diff --git a/docs/conf.py b/docs/conf.py
index c64063f6..b5f55b90 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -59,7 +59,7 @@
 templates_path = ["_templates"]
 exclude_patterns = []
 
-html_title = f"adam"
+html_title = "adam"
 
 
 # -- Options for HTML output -------------------------------------------------
diff --git a/examples/mpc-ik.ipynb b/examples/mpc-ik.ipynb
index ba527fcc..f5444845 100644
--- a/examples/mpc-ik.ipynb
+++ b/examples/mpc-ik.ipynb
@@ -66,20 +66,17 @@
         "import mediapy as media\n",
         "from adam.casadi import KinDynComputations\n",
         "import numpy as np\n",
-        "import casadi as cs\n",
-        "import distutils.util\n",
-        "import os\n",
-        "import subprocess"
+        "import casadi as cs"
       ]
     },
     {
       "cell_type": "markdown",
-      "source": [
-        "## Import the panda scene in mujoco"
-      ],
       "metadata": {
         "id": "2zw4FO-IGxdR"
-      }
+      },
+      "source": [
+        "## Import the panda scene in mujoco"
+      ]
     },
     {
       "cell_type": "code",
@@ -90,11 +87,14 @@
       "outputs": [],
       "source": [
         "# load scene from xml\n",
-        "model = mujoco.MjModel.from_xml_path(\"mujoco_menagerie/franka_emika_panda/scene.xml\")\n"
+        "model = mujoco.MjModel.from_xml_path(\"mujoco_menagerie/franka_emika_panda/scene.xml\")"
       ]
     },
     {
       "cell_type": "markdown",
+      "metadata": {
+        "id": "CZMO7PsmKUB6"
+      },
       "source": [
         "## Import urdf in adam\n",
         "\n",
@@ -102,10 +102,7 @@
         "\n",
         "For now I have to use a separate urdf for adam.\n",
         "An importer for a mujoco model could be an idea for the future!"
-      ],
-      "metadata": {
-        "id": "CZMO7PsmKUB6"
-      }
+      ]
     },
     {
       "cell_type": "code",
@@ -115,19 +112,28 @@
       },
       "outputs": [],
       "source": [
-        "joints_name_list = ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_joint8']\n",
+        "joints_name_list = [\n",
+        "    \"panda_joint1\",\n",
+        "    \"panda_joint2\",\n",
+        "    \"panda_joint3\",\n",
+        "    \"panda_joint4\",\n",
+        "    \"panda_joint5\",\n",
+        "    \"panda_joint6\",\n",
+        "    \"panda_joint7\",\n",
+        "    \"panda_joint8\",\n",
+        "]\n",
         "\n",
-        "kindyn = KinDynComputations(urdfstring=\"panda.urdf\", joints_name_list=joints_name_list)\n"
+        "kindyn = KinDynComputations(urdfstring=\"panda.urdf\", joints_name_list=joints_name_list)"
       ]
     },
     {
       "cell_type": "markdown",
-      "source": [
-        "## A wrapper interface with mujoco"
-      ],
       "metadata": {
         "id": "g5LX5kQAKwaM"
-      }
+      },
+      "source": [
+        "## A wrapper interface with mujoco"
+      ]
     },
     {
       "cell_type": "code",
@@ -138,50 +144,51 @@
       "outputs": [],
       "source": [
         "class MujocoWrapper:\n",
-        "  # a simple wrapper to use mujoco as a simulator\n",
-        "  def __init__(self, model, joints_list=None):\n",
-        "    self.model = model\n",
-        "    self.data = mujoco.MjData(model)\n",
-        "    self.renderer = mujoco.Renderer(self.model)\n",
+        "    # a simple wrapper to use mujoco as a simulator\n",
+        "    def __init__(self, model, joints_list=None):\n",
+        "        self.model = model\n",
+        "        self.data = mujoco.MjData(model)\n",
+        "        self.renderer = mujoco.Renderer(self.model)\n",
+        "\n",
+        "    def set_qpos(self, qpos):\n",
+        "        # set the joint positions\n",
+        "        self.data.qpos[:] = qpos\n",
+        "        mujoco.mj_forward(self.model, self.data)\n",
         "\n",
-        "  def set_qpos(self, qpos):\n",
-        "    # set the joint positions\n",
-        "    self.data.qpos[:] = qpos\n",
-        "    mujoco.mj_forward(self.model, self.data)\n",
+        "    def get_qpos(self):\n",
+        "        # get the joint positions\n",
+        "        return self.data.qpos[:]\n",
         "\n",
-        "  def get_qpos(self):\n",
-        "    # get the joint positions\n",
-        "    return self.data.qpos[:]\n",
+        "    def render(self):\n",
+        "        # render the scene and return the frame\n",
+        "        mujoco.mj_forward(self.model, self.data)\n",
