONDA_PREFIX%\Library\bin
-        .\unittest\Release\test-cpp-urdf.exe
-        .\examples\Release\example-cpp-geometry-models.exe
-        ctest --output-on-failure -C Release -V --repeat until-pass:1
+        ctest --output-on-failure -C Release -V
+        if errorlevel 1 exit 1
 
-#        :: Test Python import
-#        cd ..
-#        python -c "import pinocchio"
+        :: Test Python import
+        cd ..
+        python -c "import pinocchio"
+        if errorlevel 1 exit 1

From 63f1335139b48624543e004310367fb58025918c Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Tue, 9 Jan 2024 15:43:09 +0100
Subject: [PATCH 05/22] [ci] Deactivate ctest verbose

---
 .github/workflows/windows-conda-clang.yml | 17 ++++++++++++++++-
 .github/workflows/windows-conda-v142.yml  | 17 ++++++++++++++++-
 2 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda-clang.yml
index f9044a4890..dc1b46d739 100644
--- a/.github/workflows/windows-conda-clang.yml
+++ b/.github/workflows/windows-conda-clang.yml
@@ -68,10 +68,25 @@ jobs:
         if errorlevel 1 exit 1
 
         :: Testing
-        ctest --output-on-failure -C Release -V
+        ctest --output-on-failure -C Release
         if errorlevel 1 exit 1
 
         :: Test Python import
         cd ..
         python -c "import pinocchio"
         if errorlevel 1 exit 1
+
+  check:
+    if: always()
+    name: check-windows-conda-clang
+
+    needs:
+    - build
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
index 2f021fd16f..61e6546fd3 100644
--- a/.github/workflows/windows-conda-v142.yml
+++ b/.github/workflows/windows-conda-v142.yml
@@ -65,10 +65,25 @@ jobs:
         if errorlevel 1 exit 1
 
         :: Testing
-        ctest --output-on-failure -C Release -V
+        ctest --output-on-failure -C Release
         if errorlevel 1 exit 1
 
         :: Test Python import
         cd ..
         python -c "import pinocchio"
         if errorlevel 1 exit 1
+
+  check:
+    if: always()
+    name: check-windows-conda-v142
+
+    needs:
+    - build
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}

From 0f419dbabf83ee28d04882464c7482d025600ce4 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Tue, 9 Jan 2024 15:47:48 +0100
Subject: [PATCH 06/22] ci: Build Python interface in Windows build

---
 .github/workflows/windows-conda-clang.yml | 2 +-
 .github/workflows/windows-conda-v142.yml  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda-clang.yml
index dc1b46d739..669c68cd70 100644
--- a/.github/workflows/windows-conda-clang.yml
+++ b/.github/workflows/windows-conda-clang.yml
@@ -57,7 +57,7 @@ jobs:
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DBUILD_WITH_URDF_SUPPORT=ON ^
-          -DBUILD_PYTHON_INTERFACE=OFF ^
+          -DBUILD_PYTHON_INTERFACE=ON ^
           -DBUILD_WITH_COLLISION_SUPPORT=ON ^
           -DBUILD_TESTING=ON ^
           -DINSTALL_DOCUMENTATION=ON ^
diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
index 61e6546fd3..34e74a2182 100644
--- a/.github/workflows/windows-conda-v142.yml
+++ b/.github/workflows/windows-conda-v142.yml
@@ -54,7 +54,7 @@ jobs:
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DBUILD_WITH_URDF_SUPPORT=ON ^
-          -DBUILD_PYTHON_INTERFACE=OFF ^
+          -DBUILD_PYTHON_INTERFACE=ON ^
           -DBUILD_WITH_COLLISION_SUPPORT=ON ^
           -DBUILD_TESTING=ON ^
           -DINSTALL_DOCUMENTATION=ON ^

From 28db6ad1b6a84d80914564e09b9e6424bf966fbe Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Wed, 10 Jan 2024 14:21:55 +0100
Subject: [PATCH 07/22] cmake: Fix binding output path on Windows

---
 bindings/python/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index 05dd837537..d8da7c9f07 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -78,6 +78,8 @@ IF(BUILD_PYTHON_INTERFACE)
     SUFFIX ${PYTHON_EXT_SUFFIX}
     OUTPUT_NAME "${PYWRAP}"
     LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
+    # On Windows, shared library are treat as binary
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bindings/python/${PROJECT_NAME}"
     )
 
   IF(UNIX)

From f6c8e38b5649e2ba05a0489e901de0731cf4bbb6 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Wed, 10 Jan 2024 14:53:36 +0100
Subject: [PATCH 08/22] python: Add code to manage dll in non standard
 directory

