diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000000..07fe41c52c
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+# GitHub syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true
diff --git a/.github/workflows/conda/environment_macos_linux.yml b/.github/workflows/conda/environment_macos_linux.yml
deleted file mode 100644
index 9673c1fe5b..0000000000
--- a/.github/workflows/conda/environment_macos_linux.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-name: pinocchio
-channels:
-  - conda-forge
-dependencies:
-  - eigen=3.4.0
-  - hpp-fcl
-  - numpy
-  - boost
-  - eigenpy
-  - urdfdom
-  - python
-  - cmake
-  - ccache
-  - pkg-config
-  - ninja
-  - llvm-openmp
-  - cxx-compiler
-  - meshcat-python
-  - casadi
-  - cppad<=20230000
-  - cppadcodegen
-  - pycppad
-  - matplotlib
-  - mpfr
-  - qhull
-  - qhull-static
-  - libsdformat
diff --git a/.github/workflows/conda/environment_windows.yml b/.github/workflows/conda/environment_windows.yml
deleted file mode 100644
index 99569b5795..0000000000
--- a/.github/workflows/conda/environment_windows.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: pinocchio-windows
-channels:
-  - conda-forge
-dependencies:
-  - eigen=3.4.0
-  - hpp-fcl
-  - numpy
-  - boost
-  - eigenpy
-  - urdfdom
-  - python
-  - cmake
-  - ccache
-  - pkg-config
-  - ninja
-  - cxx-compiler
-  - meshcat-python
-  - casadi
-  - cppad<=20230000
-  - cppadcodegen
-  - pycppad
-  - matplotlib
-  - mpfr
-  - qhull
-  - libsdformat
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index 4cdcc70aae..ec81bb7ece 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -11,6 +11,7 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
   pull_request:
     paths-ignore:
       - doc/**
@@ -21,6 +22,7 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-windows-pixi.yml
similarity index 67%
rename from .github/workflows/macos-linux-conda.yml
rename to .github/workflows/macos-linux-windows-pixi.yml
index b14fa92fdd..dbf14969de 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-windows-pixi.yml
@@ -1,4 +1,4 @@
-name: CI - OSX/Linux via Conda
+name: CI - MacOS/Linux/Windows via Pixi
 
 on:
   schedule:
@@ -13,6 +13,7 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
   pull_request:
     paths-ignore:
       - doc/**
@@ -23,13 +24,14 @@ on:
       - COPYING.LESSER
       - colcon.pkg
       - .pre-commit-config.yaml
+      - CHANGELOG.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  pinocchio-conda:
-    name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda
+  pinocchio-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -41,20 +43,32 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, macos-latest]
+        os: [ubuntu-latest, macos-latest, macos-13]
+        environment: [all, all-py39]
         build_type: [Release, Debug]
-        python-version: ['3.8', '3.12']
 
         include:
+          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: ubuntu-latest
             BUILD_ADVANCED_TESTING: OFF
-          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: macos-latest
             BUILD_ADVANCED_TESTING: OFF
+          - os: macos-13
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all-clang-cl
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+
 
     steps:
       # extract branch name or checkout devel branch for scheduled events
       - name: Get branch name or checkout devel
+        shell: bash -el {0}
         run: |
           if [ "${{ github.event_name }}" == "schedule" ]; then
             echo "BRANCH_NAME=devel" >> $GITHUB_ENV
@@ -71,18 +85,16 @@ jobs:
       - uses: actions/cache@v4
         with:
           path: .ccache
-          save-always: true
           key: ccache-macos-linux-conda-${{ 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
+      - uses: prefix-dev/setup-pixi@v0.8.1
         with:
-          activate-environment: pinocchio-linux
-          auto-update-conda: true
-          environment-file: .github/workflows/conda/environment_macos_linux.yml
-          python-version: ${{ matrix.python-version }}
-          auto-activate-base: false
+          pixi-version: v0.33.0
+          cache: true
+          environments: ${{ matrix.environment }}
 
+      # Avoid filling all disk space with debug symbols
       - name: Setup CMAKE_TOOLCHAIN_FILE
         if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug')
         run: |
@@ -99,38 +111,31 @@ jobs:
             await script({github, context, core})
           result-encoding: string
 
-      - name: Build Pinocchio
+      - name: Build Pinocchio [MacOS/Linux/Windows]
         shell: bash -el {0}
+        env:
+          CMAKE_BUILD_PARALLEL_LEVEL: 2
+          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
-          conda list
-          echo $CONDA_PREFIX
-
-          mkdir build
-          cd build
-
-          cmake .. \
-            -G "Ninja" \
-            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-            -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          # Launch configure but overwrite default options
+          pixi run -e ${{ matrix.environment }} configure \
             -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
             ${{ steps.get_labels.outputs.cmakeFlags }}
-          cmake --build . -j2
-          ctest --output-on-failure
-          cmake --install .
+          pixi run -e ${{ matrix.environment }} cmake --build build --target all
+          pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
+          pixi run -e ${{ matrix.environment }} cmake --install build
 