+        "        self.renderer.update_scene(self.data)\n",
+        "        return self.renderer.render()\n",
         "\n",
-        "  def render(self):\n",
-        "    # render the scene and return the frame\n",
-        "    mujoco.mj_forward(self.model, self.data)\n",
-        "    self.renderer.update_scene(self.data)\n",
-        "    return self.renderer.render()\n",
+        "    def step(self):\n",
+        "        # step the simulation\n",
+        "        mujoco.mj_step(self.model, self.data)\n",
         "\n",
-        "  def step(self):\n",
-        "    # step the simulation\n",
-        "    mujoco.mj_step(self.model, self.data)\n",
+        "    def set_qvel(self, qvel):\n",
+        "        # set the joint velocities\n",
+        "        self.data.qvel[:] = qvel\n",
+        "        mujoco.mj_forward(self.model, self.data)\n",
         "\n",
-        "  def set_qvel(self, qvel):\n",
-        "    # set the joint velocities\n",
-        "    self.data.qvel[:] = qvel\n",
-        "    mujoco.mj_forward(self.model, self.data)\n",
         "\n",
-        "wrapper = MujocoWrapper(model)\n"
+        "wrapper = MujocoWrapper(model)"
       ]
     },
     {
       "cell_type": "markdown",
+      "metadata": {
+        "id": "wuY9hqdlD3Vo"
+      },
       "source": [
         "# Model Inverse Kinematics as an MPC\n",
         "\n",
         "An MPC is maybe not the best way to solve an IK problem.\n",
         "I just want to show how to use the casadi interface."
-      ],
-      "metadata": {
-        "id": "wuY9hqdlD3Vo"
-      }
+      ]
     },
     {
       "cell_type": "code",
@@ -197,13 +204,13 @@
         "# casadi opti stack\n",
         "opti = cs.Opti()\n",
         "\n",
-        "N = 10 # number of control intervals\n",
-        "dt = 0.05 # time step\n",
+        "N = 10  # number of control intervals\n",
+        "dt = 0.05  # time step\n",
         "\n",
         "# joints variables\n",
-        "q = opti.variable(8, N+1)\n",
+        "q = opti.variable(8, N + 1)\n",
         "q_dot = opti.variable(8, N)\n",
-        "w_H_b = np.eye(4) # base of the manipulator as identity matrix\n",
+        "w_H_b = np.eye(4)  # base of the manipulator as identity matrix\n",
         "\n",
         "# set the desidered end-effector position as a parameter\n",
         "# it will be set later when the mpc is solved at each iteration\n",
@@ -217,7 +224,7 @@
         "\n",
         "for i in range(N):\n",
         "    # integration - forward euler\n",
-        "    opti.subject_to(q[:, i+1] == q[:, i] + q_dot[:, i] * dt)\n",
+        "    opti.subject_to(q[:, i + 1] == q[:, i] + q_dot[:, i] * dt)\n",
         "    # bounds on the joint velocities\n",
         "    opti.subject_to(opti.bounded(-5, q_dot[:, i], 5))\n",
         "    # running cost\n",
@@ -232,13 +239,16 @@
         "opti.minimize(target_cost + velocities_cost)\n",
         "\n",
         "# set the solver\n",
-        "p_opts = {\"expand\": True, 'ipopt.print_level': 0, 'print_time': 0, 'ipopt.sb': 'yes'}\n",
+        "p_opts = {\"expand\": True, \"ipopt.print_level\": 0, \"print_time\": 0, \"ipopt.sb\": \"yes\"}\n",
         "s_opts = {\"max_iter\": 100, \"print_level\": 0}\n",
-        "opti.solver(\"ipopt\", p_opts, s_opts)\n"
+        "opti.solver(\"ipopt\", p_opts, s_opts)"
       ]
     },
     {
       "cell_type": "markdown",
+      "metadata": {
+        "id": "Hf-Uq8PWFy6v"
+      },
       "source": [
         "# Simulation loop\n",
         "\n",
@@ -247,10 +257,7 @@
         "\n",
         "On the notebook it is a bit slow.\n",
         "To run it real time set OMP_NUM_THREADS=1 on your laptop!"
-      ],
-      "metadata": {
-        "id": "Hf-Uq8PWFy6v"
-      }
+      ]
     },
     {
       "cell_type": "code",
@@ -275,45 +282,49 @@
         "mujoco.mj_resetData(wrapper.model, wrapper.data)\n",
         "i = 0\n",
         "while wrapper.data.time < duration:\n",
-        "  wrapper.step()\n",
-        "  if len(frames) < wrapper.data.time * framerate:\n",
-        "    # you do not need to set the desired ee position every time step\n",
-        "    # you can set it only when you want to change it\n",
-        "    opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
-        "    q0_numeric = wrapper.get_qpos()\n",
-        "    # remove the last joint since they are not controlled\n",
