diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 000000000..07fe41c52
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true
diff --git a/.github/workflows/pixi-ci.yml b/.github/workflows/pixi-ci.yml
new file mode 100644
index 000000000..f3e75c866
--- /dev/null
+++ b/.github/workflows/pixi-ci.yml
@@ -0,0 +1,51 @@
+name: Pixi CI Workflow
+
+on:
+  # on demand
+  workflow_dispatch:
+    inputs:
+      delete_pixi_lock:
+        description: 'If true, delete pixi.lock, to test against the latest version of dependencies.'
+        required: true
+        default: 'false'
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build twice a week 2 AM UTC
+  - cron:  '0 2 * * 2,5'
+
+jobs:
+  build-with-pixi:
+    name: '[pixi:${{ matrix.os }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-22.04, macos-13, macos-14, windows-2019]
+
+    steps:
+    - uses: actions/checkout@v4
+
+    # On periodic jobs and when delete_pixi_lock option is true, delete the pixi.lock to check that the project compiles with latest version of dependencies
+    - name: Delete pixi.lock on scheduled jobs or if delete_pixi_lock is true
+      if: github.event_name == 'schedule' || (github.event_name == 'workflow_dispatch' && github.event.inputs.delete_pixi_lock == 'true')
+      shell: bash
+      run: |
+        rm pixi.lock
+
+    - name: Print used environment
+      shell: bash
+      run: |
+        env
+
+    - uses: prefix-dev/setup-pixi@v0.8.1
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        # Avoid YCM complaining that the git user is not set
+        # Eventually we could consider removing that check in YCM
+        git config --global user.name PixiGHA User
+        git config --global user.email pixighauser@example.com
+        pixi run build-all
diff --git a/.github/workflows/pixi-update-lock.yml b/.github/workflows/pixi-update-lock.yml
new file mode 100644
index 000000000..a141aa751
--- /dev/null
+++ b/.github/workflows/pixi-update-lock.yml
@@ -0,0 +1,28 @@
+name: Update pixi lock file
+
+on:
+  # on demand
+  workflow_dispatch:
+
+jobs:
+  auto-update:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          pixi-version: "latest"
+          cache: false
+      - name: Update pixi lock file
+        run: |
+          rm pixi.lock
+          pixi install
+      - uses: peter-evans/create-pull-request@v5
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          branch: update/pixi-lock
+          title: Update pixi lock file
+          commit-message: "Update `pixi.lock`"
+          body: Update pixi dependencies to the latest version.
+          author: "GitHub <noreply@github.com>"
diff --git a/.gitignore b/.gitignore
index 99ab56cc2..d06ece6a3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,3 +12,8 @@ CTestTestfile.cmake
 *kdev*
 /src/
 *.user
+# pixi environments
+.pixi
+*.egg-info
+# build directory used by pixi
+/.build/
diff --git a/README.md b/README.md
index 6505262cf..cad9dc1cc 100644
--- a/README.md
+++ b/README.md
@@ -89,7 +89,7 @@ For the list of actually available tags, see the [GitHub's releases page](https:
 
 Once you cloned the repo, to go forward you can follow the different instructions on how to install robotology-superbuild from the source code, depending on your operating system and the package manager you want to use to install the required dependencies:
 * [**Linux with dependencies provided by apt**](#linux-from-source-with-dependencies-provided-by-apt): use the superbuild on Debian/Ubuntu distributions installing the dependencies with apt,
-* [**Linux, macOS or Windows with dependencies provided by conda-forge**](#linux-macos-or-windows-from-source-with-dependencies-provided-by-conda-forge): use the superbuild on any supported operating system, installing the dependencies with conda package manager,
+* [**Linux, macOS or Windows with dependencies provided by conda-forge**](#linux-macos-or-windows-from-source-with-dependencies-provided-by-conda-forge): use the superbuild on any supported operating system, installing the dependencies with conda or pixi package manager,
 * [**Windows Subsystem For Linux**](#windows-subsystem-for-linux-from-source): use the superbuild on [Windows Subsystem For Linux](https://docs.microsoft.com/en-us/windows/wsl/about).