---
 bindings/python/pinocchio/__init__.py | 42 ++++++++++++++++++++++++++-
 1 file changed, 41 insertions(+), 1 deletion(-)

diff --git a/bindings/python/pinocchio/__init__.py b/bindings/python/pinocchio/__init__.py
index 1354d404a4..80a74b49aa 100644
--- a/bindings/python/pinocchio/__init__.py
+++ b/bindings/python/pinocchio/__init__.py
@@ -3,7 +3,47 @@
 #
 
 import numpy
-from .pinocchio_pywrap import *
+
+# On Windows, if pinocchio.dll is not in the same directory than
+# the .pyd, it will not be loaded.
+# We first try to load pinocchio, then, if it fail and we are on Windows:
+#  1. We add all paths inside PINOCCHIO_WINDOWS_DLL_PATH to DllDirectory
+#  2. If PINOCCHIO_WINDOWS_DLL_PATH we add the relative path from the
+#     package directory to the bin directory to DllDirectory
+# This solution is inspired from:
+#  - https://github.com/PixarAnimationStudios/OpenUSD/pull/1511/files
+#  - https://stackoverflow.com/questions/65334494/python-c-extension-packaging-dll-along-with-pyd
+# More resources on https://github.com/diffpy/pyobjcryst/issues/33
+try:
+    from .pinocchio_pywrap import *
+except ImportError:
+    import os
+    import sys
+    import platform
+    if platform.system() == "Windows":
+        __pinocchio_paths = os.getenv('PINOCCHIO_WINDOWS_DLL_PATH')
+        if __pinocchio_paths is None:
+            # Standard site-packages to bin path
+            RELATIVE_DLL_PATH = "..\\..\\..\\bin"
+            __dll_paths = [os.path.join(os.path.dirname(__file__), RELATIVE_DLL_PATH)]
+        else:
+            __dll_paths = __pinocchio_paths.split(os.pathsep)
+        if sys.version_info >= (3, 8):
+            for p in __dll_paths:
+                # add_dll_directory can fail on relative path and non
+                # existing path.
+                # Since we don't know all the fail criterion we just ignore
+                # thrown exception
+                try:
+                    os.add_dll_directory(p)
+                except OSError:
+                    pass
+        else:
+            for p in __dll_paths:
+                os.environ["PATH"] += os.pathsep + p
+        from .pinocchio_pywrap import *
+    else:
+        raise
 
 from .pinocchio_pywrap import __version__, __raw_version__
 

From d23d2335d705602838c8ead4dfc0746473f235b1 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Wed, 10 Jan 2024 15:49:01 +0100
Subject: [PATCH 09/22] ci: Define PINOCCHIO_WINDOWS_DLL_PATH when running
 tests

---
 CMakeLists.txt                 |  7 +++++++
 examples/CMakeLists.txt        |  4 +++-
 unittest/python/CMakeLists.txt | 10 ++++++++--
 3 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f55803364..b1c924259d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -285,6 +285,13 @@ FUNCTION(PREPEND_PATH_FROM_LIST list_name path_name dest_list)
   SET(${dest_list} ${list_name_} PARENT_SCOPE)
 ENDFUNCTION(PREPEND_PATH_FROM_LIST)
 
+# Define PINOCCHIO_WINDOWS_DLL_PATH environment variable on Windows
+FUNCTION(ADD_WINDOWS_DLL_PATH_TO_TEST TEST_NAME WINDOWS_DLL_PATH)
+    GET_TEST_PROPERTY(${TEST_NAME} ENVIRONMENT ENV_VARIABLES)
+    LIST(APPEND ENV_VARIABLES "PINOCCHIO_WINDOWS_DLL_PATH=${WINDOWS_DLL_PATH}")
+    SET_TESTS_PROPERTIES(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+ENDFUNCTION()
+
 # 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.
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 2f498e48f3..0ea6156a7b 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -106,7 +106,9 @@ IF(BUILD_PYTHON_INTERFACE)
   ENDIF(BUILD_WITH_OPENMP_SUPPORT)
 
   FOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
-    ADD_PYTHON_UNIT_TEST("example-py-${EXAMPLE}" "examples/${EXAMPLE}.py" "bindings/python")
+    SET(EXAMPLE_NAME "example-py-${EXAMPLE}")
+    ADD_PYTHON_UNIT_TEST("${EXAMPLE_NAME}" "examples/${EXAMPLE}.py" "bindings/python")
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME} "${CMAKE_CURRENT_BINARY_DIR}/../src")
   ENDFOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
diff --git a/unittest/python/CMakeLists.txt b/unittest/python/CMakeLists.txt
index 2fb9fba4cf..2bd91c3637 100644
--- a/unittest/python/CMakeLists.txt
+++ b/unittest/python/CMakeLists.txt
@@ -77,17 +77,23 @@ SET(${PROJECT_NAME}_PYTHON_MEMORYCHECK_TESTS
   bindings_build_geom_from_urdf_memorycheck
   )
 
+SET(PINOCCHIO_DLL_PATH ${CMAKE_CURRENT_BINARY_DIR}/../../src)
+
 FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
-  ADD_PYTHON_UNIT_TEST("test-py-${TEST}" "unittest/python/${TEST}.py" "bindings/python")
+  SET(TEST_NAME "test-py-${TEST}")
+  ADD_PYTHON_UNIT_TEST(${TEST_NAME} "unittest/python/${TEST}.py" "bindings/python")
+  ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME} ${PINOCCHIO_DLL_PATH})
 ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
 