-        "    q0_numeric = q0_numeric[:-1]\n",
-        "    # set the initial condition\n",
-        "    opti.set_value(q0, q0_numeric)\n",
-        "    sol = opti.solve()\n",
-        "    # take the q_dot solution at the first time step and extend with the last joint to 0\n",
-        "    sol_q_dot = sol.value(q_dot)[:, 0]\n",
-        "    sol_q_dot = np.concatenate((sol_q_dot, np.zeros(1)))\n",
-        "    wrapper.set_qvel(sol_q_dot)\n",
-        "    pixels = wrapper.render()\n",
-        "    frames.append(pixels)\n",
-        "    # set the solution as the initial condition for the next time step\n",
-        "    opti.set_initial(q, sol.value(q))\n",
-        "    opti.set_initial(q_dot, sol.value(q_dot))\n",
-        "    i += 1\n",
-        "    if wrapper.data.time > 2:\n",
-        "      # change the desired ee position\n",
-        "      des_ee_pos_numeric = np.array([2.0, 0.0, 0.2])\n",
-        "      opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
-        "    if wrapper.data.time > 4:\n",
-        "      # change the desired ee position\n",
-        "      des_ee_pos_numeric = np.array([0.0, 0.5, 0.4])\n",
-        "      opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
-        "    if wrapper.data.time > 6:\n",
-        "      # change the desired ee position\n",
-        "      des_ee_pos_numeric = np.array([0.0, -0.6, 0.6])\n",
-        "      opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
+        "    wrapper.step()\n",
+        "    if len(frames) < wrapper.data.time * framerate:\n",
+        "        # you do not need to set the desired ee position every time step\n",
+        "        # you can set it only when you want to change it\n",
+        "        opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
+        "        q0_numeric = wrapper.get_qpos()\n",
+        "        # remove the last joint since they are not controlled\n",
+        "        q0_numeric = q0_numeric[:-1]\n",
+        "        # set the initial condition\n",
+        "        opti.set_value(q0, q0_numeric)\n",
+        "        sol = opti.solve()\n",
+        "        # take the q_dot solution at the first time step and extend with the last joint to 0\n",
+        "        sol_q_dot = sol.value(q_dot)[:, 0]\n",
+        "        sol_q_dot = np.concatenate((sol_q_dot, np.zeros(1)))\n",
+        "        wrapper.set_qvel(sol_q_dot)\n",
+        "        pixels = wrapper.render()\n",
+        "        frames.append(pixels)\n",
+        "        # set the solution as the initial condition for the next time step\n",
+        "        opti.set_initial(q, sol.value(q))\n",
+        "        opti.set_initial(q_dot, sol.value(q_dot))\n",
+        "        i += 1\n",
+        "        if wrapper.data.time > 2:\n",
+        "            # change the desired ee position\n",
+        "            des_ee_pos_numeric = np.array([2.0, 0.0, 0.2])\n",
+        "            opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
+        "        if wrapper.data.time > 4:\n",
+        "            # change the desired ee position\n",
+        "            des_ee_pos_numeric = np.array([0.0, 0.5, 0.4])\n",
+        "            opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
+        "        if wrapper.data.time > 6:\n",
+        "            # change the desired ee position\n",
+        "            des_ee_pos_numeric = np.array([0.0, -0.6, 0.6])\n",
+        "            opti.set_value(des_ee_pos, des_ee_pos_numeric)\n",
         "\n",
-        "media.show_video(frames, fps=framerate)\n"
+        "media.show_video(frames, fps=framerate)"
       ]
     }
   ],
   "metadata": {
+    "colab": {
+      "include_colab_link": true,
+      "provenance": []
+    },
     "kernelspec": {
       "display_name": "adam_env",
       "language": "python",
@@ -330,10 +341,6 @@
       "nbconvert_exporter": "python",
       "pygments_lexer": "ipython3",
       "version": "3.10.11"
-    },
-    "colab": {
-      "provenance": [],
-      "include_colab_link": true
     }
   },
   "nbformat": 4,
diff --git a/src/adam/casadi/computations.py b/src/adam/casadi/computations.py
index 8b0dc66d..527553c2 100644
--- a/src/adam/casadi/computations.py
+++ b/src/adam/casadi/computations.py
@@ -2,9 +2,10 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+from typing import Union
+
 import casadi as cs
 import numpy as np
-from typing import Union
 