 
 The exact versions of the operating systems supported by the robotology-superbuild follow the one supported by the YARP library, that are documented in https://github.com/robotology/yarp/blob/master/.github/CONTRIBUTING.md#supported-systems .
@@ -203,7 +203,9 @@ If for any reason you do not want to use the provided `setup.sh` script and you
 
 ## Linux, macOS or Windows from source with dependencies provided by conda-forge
 
-Please refer to [`doc/conda-forge.md`](doc/conda-forge.md) document for instruction on how to compile the superbuild from source using the conda-forge provided dependencies, in particular the [`Source Installation`](doc/conda-forge.md#source-installation) section.
+If you want to use the `conda` package manager refer to [`doc/conda-forge.md`](doc/conda-forge.md) document for instruction on how to compile the superbuild from source using the conda-forge provided dependencies, in particular the [`Source Installation`](doc/conda-forge.md#source-installation) section.
+
+Otherwise, if you want to use the `pixi` package manager to install and build the superbuild, refer to the [`doc/pixi.md`](doc/pixi.md) document.
 
 ## Windows Subsystem for Linux from source
 
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index c6f285ad7..470b336ed 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -165,7 +165,7 @@ For some [profile](doc/cmake-options.md#profile-cmake-options) or [dependency](d
 
 To install python and the other required dependencies when using `conda-forge` provided dependencies, use:
 ~~~
-conda install -c conda-forge python numpy swig pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml
+conda install -c conda-forge python pip numpy swig pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml
 ~~~
 
 #### `ROBOTOLOGY_USES_PCL_AND_VTK`
diff --git a/doc/pixi.md b/doc/pixi.md
new file mode 100644
index 000000000..6c96ca643
--- /dev/null
+++ b/doc/pixi.md
@@ -0,0 +1,41 @@
+# pixi
+
+Pixi is a package management tool for developers, tt allows the developer to install libraries and applications in a reproducible way. For more information about pixi a, check [pixi's website](https://pixi.sh/).
+
+IF you have pixi installed, to compile the superbuild with all options enabled, just run the following commands:
+
+~~~
+git clone https://github.com/robotology/robotology-superbuild/
+cd robotology-superbuild
+pixi run build-all
+~~~
+
+This creates a CMake build of the superbuild in the `robotology-superbuild/.build` folder.
+
+> [!IMPORTANT]
+> All the dependencies of the superbuild are automatically downloaded and installed in the `robotology-superbuild/.pixi` directory by pixi itself. If you are on Windows, the only additional dependency that you need to install manually is the VS2019 C++ compiler installed in your system.
+
+> [!WARNING]
+> Due to the high number of threads created by robotology-superbuild's project for compilation, it can happen that the build stops as the system run out of memory. In that case, run again `pixi run build-all` and the build will resume from the point at which it halted.
+
+
+After this process completly successfully, you can access all the software compiled by the superbuild by moving in the `robotology-superbuild` directory and run `pixi run <command>` (to launch a single command) or `pixi shell` (to open a terminal in which the superbuild software is available).