 MAKE_DIRECTORY("${CMAKE_CURRENT_BINARY_DIR}/serialization-data")
 
 IF(MEMORYCHECK_COMMAND AND MEMORYCHECK_COMMAND MATCHES ".*valgrind$")
   FOREACH(TEST ${${PROJECT_NAME}_PYTHON_MEMORYCHECK_TESTS})
-    ADD_PYTHON_MEMORYCHECK_UNIT_TEST("test-py-memory-${TEST}"
+    SET(TEST_NAME "test-py-memory-${TEST}")
+    ADD_PYTHON_MEMORYCHECK_UNIT_TEST(${TEST_NAME}
       "unittest/python/${TEST}.py"
       "bindings/python")
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME} ${PINOCCHIO_DLL_PATH})
   ENDFOREACH()
 ELSE()
   MESSAGE(STATUS "Valgrind not found, memory checks are disabled")

From 8166168b07298df86a761ca867f879cace4dd551 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Wed, 10 Jan 2024 16:38:56 +0100
Subject: [PATCH 10/22] cmake: Use a generator expression to bind dll directory

---
 CMakeLists.txt                 | 6 ++++--
 examples/CMakeLists.txt        | 2 +-
 unittest/python/CMakeLists.txt | 6 ++----
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b1c924259d..5ef06eb8d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -286,10 +286,12 @@ FUNCTION(PREPEND_PATH_FROM_LIST list_name path_name dest_list)
 ENDFUNCTION(PREPEND_PATH_FROM_LIST)
 
 # Define PINOCCHIO_WINDOWS_DLL_PATH environment variable on Windows
-FUNCTION(ADD_WINDOWS_DLL_PATH_TO_TEST TEST_NAME WINDOWS_DLL_PATH)
+FUNCTION(ADD_WINDOWS_DLL_PATH_TO_TEST TEST_NAME)
+  IF(WIN32)
     GET_TEST_PROPERTY(${TEST_NAME} ENVIRONMENT ENV_VARIABLES)
-    LIST(APPEND ENV_VARIABLES "PINOCCHIO_WINDOWS_DLL_PATH=${WINDOWS_DLL_PATH}")
+    LIST(APPEND ENV_VARIABLES "PINOCCHIO_WINDOWS_DLL_PATH=$<TARGET_FILE_DIR:${PROJECT_NAME}>")
     SET_TESTS_PROPERTIES(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  ENDIF()
 ENDFUNCTION()
 
 # Enforce the preprocessed version of boost::list and boost::vector
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 0ea6156a7b..cf8da50bea 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -108,7 +108,7 @@ IF(BUILD_PYTHON_INTERFACE)
   FOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
     SET(EXAMPLE_NAME "example-py-${EXAMPLE}")
     ADD_PYTHON_UNIT_TEST("${EXAMPLE_NAME}" "examples/${EXAMPLE}.py" "bindings/python")
-    ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME} "${CMAKE_CURRENT_BINARY_DIR}/../src")
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${EXAMPLE_NAME})
   ENDFOREACH(EXAMPLE ${${PROJECT_NAME}_PYTHON_EXAMPLES})
 ENDIF(BUILD_PYTHON_INTERFACE)
 
diff --git a/unittest/python/CMakeLists.txt b/unittest/python/CMakeLists.txt
index 2bd91c3637..5ac0adb7d1 100644
--- a/unittest/python/CMakeLists.txt
+++ b/unittest/python/CMakeLists.txt
@@ -77,12 +77,10 @@ SET(${PROJECT_NAME}_PYTHON_MEMORYCHECK_TESTS
   bindings_build_geom_from_urdf_memorycheck
   )
 
-SET(PINOCCHIO_DLL_PATH ${CMAKE_CURRENT_BINARY_DIR}/../../src)
-
 FOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
   SET(TEST_NAME "test-py-${TEST}")
   ADD_PYTHON_UNIT_TEST(${TEST_NAME} "unittest/python/${TEST}.py" "bindings/python")
-  ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME} ${PINOCCHIO_DLL_PATH})
+  ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
 ENDFOREACH(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
 
 MAKE_DIRECTORY("${CMAKE_CURRENT_BINARY_DIR}/serialization-data")
@@ -93,7 +91,7 @@ IF(MEMORYCHECK_COMMAND AND MEMORYCHECK_COMMAND MATCHES ".*valgrind$")
     ADD_PYTHON_MEMORYCHECK_UNIT_TEST(${TEST_NAME}
       "unittest/python/${TEST}.py"
       "bindings/python")
-    ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME} ${PINOCCHIO_DLL_PATH})
+    ADD_WINDOWS_DLL_PATH_TO_TEST(${TEST_NAME})
   ENDFOREACH()
 ELSE()
   MESSAGE(STATUS "Valgrind not found, memory checks are disabled")