 from adam.casadi.casadi_like import SpatialMath
 from adam.core import RBDAlgorithms
diff --git a/src/adam/model/__init__.py b/src/adam/model/__init__.py
index 0426e317..3c23a54a 100644
--- a/src/adam/model/__init__.py
+++ b/src/adam/model/__init__.py
@@ -1,4 +1,4 @@
-from .abc_factories import Joint, Link, ModelFactory, Inertial, Pose
+from .abc_factories import Inertial, Joint, Link, ModelFactory, Pose
 from .model import Model
 from .std_factories.std_joint import StdJoint
 from .std_factories.std_link import StdLink
diff --git a/src/adam/model/conversions/idyntree.py b/src/adam/model/conversions/idyntree.py
index bbd8fd8e..bf208ce0 100644
--- a/src/adam/model/conversions/idyntree.py
+++ b/src/adam/model/conversions/idyntree.py
@@ -1,11 +1,11 @@
+from typing import List
+
 import idyntree.bindings
 import numpy as np
 import urdf_parser_py.urdf
-from typing import List
-
 
+from adam.model.abc_factories import Joint, Link
 from adam.model.model import Model
-from adam.model.abc_factories import Link, Joint
 
 
 def to_idyntree_solid_shape(
diff --git a/src/adam/model/std_factories/std_link.py b/src/adam/model/std_factories/std_link.py
index 7754747d..49475d73 100644
--- a/src/adam/model/std_factories/std_link.py
+++ b/src/adam/model/std_factories/std_link.py
@@ -2,7 +2,7 @@
 import urdf_parser_py.urdf
 
 from adam.core.spatial_math import SpatialMath
-from adam.model import Link, Inertial, Pose
+from adam.model import Inertial, Link, Pose
 
 
 class StdLink(Link):
diff --git a/src/adam/model/std_factories/std_model.py b/src/adam/model/std_factories/std_model.py
index f82b6d0a..8a720e18 100644
--- a/src/adam/model/std_factories/std_model.py
+++ b/src/adam/model/std_factories/std_model.py
@@ -1,7 +1,8 @@
+import os
 import pathlib
-from typing import List
 import xml.etree.ElementTree as ET
-import os
+from typing import List
+
 import urdf_parser_py.urdf
 
 from adam.core.spatial_math import SpatialMath
diff --git a/src/adam/parametric/casadi/computations_parametric.py b/src/adam/parametric/casadi/computations_parametric.py
index e9c2b77e..f74c873b 100644
--- a/src/adam/parametric/casadi/computations_parametric.py
+++ b/src/adam/parametric/casadi/computations_parametric.py
@@ -1,7 +1,7 @@
 # Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT). All rights reserved.
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
-from typing import List, Union
+from typing import List
 
