diff --git a/CHANGELOG.md b/CHANGELOG.md
index 90ccc65..8ef7a3d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Added
+- Add compatibility with jrl-cmakemodules workspace ([#225](https://github.com/Gepetto/example-robot-data/pull/225))
+
 ## [4.1.0] - 2024-01-29
 
 - added CHANGELOG.md in https://github.com/Gepetto/example-robot-data/pull/193
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 978a137..54886a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,10 @@ set(PROJECT_NAME example-robot-data)
 set(PROJECT_DESCRIPTION
     "Set of robot URDFs for benchmarking and developed examples")
 set(PROJECT_URL https://github.com/${PROJECT_ORG}/${PROJECT_NAME})
+# To enable jrl-cmakemodules compatibility with workspace we must define the two
+# following lines
+set(PROJECT_AUTO_RUN_FINALIZE FALSE)
+set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
 
 # Project options
 option(BUILD_PYTHON_INTERFACE "Build the python unit tests and helpers" ON)
@@ -51,6 +55,7 @@ endif()
 
 # JRL-cmakemodule setup
 include("${JRL_CMAKE_MODULES}/base.cmake")
+include("${JRL_CMAKE_MODULES}/python.cmake")
 
 # Print initial message
 message(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
@@ -67,20 +72,26 @@ if(BUILD_PYTHON_INTERFACE)
   add_project_dependency(eigenpy 3.0.0 REQUIRED)
   add_project_dependency(pinocchio 2.7.0 REQUIRED)
   string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  findpython(REQUIRED)
   add_subdirectory(python)
   if(BUILD_TESTING)
     add_subdirectory(unittest)
   endif(BUILD_TESTING)
-endif(BUILD_PYTHON_INTERFACE)
+endif()
 
 if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   add_library(${PROJECT_NAME} INTERFACE)
-  target_include_directories(${PROJECT_NAME}
-                             INTERFACE $<INSTALL_INTERFACE:include>)
+  add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+  target_include_directories(
+    ${PROJECT_NAME}
+    INTERFACE $<INSTALL_INTERFACE:include>
+              $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+              $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
   target_compile_definitions(
     ${PROJECT_NAME}
     INTERFACE
-      EXAMPLE_ROBOT_DATA_MODEL_DIR="$<INSTALL_PREFIX>/share/${PROJECT_NAME}/robots"
+      $<INSTALL_INTERFACE:EXAMPLE_ROBOT_DATA_MODEL_DIR="$<INSTALL_PREFIX>/share/${PROJECT_NAME}/robots">
+      $<BUILD_INTERFACE:EXAMPLE_ROBOT_DATA_MODEL_DIR="${CMAKE_CURRENT_SOURCE_DIR}/robots">
   )
   install(
     TARGETS ${PROJECT_NAME}
@@ -91,4 +102,6 @@ if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
           DESTINATION include/${CUSTOM_HEADER_DIR})
   install(DIRECTORY robots DESTINATION share/${PROJECT_NAME})
   install(FILES package.xml DESTINATION share/${PROJECT_NAME})
-endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+endif()
+
+setup_project_finalize()
diff --git a/cmake b/cmake
index 7faf6f9..91b8f5f 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 7faf6f9c4e981111bf0ac5dff4970f0959c11f69
+Subproject commit 91b8f5f2168b123a198da079b8e6c09fd1f60285
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 6f889dc..1fdfb13 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -2,7 +2,7 @@ set(${PROJECT_NAME}_PYTHON_FILES robots_loader.py __main__.py __init__.py)
 
 foreach(python ${${PROJECT_NAME}_PYTHON_FILES})
   python_install_on_site(${PY_NAME} ${python})
-endforeach(python ${${PROJECT_NAME}_PYTHON_FILES})
+endforeach()
 
 configure_file(${PY_NAME}/path.py.in ${PY_NAME}/path.py)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PY_NAME}/path.py
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index a157b67..686b67f 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -1,13 +1,6 @@
-if(NOT pinocchio_FOUND)
-  message(
-    FATAL_ERROR
-      "Pinocchio is required to build unit tests\n"
-      "please either install Pinocchio or reconfigure without unit tests (-DBUILD_TESTING=OFF)"
-  )
-endif(NOT pinocchio_FOUND)
-
 set(${PROJECT_NAME}_PYTHON_TESTS load)
 
 foreach(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
-  add_python_unit_test("py-${TEST}" "unittest/test_${TEST}.py" python)
-endforeach(TEST ${${PROJECT_NAME}_PYTHON_TESTS})
+  add_python_unit_test("${PROJECT_NAME}-py-${TEST}" "unittest/test_${TEST}.py"
+                       python)
+endforeach()