From bf2626b2dcaf32cf2382a870bb12ffe8ed15c675 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Wed, 10 Jan 2024 18:20:44 +0100
Subject: [PATCH 11/22] cmake: Modify the PATH to allow python_parser test to
 run

---
 unittest/CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 795bb33c84..3a6eff92b5 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -107,10 +107,12 @@ IF(BUILD_WITH_LIBPYTHON)
 
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYWRAP})
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYTHON_LIBRARIES})
-  SET(ENV_VARIABLES "PYTHONPATH=${CMAKE_BINARY_DIR}/bindings/python:$ENV{PYTHONPATH}")
+  SET(ENV_VARIABLES "PYTHONPATH=${CMAKE_BINARY_DIR}/bindings/python")
   IF(WIN32)
     GET_FILENAME_COMPONENT(PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
     LIST(APPEND ENV_VARIABLES "PYTHONHOME=${PYTHONHOME}")
+    STRING(REPLACE ";" "\\\;" PATH "$ENV{PATH}")
+    LIST(APPEND ENV_VARIABLES "PATH=${PATH}\;${CMAKE_BINARY_DIR}/src\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
     UNSET(PYTHONHOME)
   ENDIF(WIN32)
   IF(APPLE)

From b1041e74d72a6f4bd9da0d530a60448e3c3ac076 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 10:09:33 +0100
Subject: [PATCH 12/22] cmake: Fix ; escaping

---
 unittest/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 3a6eff92b5..4d6b137475 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -112,7 +112,7 @@ IF(BUILD_WITH_LIBPYTHON)
     GET_FILENAME_COMPONENT(PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
     LIST(APPEND ENV_VARIABLES "PYTHONHOME=${PYTHONHOME}")
     STRING(REPLACE ";" "\\\;" PATH "$ENV{PATH}")
-    LIST(APPEND ENV_VARIABLES "PATH=${PATH}\;${CMAKE_BINARY_DIR}/src\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+    LIST(APPEND ENV_VARIABLES "PATH=${PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
     UNSET(PYTHONHOME)
   ENDIF(WIN32)
   IF(APPLE)

From 4ecbed8e9c3d7ec00700e73ac622e569b62b56a3 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 10:23:18 +0100
Subject: [PATCH 13/22] cmake: Setup back environment PYTHONPATH when running
 python parser test

---
 unittest/CMakeLists.txt | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 4d6b137475..c9df03cddb 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -107,14 +107,20 @@ IF(BUILD_WITH_LIBPYTHON)
 
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYWRAP})
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYTHON_LIBRARIES})
-  SET(ENV_VARIABLES "PYTHONPATH=${CMAKE_BINARY_DIR}/bindings/python")
+  SET(ENV_VARIABLES)
   IF(WIN32)
     GET_FILENAME_COMPONENT(PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
     LIST(APPEND ENV_VARIABLES "PYTHONHOME=${PYTHONHOME}")
-    STRING(REPLACE ";" "\\\;" PATH "$ENV{PATH}")
-    LIST(APPEND ENV_VARIABLES "PATH=${PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
     UNSET(PYTHONHOME)
-  ENDIF(WIN32)
+
+    STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
+    LIST(APPEND ENV_VARIABLES "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+
+    STRING(REPLACE ";" "\\\;" _PYTHONPATH "$ENV{PYTHONPATH}")
+    LIST(APPEND ENV_VARIABLES "PYTHONPATH=${_PYTHONPATH}\\\;${CMAKE_BINARY_DIR}/bindings/python")
+  ELSE()
+    LIST(APPEND ENV_VARIABLES "PYTHONPATH=$ENV{PYTHONPATH}:${CMAKE_BINARY_DIR}/bindings/python")
+  ENDIF()
   IF(APPLE)
     LIST(APPEND ENV_VARIABLES "LD_LIBRARY_PATH=$ENV{LD_LIBRARY_PATH}")
     LIST(APPEND ENV_VARIABLES "DYLD_LIBRARY_PATH=$ENV{DYLD_LIBRARY_PATH}")

From 395e783868131dd5b566cc7126fc273866719db4 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 11:06:58 +0100
Subject: [PATCH 14/22] ci: Merge Windows build

---
 .github/workflows/windows-conda-v142.yml      | 89 -------------------
 ...dows-conda-clang.yml => windows-conda.yml} | 29 +++---
 2 files changed, 18 insertions(+), 100 deletions(-)
 delete mode 100644 .github/workflows/windows-conda-v142.yml
 rename .github/workflows/{windows-conda-clang.yml => windows-conda.yml} (75%)

diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
deleted file mode 100644
index 34e74a2182..0000000000
--- a/.github/workflows/windows-conda-v142.yml
+++ /dev/null
@@ -1,89 +0,0 @@
-name: CI - Windows (v142) via Conda
-on:
-  pull_request:
-  push:
-
-jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    env:
-      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
-      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
-      CCACHE_COMPRESS: true
-      CCACHE_COMPRESSLEVEL: 6
-
-    strategy:
-      fail-fast: false
-      matrix:
-        os: ["windows-2019"]
-
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: recursive
-
-    - uses: actions/cache@v3
-      with:
-        path: .ccache
-        key: ccache-windows-conda-vs-${{ matrix.os }}-${{ github.sha }}
-        restore-keys: ccache-windows-conda-vs-${{ matrix.os }}-
-
-    - uses: conda-incubator/setup-miniconda@v3
-      with:
-        activate-environment: pinocchio
-        auto-update-conda: true
-        environment-file: .github/workflows/conda/environment_windows.yml
-        python-version: "3.10"
-        auto-activate-base: false
-
-    - name: Build Pinocchio
-      shell: cmd /C CALL {0}
-      run: |
-        call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
-
-        :: Create build directory
-        mkdir build
-        pushd build
-
-        :: Configure
-        cmake ^
-          -G "Ninja" ^
-          -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
-          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
-          -DCMAKE_BUILD_TYPE=Release ^
-          -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
-          -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
-          -DBUILD_WITH_URDF_SUPPORT=ON ^
-          -DBUILD_PYTHON_INTERFACE=ON ^
-          -DBUILD_WITH_COLLISION_SUPPORT=ON ^
-          -DBUILD_TESTING=ON ^
-          -DINSTALL_DOCUMENTATION=ON ^
-          ..
-
-        :: Build and Install
-        cmake --build . --config Release --target install
-        if errorlevel 1 exit 1
-
-        :: Testing
-        ctest --output-on-failure -C Release
-        if errorlevel 1 exit 1
-
-        :: Test Python import
-        cd ..
-        python -c "import pinocchio"
-        if errorlevel 1 exit 1
-
-  check:
-    if: always()
-    name: check-windows-conda-v142
-
-    needs:
-    - build
-
-    runs-on: Ubuntu-latest
-
-    steps:
-    - name: Decide whether the needed jobs succeeded or failed
-      uses: re-actors/alls-green@release/v1
-      with:
-        jobs: ${{ toJSON(needs) }}
diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda.yml
similarity index 75%
rename from .github/workflows/windows-conda-clang.yml
rename to .github/workflows/windows-conda.yml
index 669c68cd70..d69a799cc6 100644
--- a/.github/workflows/windows-conda-clang.yml
+++ b/.github/workflows/windows-conda.yml
@@ -1,10 +1,11 @@
-name: CI - Windows (CLANG) via Conda
+name: CI - Windows via Conda
 on:
   pull_request:
   push:
 
 jobs:
   build:
+    name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
@@ -16,6 +17,7 @@ jobs:
       fail-fast: false
       matrix:
         os: ["windows-2019"]
+        compiler: ["cl", clang-cl"]
 
     steps:
     - uses: actions/checkout@v4
@@ -25,8 +27,8 @@ jobs:
     - uses: actions/cache@v3
       with:
         path: .ccache
-        key: ccache-windows-conda-clang-${{ matrix.os }}-${{ github.sha }}
-        restore-keys: ccache-windows-conda-clang-${{ matrix.os }}-
+        key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-
 
     - uses: conda-incubator/setup-miniconda@v3
       with:
@@ -38,17 +40,19 @@ jobs:
 
     - name: Build Pinocchio
       shell: cmd /C CALL {0}
+      env:
+        CC: ${{ matrix.compiler }}
+        CXX: ${{ matrix.compiler }}
       run: |
+        call conda list
+
         call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
-        :: Tell Ninja to use clang-cl
-        set CC=clang-cl
-        set CXX=clang-cl
 
         :: Create build directory
         mkdir build
         pushd build
 
-        :: Configure
+        :: Configure (Ninja use CC and CXX to determine the compiler)
         cmake ^
           -G "Ninja" ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
@@ -63,14 +67,17 @@ jobs:
           -DINSTALL_DOCUMENTATION=ON ^
           ..
 
-        :: Build and Install
-        cmake --build . --config Release --target install
+        :: Build
+        cmake --build .
         if errorlevel 1 exit 1
 
         :: Testing
-        ctest --output-on-failure -C Release
+        ctest --output-on-failure
         if errorlevel 1 exit 1
 
+        :: Install
+        cmake --install .
+
         :: Test Python import
         cd ..
         python -c "import pinocchio"
@@ -78,7 +85,7 @@ jobs:
 
   check:
     if: always()
-    name: check-windows-conda-clang
+    name: check-windows-conda
 
     needs:
     - build

From 3cad12d00a0a7f3fdfa23b7bf4bd7c2da54ea5bf Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 11:08:10 +0100
Subject: [PATCH 15/22] ci: Add verbose tests output to debug ros ci

---
 .github/workflows/ros-ci.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 6e57d1abf0..7db4796382 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -28,6 +28,7 @@ jobs:
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
       AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
       IMMEDIATE_TEST_OUTPUT: 1
+      VERBOSE_TESTS: true
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4