 import casadi as cs
 import numpy as np
@@ -10,7 +10,7 @@
 from adam.core import RBDAlgorithms
 from adam.core.constants import Representations
 from adam.model import Model
-from adam.parametric.model import URDFParametricModelFactory, ParametricLink
+from adam.parametric.model import ParametricLink, URDFParametricModelFactory
 
 
 class KinDynComputationsParametric:
diff --git a/src/adam/parametric/jax/computations_parametric.py b/src/adam/parametric/jax/computations_parametric.py
index 3ac9c5f2..63510498 100644
--- a/src/adam/parametric/jax/computations_parametric.py
+++ b/src/adam/parametric/jax/computations_parametric.py
@@ -6,13 +6,12 @@
 
 import jax.numpy as jnp
 import numpy as np
-from jax import grad, jit, vmap
 
-from adam.core.rbd_algorithms import RBDAlgorithms
 from adam.core.constants import Representations
+from adam.core.rbd_algorithms import RBDAlgorithms
 from adam.jax.jax_like import SpatialMath
 from adam.model import Model
-from adam.parametric.model import URDFParametricModelFactory, ParametricLink
+from adam.parametric.model import ParametricLink, URDFParametricModelFactory
 
 
 class KinDynComputationsParametric:
diff --git a/src/adam/parametric/model/parametric_factories/parametric_link.py b/src/adam/parametric/model/parametric_factories/parametric_link.py
index 1346f3f8..49402a77 100644
--- a/src/adam/parametric/model/parametric_factories/parametric_link.py
+++ b/src/adam/parametric/model/parametric_factories/parametric_link.py
@@ -1,12 +1,12 @@
+import copy
+import math
+from enum import Enum
+
 import numpy.typing as npt
 import urdf_parser_py.urdf
-from enum import Enum
-import copy
 
 from adam.core.spatial_math import SpatialMath
 from adam.model import Link
-
-import math
 from adam.model.abc_factories import Inertia, Inertial
 
 
@@ -74,7 +74,7 @@ def get_principal_length(self):
         elif self.geometry_type == Geometry.BOX:
             v_l = self.visual_data.size[2]
         else:
-            raise Exception(f"THE GEOMETRY IS NOT SPECIFIED")
+            raise Exception("THE GEOMETRY IS NOT SPECIFIED")
         return v_l
 
     def get_principal_length_parametric(self):
@@ -94,7 +94,7 @@ def get_principal_length_parametric(self):
         elif self.geometry_type == Geometry.BOX:
             v_l = self.visual_data_new[2]
         else:
-            raise Exception(f"THE GEOMETRY IS NOT SPECIFIED")
+            raise Exception("THE GEOMETRY IS NOT SPECIFIED")
         return v_l
 
     def compute_offset(self):
diff --git a/src/adam/parametric/model/parametric_factories/parametric_model.py b/src/adam/parametric/model/parametric_factories/parametric_model.py
index 3702735e..f8b4bfac 100644
--- a/src/adam/parametric/model/parametric_factories/parametric_model.py
+++ b/src/adam/parametric/model/parametric_factories/parametric_model.py
@@ -1,11 +1,10 @@
-import pathlib
 from typing import List
-import os
 
 import urdf_parser_py.urdf
+
 from adam.core.spatial_math import SpatialMath
-from adam.model import ModelFactory, StdJoint, StdLink, Link, Joint
-from adam.model.std_factories.std_model import urdf_remove_sensors_tags, get_xml_string
+from adam.model import Joint, Link, ModelFactory, StdJoint, StdLink
+from adam.model.std_factories.std_model import get_xml_string, urdf_remove_sensors_tags
 from adam.parametric.model import ParametricJoint, ParametricLink
 
 
diff --git a/src/adam/parametric/numpy/computations_parametric.py b/src/adam/parametric/numpy/computations_parametric.py
index 7e961467..2aa53785 100644
--- a/src/adam/parametric/numpy/computations_parametric.py
+++ b/src/adam/parametric/numpy/computations_parametric.py
@@ -2,14 +2,15 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-import numpy as np
 from typing import List
 
