diff --git a/pyproject.toml b/pyproject.toml
index 5e229ba9e..4c31bb012 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -15,3 +15,10 @@ line-length = 88
 [tool.isort]
 profile = "black"
 multi_line_output = 3
+
+[tool.pytest.ini_options]
+minversion = "6.0"
+addopts = "-rsxX -v --strict-markers --forked"
+testpaths = [
+    "tests",
+]
diff --git a/setup.cfg b/setup.cfg
index 7df8f6881..4bcb49574 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -71,13 +71,10 @@ style =
     isort
 testing =
     idyntree
-    pytest
+    pytest >= 6.0
+    pytest-forked
     pytest-icdiff
     robot-descriptions
 all =
     %(style)s
     %(testing)s
-
-[tool:pytest]
-addopts = -rsxX -v --strict-markers
-testpaths = tests