From 4d5573a77ab75ff80c82fbc150dea4274287ec2d Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 11:29:08 +0100
Subject: [PATCH 16/22] ci: Fix a typo

---
 .github/workflows/windows-conda.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml
index d69a799cc6..9f08e8fa5e 100644
--- a/.github/workflows/windows-conda.yml
+++ b/.github/workflows/windows-conda.yml
@@ -17,7 +17,7 @@ jobs:
       fail-fast: false
       matrix:
         os: ["windows-2019"]
-        compiler: ["cl", clang-cl"]
+        compiler: ["cl", "clang-cl"]
 
     steps:
     - uses: actions/checkout@v4

From 1894f3a420b5eb44c05b01bc3a721ca43d5588f9 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 14:37:36 +0100
Subject: [PATCH 17/22] ci: Add PATH to all unit tests and examples on windows

---
 examples/CMakeLists.txt |  7 +++++++
 unittest/CMakeLists.txt | 15 ++++++++++-----
 2 files changed, 17 insertions(+), 5 deletions(-)

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index cf8da50bea..e8f6141724 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -7,6 +7,13 @@ FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   SET(EXAMPLE_NAME "example-cpp-${EXAMPLE_NAME}")
   ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
+
+  # There is no RPATH in Windows, then we must use the PATH to find the DLL
+  IF(WIN32)
+    STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
+    SET(ENV_VARIABLES "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+    SET_TESTS_PROPERTIES(${EXAMPLE_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  ENDIF()
 ENDFUNCTION()
 
 SET(${PROJECT_NAME}_EXAMPLES
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index c9df03cddb..cdf30713bc 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -22,6 +22,14 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
 
   SET(TEST_NAME "test-cpp-${NAME}")
   ADD_UNIT_TEST(${TEST_NAME} ${NAME}.cpp)
+
+  # There is no RPATH in Windows, then we must use the PATH to find the DLL
+  IF(WIN32)
+    STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
+    SET(ENV_VARIABLES "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
+    SET_TESTS_PROPERTIES(${TEST_NAME} PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
+  ENDIF()
+
   SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES LINKER_LANGUAGE CXX)
   TARGET_INCLUDE_DIRECTORIES(${TEST_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
@@ -107,15 +115,12 @@ IF(BUILD_WITH_LIBPYTHON)
 
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYWRAP})
   TARGET_LINK_LIBRARIES(test-cpp-python_parser PUBLIC ${PYTHON_LIBRARIES})
-  SET(ENV_VARIABLES)
+  GET_TEST_PROPERTY(test-cpp-python_parser ENVIRONMENT ENV_VARIABLES)
   IF(WIN32)
     GET_FILENAME_COMPONENT(PYTHONHOME ${PYTHON_EXECUTABLE} PATH)
     LIST(APPEND ENV_VARIABLES "PYTHONHOME=${PYTHONHOME}")
     UNSET(PYTHONHOME)
 
-    STRING(REPLACE ";" "\\\;" _PATH "$ENV{PATH}")
-    LIST(APPEND ENV_VARIABLES "PATH=${_PATH}\\\;${CMAKE_BINARY_DIR}/src\\\;${CMAKE_BINARY_DIR}/bindings/python/pinocchio")
-
     STRING(REPLACE ";" "\\\;" _PYTHONPATH "$ENV{PYTHONPATH}")
     LIST(APPEND ENV_VARIABLES "PYTHONPATH=${_PYTHONPATH}\\\;${CMAKE_BINARY_DIR}/bindings/python")
   ELSE()
@@ -125,7 +130,7 @@ IF(BUILD_WITH_LIBPYTHON)
     LIST(APPEND ENV_VARIABLES "LD_LIBRARY_PATH=$ENV{LD_LIBRARY_PATH}")
     LIST(APPEND ENV_VARIABLES "DYLD_LIBRARY_PATH=$ENV{DYLD_LIBRARY_PATH}")
   ENDIF(APPLE)
-  SET_PROPERTY(TEST test-cpp-python_parser PROPERTY ENVIRONMENT ${ENV_VARIABLES})
+  SET_TESTS_PROPERTIES(test-cpp-python_parser PROPERTIES ENVIRONMENT "${ENV_VARIABLES}")
   ADD_SUBDIRECTORY(python)
 ENDIF(BUILD_WITH_LIBPYTHON)
 

From c8ad1a4f3e3fc808e2e90b7cd4ed9ece336962a5 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 15:56:37 +0100
Subject: [PATCH 18/22] ci: Try to debug ROS CI

---
 .github/workflows/ros-ci.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 7db4796382..6a7c50f2a8 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -26,9 +26,9 @@ jobs:
       # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
       # target after completion of the regular test target. The output of this step does affect the output of the CI process.
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
-      AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
+      AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && ctest --output-on-failure'
       IMMEDIATE_TEST_OUTPUT: 1
-      VERBOSE_TESTS: true
+      VERBOSE_TESTS: 1
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -38,7 +38,8 @@ jobs:
       - uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
+          restore-key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
       # Run industrial_ci
       - uses: 'ros-industrial/industrial_ci@3ed9846c96ed1e0bb36193e8e250632eaac980d0'
         env: ${{ matrix.env }}