-from adam.core.rbd_algorithms import RBDAlgorithms
+import numpy as np
+
 from adam.core.constants import Representations
+from adam.core.rbd_algorithms import RBDAlgorithms
 from adam.model import Model
-from adam.parametric.model import URDFParametricModelFactory, ParametricLink
 from adam.numpy.numpy_like import SpatialMath
+from adam.parametric.model import ParametricLink, URDFParametricModelFactory
 
 
 class KinDynComputationsParametric:
diff --git a/src/adam/parametric/pytorch/computations_parametric.py b/src/adam/parametric/pytorch/computations_parametric.py
index 07eb7a78..43cb5748 100644
--- a/src/adam/parametric/pytorch/computations_parametric.py
+++ b/src/adam/parametric/pytorch/computations_parametric.py
@@ -2,14 +2,15 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
+from typing import List
+
 import numpy as np
 import torch
-from typing import List
 
-from adam.core.rbd_algorithms import RBDAlgorithms
 from adam.core.constants import Representations
+from adam.core.rbd_algorithms import RBDAlgorithms
 from adam.model import Model
-from adam.parametric.model import URDFParametricModelFactory, ParametricLink
+from adam.parametric.model import ParametricLink, URDFParametricModelFactory
 from adam.pytorch.torch_like import SpatialMath
 
 
diff --git a/src/adam/pytorch/__init__.py b/src/adam/pytorch/__init__.py
index 7a33bea1..0e52c9ef 100644
--- a/src/adam/pytorch/__init__.py
+++ b/src/adam/pytorch/__init__.py
@@ -2,6 +2,6 @@
 # This software may be modified and distributed under the terms of the
 # GNU Lesser General Public License v2.1 or any later version.
 
-from .computations import KinDynComputations
+from .computations import KinDynComputations  # isort:skip
 from .computation_batch import KinDynComputationsBatch
 from .torch_like import TorchLike
diff --git a/src/adam/pytorch/torch_like.py b/src/adam/pytorch/torch_like.py
index 71962f65..b9e456ef 100644
--- a/src/adam/pytorch/torch_like.py
+++ b/src/adam/pytorch/torch_like.py
@@ -7,7 +7,6 @@
 
 import numpy.typing as ntp
 import torch
-import numpy as np
 
 from adam.core.spatial_math import ArrayLike, ArrayLikeFactory, SpatialMath
 
diff --git a/tests/body_fixed/test_Jax_body_fixed.py b/tests/body_fixed/test_Jax_body_fixed.py
index 10330947..a41b2892 100644
--- a/tests/body_fixed/test_Jax_body_fixed.py
+++ b/tests/body_fixed/test_Jax_body_fixed.py
@@ -6,7 +6,6 @@
 
 import icub_models
 import idyntree.swig as idyntree
-import jax.numpy as jnp
 import numpy as np
 import pytest
 from jax import config
diff --git a/tests/body_fixed/test_pytorch_body_fixed.py b/tests/body_fixed/test_pytorch_body_fixed.py
index daa3a142..63a90ac8 100644
--- a/tests/body_fixed/test_pytorch_body_fixed.py
+++ b/tests/body_fixed/test_pytorch_body_fixed.py
@@ -11,7 +11,6 @@
 import torch
 
 from adam import Representations
-from adam.geometry import utils
 from adam.pytorch import KinDynComputations
 from adam.pytorch.torch_like import SpatialMath
 
diff --git a/tests/mixed/test_Jax_mixed.py b/tests/mixed/test_Jax_mixed.py
index 636a3391..ca4ceeba 100644
--- a/tests/mixed/test_Jax_mixed.py
+++ b/tests/mixed/test_Jax_mixed.py
@@ -6,7 +6,6 @@
 
 import icub_models
 import idyntree.swig as idyntree
-import jax.numpy as jnp
 import numpy as np
 import pytest
 from jax import config
diff --git a/tests/mixed/test_NumPy_mixed.py b/tests/mixed/test_NumPy_mixed.py
index d4710441..8a5fb963 100644
--- a/tests/mixed/test_NumPy_mixed.py
+++ b/tests/mixed/test_NumPy_mixed.py
@@ -9,7 +9,6 @@
 import numpy as np
 import pytest
 