+
+For example, to run the `idyntree-model-info` program, you can run:
+
+~~~
+pixi run idyntree-model-info
+~~~
+
+or:
+
+~~~
+pixi shell
+idyntree-model-info
+~~~
+
+If you want to customize the CMake options of the superbuild, you can modify them by running `pixi run build` (that will not enable any specific option), and then modify the cmake options of the superbuild via the command:
+
+~~~
+pixi run ccmake -B.build
+~~~
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 000000000..0f4ac8206
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,38705 @@
+version: 5
+environments:
+  default:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    - url: https://conda.anaconda.org/robotology/
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/_sysroot_linux-64_curr_repodata_hack-3-h69a702a_16.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ace-8.0.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.3.5-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.10.2-py310h5b4e0ec_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.3.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/asio-1.29.0-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.3.1-h8343317_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-2.4.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/async-timeout-4.0.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-24.2.0-pyh71513ae_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-auth-0.7.20-h5f1c8d9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-cal-0.6.12-h2ba76a8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.9.17-h4ab18f5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-compression-0.2.18-h36a0aea_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-event-stream-0.4.2-h161de36_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-http-0.8.1-h63f54a0_13.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-io-0.14.8-h96d4d28_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-mqtt-0.10.4-hcc7299c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-s3-0.5.9-h10bd90f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-sdkutils-0.1.16-h36a0aea_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-checksums-0.1.18-h36a0aea_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-crt-cpp-0.26.8-h4f3a3cc_11.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-sdk-cpp-1.11.267-h51dfee4_8.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-core-cpp-1.11.1-h91d86a7_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-blobs-cpp-12.10.0-h00ab1b0_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-common-cpp-12.5.0-h94269e2_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bash-completion-2.11-ha770c72_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.40-h4852527_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.40-ha1999f0_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.40-hb3c18ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-hef167b5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/boost-1.84.0-hb7f781d_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcc13569_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.32.3-h4bc722e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.7.0-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.7.4-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cached-property-1.5.2-hd8ed1ab_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cached_property-1.5.2-pyha770c72_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.0-h3faef2a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2024.7.4-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cfitsio-4.4.0-hbdc6101_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.4.1-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.30.2-hf8c4bd3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.7.0-ha770c72_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.2.1-py310hd41b1e2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cppzmq-4.10.0-h2e2a08d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.7.0-h00ab1b0_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dartsim-6.13.2-h89be5ba_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.13.6-h5008d03_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/decorator-5.1.1-pyhd8ed1ab_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.0-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.191-h924a536_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/executing-2.0.1-pyhd8ed1ab_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.14.2-h14ed4e7_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.12.1-h267a509_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freexl-2.0.0-h743c826_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/frozenlist-1.4.1-py310h2372a71_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gdk-pixbuf-2.42.12-hb9ae30d_0.conda