From 57c6ef1ba1d468609adc85ac85eb65414dcbac5c Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 11 Jan 2024 16:40:47 +0100
Subject: [PATCH 19/22] ci: Revert ROS verbose output and fix cache setup

---
 .github/workflows/ros-ci.yml | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 6a7c50f2a8..e5d9e89b87 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -26,9 +26,8 @@ jobs:
       # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
       # target after completion of the regular test target. The output of this step does affect the output of the CI process.
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
-      AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && ctest --output-on-failure'
+      AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
       IMMEDIATE_TEST_OUTPUT: 1
-      VERBOSE_TESTS: 1
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
@@ -39,7 +38,7 @@ jobs:
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}
-          restore-key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
+          restore-keys: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-
       # Run industrial_ci
       - uses: 'ros-industrial/industrial_ci@3ed9846c96ed1e0bb36193e8e250632eaac980d0'
         env: ${{ matrix.env }}

From 87b930ca0110c36464fb56abe6f5350b0917735f Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Fri, 12 Jan 2024 14:43:25 +0100
Subject: [PATCH 20/22] python: Restore DllDirectory state after importing
 Pinocchio

---
 bindings/python/pinocchio/__init__.py | 46 ++++++++++++++++++++++-----
 1 file changed, 38 insertions(+), 8 deletions(-)

diff --git a/bindings/python/pinocchio/__init__.py b/bindings/python/pinocchio/__init__.py
index 80a74b49aa..b9d87ac03a 100644
--- a/bindings/python/pinocchio/__init__.py
+++ b/bindings/python/pinocchio/__init__.py
@@ -16,10 +16,12 @@
 # More resources on https://github.com/diffpy/pyobjcryst/issues/33
 try:
     from .pinocchio_pywrap import *
+    from .pinocchio_pywrap import __version__, __raw_version__
 except ImportError:
     import os
     import sys
     import platform
+    import contextlib
     if platform.system() == "Windows":
         __pinocchio_paths = os.getenv('PINOCCHIO_WINDOWS_DLL_PATH')
         if __pinocchio_paths is None:
@@ -28,25 +30,53 @@
             __dll_paths = [os.path.join(os.path.dirname(__file__), RELATIVE_DLL_PATH)]
         else:
             __dll_paths = __pinocchio_paths.split(os.pathsep)
-        if sys.version_info >= (3, 8):
-            for p in __dll_paths:
+
+        # Restore PATH state after importing Pinocchio
+        class __PathManager(contextlib.AbstractContextManager):
+            def add_dll_directory(self, dll_dir: str):
+                os.environ["PATH"] += os.pathsep + dll_dir
+
+            def __enter__(self):
+                self.old_path = os.environ["PATH"]
+                return self
+
+            def __exit__(self):
+                os.environ["PATH"] = self.old_path
+
+        # Restore DllDirectory state after importing Pinocchio
+        class __DllDirectoryManager(contextlib.AbstractContextManager):
+            def add_dll_directory(self, dll_dir: str):
                 # add_dll_directory can fail on relative path and non
                 # existing path.
                 # Since we don't know all the fail criterion we just ignore
                 # thrown exception
                 try:
-                    os.add_dll_directory(p)
+                    self.dll_dirs.append(os.add_dll_directory(dll_dir))
                 except OSError:
                     pass
-        else:
+
+            def __enter__(self):
+                self.dll_dirs = []
+                return self
+
+            def __exit__(self, *exc_details):
+                for d in self.dll_dirs:
+                    d.close()
+
+        def __build_directory_manager():
+            if sys.version_info >= (3, 8):
+                return __DllDirectoryManager()
+            else:
+                return __PathManager()
+
+        with __build_directory_manager() as dll_dir_manager:
             for p in __dll_paths:
-                os.environ["PATH"] += os.pathsep + p
-        from .pinocchio_pywrap import *
+                dll_dir_manager.add_dll_directory(p)
+            from .pinocchio_pywrap import *
+            from .pinocchio_pywrap import __version__, __raw_version__
     else:
         raise
 
-from .pinocchio_pywrap import __version__, __raw_version__
-
 from . import utils
 from .explog import exp, log
 

From 357e215aa607875eaf9bfea8a25f93299cc6f8ea Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Fri, 12 Jan 2024 14:53:55 +0100
Subject: [PATCH 21/22] python: clean __init__.py