-from adam import Representations
 from adam.geometry import utils
 from adam.numpy import KinDynComputations
 
diff --git a/tests/mixed/test_pytorch_mixed.py b/tests/mixed/test_pytorch_mixed.py
index 32a72702..612768b5 100644
--- a/tests/mixed/test_pytorch_mixed.py
+++ b/tests/mixed/test_pytorch_mixed.py
@@ -11,7 +11,6 @@
 import torch
 
 from adam import Representations
-from adam.geometry import utils
 from adam.pytorch import KinDynComputations
 from adam.pytorch.torch_like import SpatialMath
 
diff --git a/tests/parametric/test_CasADi_computations_parametric.py b/tests/parametric/test_CasADi_computations_parametric.py
index b36d9961..66f46f8e 100644
--- a/tests/parametric/test_CasADi_computations_parametric.py
+++ b/tests/parametric/test_CasADi_computations_parametric.py
@@ -3,18 +3,15 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 import logging
-from os import link
 import casadi as cs
 import numpy as np
 import pytest
-import math
 from adam.parametric.casadi import KinDynComputationsParametric
 from adam.casadi import KinDynComputations
 
 from adam.geometry import utils
 import tempfile
 from git import Repo
-from adam import Representations
 
 # Getting stickbot urdf file
 temp_dir = tempfile.TemporaryDirectory()
diff --git a/tests/parametric/test_Jax_computations_parametric.py b/tests/parametric/test_Jax_computations_parametric.py
index aec6ee87..9734bf87 100644
--- a/tests/parametric/test_Jax_computations_parametric.py
+++ b/tests/parametric/test_Jax_computations_parametric.py
@@ -3,20 +3,16 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 import logging
-from os import link
-import urdf_parser_py.urdf
-import jax.numpy as jnp
 from jax import config
 import numpy as np
 import pytest
-import math
+import casadi as cs
 from adam.parametric.jax import KinDynComputationsParametric
 from adam.jax import KinDynComputations
 
 from adam.geometry import utils
 import tempfile
 from git import Repo
-from adam import Representations
 
 np.random.seed(42)
 config.update("jax_enable_x64", True)
diff --git a/tests/parametric/test_NumPy_computations_parametric.py b/tests/parametric/test_NumPy_computations_parametric.py
index 42b51c9d..a05ecda9 100644
--- a/tests/parametric/test_NumPy_computations_parametric.py
+++ b/tests/parametric/test_NumPy_computations_parametric.py
@@ -3,10 +3,8 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 import logging
-from os import link
-import urdf_parser_py.urdf
 import pytest
-import math
+import casadi as cs
 import numpy as np
 from adam.parametric.numpy import KinDynComputationsParametric
 from adam.numpy import KinDynComputations
@@ -14,7 +12,6 @@
 from adam.geometry import utils
 import tempfile
 from git import Repo
-from adam import Representations
 
 np.random.seed(42)
 
diff --git a/tests/parametric/test_pytorch_computations_parametric.py b/tests/parametric/test_pytorch_computations_parametric.py
index f2a18963..2d080260 100644
--- a/tests/parametric/test_pytorch_computations_parametric.py
+++ b/tests/parametric/test_pytorch_computations_parametric.py
@@ -3,20 +3,15 @@
 # GNU Lesser General Public License v2.1 or any later version.
 
 import logging
-from os import link
-import urdf_parser_py.urdf
 import pytest
-import math
 import torch
 import numpy as np
 from adam.parametric.pytorch import KinDynComputationsParametric
 from adam.pytorch import KinDynComputations
 from adam.pytorch.torch_like import SpatialMath
 
-from adam.geometry import utils
 import tempfile
 from git import Repo
-from adam import Representations
 
 np.random.seed(42)
 torch.set_default_dtype(torch.float64)
diff --git a/tests/pytorch_batch/test_pytorch_batch.py b/tests/pytorch_batch/test_pytorch_batch.py
index 44b3a33d..e4795621 100644
--- a/tests/pytorch_batch/test_pytorch_batch.py
+++ b/tests/pytorch_batch/test_pytorch_batch.py
@@ -1,10 +1,5 @@
-import logging
-
 import icub_models
-import idyntree.swig as idyntree
-import jax.numpy as jnp
 import numpy as np
-import pytest
 from jax import config
 
 import adam