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+  license: Apache-2.0
+  license_family: Apache
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+  name: zeromq
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+  - vc14_runtime >=14.29.30139
+  license: Zlib
+  license_family: Other
+  size: 108081
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+  name: zlib
+  version: 1.3.1
+  build: h4ab18f5_1
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+  url: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-h4ab18f5_1.conda
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+  license: Zlib
+  license_family: Other
+  size: 93004
+  timestamp: 1716874213487
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+  name: zlib
+  version: 1.3.1
+  build: h68df207_1
+  build_number: 1
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/zlib-1.3.1-h68df207_1.conda
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+  license: Zlib
+  license_family: Other
+  size: 95770
+  timestamp: 1716874148566
+- kind: conda
+  name: zlib
+  version: 1.3.1
+  build: h87427d6_1
+  build_number: 1
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/zlib-1.3.1-h87427d6_1.conda
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+  license: Zlib
+  license_family: Other
+  size: 88782
+  timestamp: 1716874245467
+- kind: conda
+  name: zlib
+  version: 1.3.1
+  build: hfb2fe0b_1
+  build_number: 1
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/zlib-1.3.1-hfb2fe0b_1.conda
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+  license: Zlib
+  license_family: Other
+  size: 78260
+  timestamp: 1716874280334
+- kind: conda
+  name: zstd
+  version: 1.5.6
+  build: h02f22dd_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.6-h02f22dd_0.conda
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+  depends:
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+  - libstdcxx-ng >=12
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 539937
+  timestamp: 1714723130243
+- kind: conda
+  name: zstd
+  version: 1.5.6
+  build: h0ea2cb4_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda
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+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 349143
+  timestamp: 1714723445995
+- kind: conda
+  name: zstd
+  version: 1.5.6
+  build: h915ae27_0
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.6-h915ae27_0.conda
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+  md5: 4cb2cd56f039b129bb0e491c1164167e
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+  license: BSD-3-Clause
+  license_family: BSD
+  size: 498900
+  timestamp: 1714723303098
+- kind: conda
+  name: zstd
+  version: 1.5.6
+  build: ha6fb4c9_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
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+  md5: 4d056880988120e29d75bfff282e0f45
+  depends:
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+  - libstdcxx-ng >=12
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 554846
+  timestamp: 1714722996770
+- kind: conda
+  name: zstd
+  version: 1.5.6
+  build: hb46c0d2_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda
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+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 405089
+  timestamp: 1714723101397
+- kind: conda
+  name: zziplib
+  version: 0.13.69
+  build: h3ca93ac_2
+  build_number: 2
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/zziplib-0.13.69-h3ca93ac_2.conda
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+  - vc14_runtime >=14.29.30139
+  license: LGPL-2.0-or-later OR MPL-1.1
+  size: 65791
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+  build: h57f5043_2
+  build_number: 2
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+  url: https://conda.anaconda.org/conda-forge/osx-arm64/zziplib-0.13.69-h57f5043_2.conda
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+  license: LGPL-2.0-or-later OR MPL-1.1
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/zziplib-0.13.69-h650d8d0_2.conda
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+  license: LGPL-2.0-or-later OR MPL-1.1
+  size: 115725
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+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/zziplib-0.13.69-h97fe558_2.conda
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+  license: LGPL-2.0-or-later OR MPL-1.1
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+  timestamp: 1719242079320
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+  url: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-he45264a_2.conda
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+  depends:
+  - libgcc-ng >=12
+  - libzlib >=1.3.1,<2.0a0
+  license: LGPL-2.0-or-later OR MPL-1.1
+  size: 106915
+  timestamp: 1719242059793
diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 000000000..02fb31adc
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,159 @@
+[project]
+name = "robotology-superbuild"
+# As this version is currently ignored, we do not
+# waste effort in mantain it in synch with the value
+# specified in CMakeLists.txt
+version = "0.0.0"
+description = "CMake/YCM-based superbuild to simplify the build process of robotology projects."
+authors = ["Silvio Traversaro <silvio@traversaro.it>"]
+channels = ["conda-forge", "robotology"]
+platforms = ["linux-64", "linux-aarch64", "win-64", "osx-64", "osx-arm64"]
+
+[activation]
+scripts = ["pixi_activation.sh", ".build/install/share/robotology-superbuild/setup.sh"]
+
+[target.win-64.activation]
+scripts = ["pixi_activation.bat", ".build/install/share/robotology-superbuild/setup.bat"]
+
+
+[tasks]
+configure = { cmd = [
+    "cmake",
+    "-DCMAKE_BUILD_TYPE=Release",
+    # Use the cross-platform Ninja generator
+    "-G",
+    "Ninja",
+    # The source is in the root directory
+    "-S",
+    ".",
+    # We wanna build in the .build directory
+    "-B",
+    ".build",
+]}
+
+configure-all = { cmd = [
+    "cmake",
+    "-DCMAKE_BUILD_TYPE=Release",
+    # Enable all options
+    "-DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=ON",
+    "-DROBOTOLOGY_ENABLE_DYNAMICS:BOOL=ON",
+    "-DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=ON",
+    "-DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=ON",
+    "-DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=ON",
+    "-DROBOTOLOGY_ENABLE_HUMAN_DYNAMICS:BOOL=ON",
+    "-DROBOTOLOGY_USES_PYTHON:BOOL=ON",
+    "-DROBOTOLOGY_USES_GAZEBO:BOOL=ON",
+    "-DROBOTOLOGY_USES_PCL_AND_VTK:BOOL=ON",
+    "-DROBOTOLOGY_USES_GZ:BOOL=ON",
+    "-DROBOTOLOGY_USES_ESDCAN:BOOL=$ROBOTOLOGY_USES_ESDCAN",
+    # Use the cross-platform Ninja generator
+    "-G",
+    "Ninja",
+    # The source is in the root directory
+    "-S",
+    ".",
+    # We wanna build in the .build directory
+    "-B",
+    ".build",
+]}
+
+# We limit the number of concurrent ninja builds to 1 as the superbuild will run one project at the time,
+# and each project will run itself a number of compilation threads equal to ninja defaults,
+# if we do not do this there is an high change that the system running out of memory
+# if you want to run with a custom number of threads, run pixi run cmake --build .build --config Release --parallel N
+build = { cmd = "cmake --build .build --config Release --parallel 1", depends_on = ["configure"] }
+build-all = { cmd = "cmake --build .build --config Release --parallel 1", depends_on = ["configure-all"] }
+
+
+[dependencies]
+
+# C++ dev dependencies
+compilers = "*"
+ninja = "*"
+cmake = "*"
+make  = "*"
+pkg-config = "*"
+
+# C++ libraries dependencies
+ace = "*"
+asio = "*"
+assimp = "*"
+boost = "*"
+eigen = "*"
+freetype = "*"
+glew = "*"
+glfw = "*"
+glm = "*"
+graphviz = "*"
+gsl = "*"
+ipopt = "*"
+irrlicht = "*"
+libjpeg-turbo = "*"
+libmatio = "*"
+libode = "*"
+libxml2 = "*"
+nlohmann_json = "*"
+qhull = "*"
+pcl = ">=1.11.1"
+libopencv = ">=4.10.0"
+opencv = "*"
+portaudio = "*"
+qt-main = "*"
+sdl = "*"
+sdl2 = "*"
+sqlite = "*"
+tinyxml = "*"
+tinyxml2 = "*"
+spdlog = "*"
+lua = "*"
+soxr = "*"
+tomlplusplus = "*"
+libzlib = "*"
+ffmpeg = "6.*"
+onnxruntime-cpp = "*"
+vtk = "*"
+
+# ROBOTOLOGY_USES_GAZEBO
+gazebo = "*"
+
+# ROBOTOLOGY_USES_GZ
+gz-sim8 = "*"
+
+# ROBOTOLOGY_USES_PYTHON
+python = "*"
+pip = "*"
+numpy = "*"
+swig = "*"
+pybind11 = "*"
+pyqt = "*"
+matplotlib = "*"
+h5py = "*"
+tornado = "*"
+u-msgpack-python = "*"
+pyzmq = "*"
+ipython = "*"
+gst-plugins-good = "*"
+gst-plugins-bad = "*"
+pyqtwebengine = "*"
+qtpy = "*"
+pyyaml = "*"
+
+
+[target.win-64.dependencies]
+freeglut = "*"
+# ROBOTOLOGY_USES_ESDCAN
+esdcan = { version = "*", channel = "robotology" }
+
+[target.linux-64.dependencies]
+bash-completion = "*"
+freeglut = "*"
+libdc1394 = "*"
+libi2c = "*"
+mesa-libgl-devel-cos7-x86_64 = "*"
+
+[target.linux-aarch64.dependencies]
+bash-completion = "*"
+freeglut = "*"
+libdc1394 = "*"
+libi2c = "*"
+mesa-libgl-cos7-aarch64 = "*"
diff --git a/pixi_activation.bat b/pixi_activation.bat
new file mode 100644
index 000000000..e03e164da
--- /dev/null
+++ b/pixi_activation.bat
@@ -0,0 +1 @@
+set ROBOTOLOGY_USES_ESDCAN=ON
\ No newline at end of file
diff --git a/pixi_activation.sh b/pixi_activation.sh
new file mode 100644
index 000000000..f7b038382
--- /dev/null
+++ b/pixi_activation.sh
@@ -0,0 +1,3 @@
+export ROBOTOLOGY_ENABLE_ESDCAN=OFF
+# Workaround for https://github.com/conda-forge/qt-main-feedstock/issues/273
+export QT_HOST_PATH=${CONDA_PREFIX}