---
 bindings/python/pinocchio/__init__.py         | 53 +-----------------
 .../python/pinocchio/windows_dll_manager.py   | 56 +++++++++++++++++++
 2 files changed, 59 insertions(+), 50 deletions(-)
 create mode 100644 bindings/python/pinocchio/windows_dll_manager.py

diff --git a/bindings/python/pinocchio/__init__.py b/bindings/python/pinocchio/__init__.py
index b9d87ac03a..4831c8de4e 100644
--- a/bindings/python/pinocchio/__init__.py
+++ b/bindings/python/pinocchio/__init__.py
@@ -18,59 +18,12 @@
     from .pinocchio_pywrap import *
     from .pinocchio_pywrap import __version__, __raw_version__
 except ImportError:
-    import os
-    import sys
     import platform
-    import contextlib
     if platform.system() == "Windows":
-        __pinocchio_paths = os.getenv('PINOCCHIO_WINDOWS_DLL_PATH')
-        if __pinocchio_paths is None:
-            # Standard site-packages to bin path
-            RELATIVE_DLL_PATH = "..\\..\\..\\bin"
-            __dll_paths = [os.path.join(os.path.dirname(__file__), RELATIVE_DLL_PATH)]
-        else:
-            __dll_paths = __pinocchio_paths.split(os.pathsep)
+        from .windows_dll_manager import get_dll_paths, build_directory_manager
 
-        # Restore PATH state after importing Pinocchio
-        class __PathManager(contextlib.AbstractContextManager):
-            def add_dll_directory(self, dll_dir: str):
-                os.environ["PATH"] += os.pathsep + dll_dir
-
-            def __enter__(self):
-                self.old_path = os.environ["PATH"]
-                return self
-
-            def __exit__(self):
-                os.environ["PATH"] = self.old_path
-
-        # Restore DllDirectory state after importing Pinocchio
-        class __DllDirectoryManager(contextlib.AbstractContextManager):
-            def add_dll_directory(self, dll_dir: str):
-                # add_dll_directory can fail on relative path and non
-                # existing path.
-                # Since we don't know all the fail criterion we just ignore
-                # thrown exception
-                try:
-                    self.dll_dirs.append(os.add_dll_directory(dll_dir))
-                except OSError:
-                    pass
-
-            def __enter__(self):
-                self.dll_dirs = []
-                return self
-
-            def __exit__(self, *exc_details):
-                for d in self.dll_dirs:
-                    d.close()
-
-        def __build_directory_manager():
-            if sys.version_info >= (3, 8):
-                return __DllDirectoryManager()
-            else:
-                return __PathManager()
-
-        with __build_directory_manager() as dll_dir_manager:
-            for p in __dll_paths:
+        with build_directory_manager() as dll_dir_manager:
+            for p in get_dll_paths():
                 dll_dir_manager.add_dll_directory(p)
             from .pinocchio_pywrap import *
             from .pinocchio_pywrap import __version__, __raw_version__
diff --git a/bindings/python/pinocchio/windows_dll_manager.py b/bindings/python/pinocchio/windows_dll_manager.py
new file mode 100644
index 0000000000..e718970814
--- /dev/null
+++ b/bindings/python/pinocchio/windows_dll_manager.py
@@ -0,0 +1,56 @@
+import os
+import sys
+import contextlib
+
+
+def get_dll_paths():
+    pinocchio_paths = os.getenv('PINOCCHIO_WINDOWS_DLL_PATH')
+    if pinocchio_paths is None:
+        # Standard site-packages to bin path
+        RELATIVE_DLL_PATH = "..\\..\\..\\bin"
+        return [os.path.join(os.path.dirname(__file__), RELATIVE_DLL_PATH)]
+    else:
+        return pinocchio_paths.split(os.pathsep)
+
+
+class PathManager(contextlib.AbstractContextManager):
+    """Restore PATH state after importing Python module"""
+
+    def add_dll_directory(self, dll_dir: str):
+        os.environ["PATH"] += os.pathsep + dll_dir
+
+    def __enter__(self):
+        self.old_path = os.environ["PATH"]
+        return self
+
+    def __exit__(self, *exc_details):
+        os.environ["PATH"] = self.old_path
+
+
+class DllDirectoryManager(contextlib.AbstractContextManager):
+    """Restore DllDirectory state after importing Python module"""
+
+    def add_dll_directory(self, dll_dir: str):
+        # add_dll_directory can fail on relative path and non
+        # existing path.
+        # Since we don't know all the fail criterion we just ignore
+        # thrown exception
+        try:
+            self.dll_dirs.append(os.add_dll_directory(dll_dir))
+        except OSError:
+            pass
+
+    def __enter__(self):
+        self.dll_dirs = []
+        return self
+
+    def __exit__(self, *exc_details):
+        for d in self.dll_dirs:
+            d.close()
+
+
+def build_directory_manager():
+    if sys.version_info >= (3, 8):
+        return DllDirectoryManager()
+    else:
+        return PathManager()

From 8a1119e37004215fa0366020d9127da16ae9cdc8 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Fri, 12 Jan 2024 14:58:09 +0100
Subject: [PATCH 22/22] python: clean __init__.py

---
 bindings/python/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index d8da7c9f07..72c88be6dd 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -109,6 +109,7 @@ IF(BUILD_PYTHON_INTERFACE)
     romeo_wrapper.py
     explog.py
     shortcuts.py
+    windows_dll_manager.py
     )
 
   FOREACH(python ${PYTHON_FILES})