       - name: Uninstall Pinocchio
         shell: bash -el {0}
         run: |
-          cd build
-          cmake --build . --target uninstall
+          cmake --build build --target uninstall
 
   check:
     if: always()
-    name: check-macos-linux-conda
+    name: check-macos-linux-windows-pixi
 
     needs:
-      - pinocchio-conda
+      - pinocchio-pixi
 
     runs-on: Ubuntu-latest
 
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index fa0a40a096..c9da083b58 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -14,6 +14,7 @@ on:
       - CITATION.*
       - COPYING.LESSER
       - .pre-commit-config.yaml
+      - CHANGELOG.md
   pull_request:
     paths-ignore:
       - doc/**
@@ -23,6 +24,7 @@ on:
       - CITATION.*
       - COPYING.LESSER
       - .pre-commit-config.yaml
+      - CHANGELOG.md
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
diff --git a/.github/workflows/scripts/get_compilation_flags.js b/.github/workflows/scripts/get_compilation_flags.js
index 75e46d9b68..cf7e41693d 100644
--- a/.github/workflows/scripts/get_compilation_flags.js
+++ b/.github/workflows/scripts/get_compilation_flags.js
@@ -1,102 +1,117 @@
-// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master
-module.exports = async ({github, context, core}) => {
-    const getPullRequestNumber = (ref) => {
-        core.debug(`Parsing ref: ${ref}`);
-        // This assumes that the ref is in the form of `refs/pull/:prNumber/merge`
-        const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1');
-        return parseInt(prNumber, 10);
+// Create the default CMakeOptions
+function CMakeOptions() {
+  this.BUILD_WITH_COLLISION_SUPPORT = "OFF";
+  this.BUILD_WITH_CASADI_SUPPORT = "OFF";
+  this.BUILD_WITH_AUTODIFF_SUPPORT = "OFF";
+  this.BUILD_WITH_EXTRA_SUPPORT = "OFF";
+  this.BUILD_WITH_CODEGEN_SUPPORT = "OFF";
+  this.BUILD_WITH_OPENMP_SUPPORT = "OFF";
+  this.BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT = "OFF";
+  this.INSTALL_DOCUMENTATION = "ON";
+  this.GENERATE_PYTHON_STUBS = "ON";
+  this.BUILD_WITH_ACCELERATE_SUPPORT = "OFF";
+  this.BUILD_WITH_SDF_SUPPORT = "OFF";
+}
+
+// Return an object with an association between labels and
+// options that should be set to ON
+function makeLabelToOptions() {
+  const os = process.env.RUNNER_OS;
+  if(os == "Windows") {
+    return {
+      build_all: [
+        'BUILD_WITH_COLLISION_SUPPORT',
+        'BUILD_WITH_CASADI_SUPPORT',
+        'BUILD_WITH_AUTODIFF_SUPPORT',
+        'BUILD_WITH_EXTRA_SUPPORT',
+        'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT',
+        'BUILD_WITH_SDF_SUPPORT'
+      ],
+      build_collision: ['BUILD_WITH_COLLISION_SUPPORT'],
+      build_casadi: ['BUILD_WITH_CASADI_SUPPORT'],
+      build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'],
+      build_extra: ['BUILD_WITH_EXTRA_SUPPORT'],
+      build_codegen: [],
+      build_openmp: [],
+      build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'],
+      build_sdf: ['BUILD_WITH_SDF_SUPPORT'],
+      build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT']
+    };
+  } else {
+    return {
+      build_all: [
+        'BUILD_WITH_COLLISION_SUPPORT',
+        'BUILD_WITH_CASADI_SUPPORT',
+        'BUILD_WITH_AUTODIFF_SUPPORT',
+        'BUILD_WITH_EXTRA_SUPPORT',
+        'BUILD_WITH_CODEGEN_SUPPORT',
+        'BUILD_WITH_OPENMP_SUPPORT',
+        'BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT',
+        'BUILD_WITH_SDF_SUPPORT'
+      ],
+      build_collision: ['BUILD_WITH_COLLISION_SUPPORT'],
+      build_casadi: ['BUILD_WITH_CASADI_SUPPORT'],
+      build_autodiff: ['BUILD_WITH_AUTODIFF_SUPPORT'],
+      build_extra: ['BUILD_WITH_EXTRA_SUPPORT'],
+      build_codegen: ['BUILD_WITH_CODEGEN_SUPPORT'],
+      build_openmp: ['BUILD_WITH_OPENMP_SUPPORT'],
+      build_mpfr: ['BUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT'],
+      build_sdf: ['BUILD_WITH_SDF_SUPPORT'],
+      build_accelerate: ['BUILD_WITH_ACCELERATE_SUPPORT']
     };
+  }
+}
+
+function getPullRequestNumber(ref) {
+  // This assumes that the ref is in the form of `refs/pull/:prNumber/merge`
+  const prNumber = ref.replace(/refs\/pull\/(\d+)\/merge/, '$1');
+  return parseInt(prNumber, 10);
+}
+
+// Get activated labels
+async function getLabelNames(github, context) {
+  const {LABELS} = process.env;
 
+  if(LABELS) {
+    return [LABELS];
+  } else {
     const prNumber = context.issue.number || getPullRequestNumber(context.ref);
 
-    let cmakeFlags = '';
-    // get os process is run on
-    const os = process.env.RUNNER_OS;
-    var labelFlags;
-    if(os == "Windows")
-    {
-        labelFlags = {
-            build_all: [
-                ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-                ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-                ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-                ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-                ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-                ' -DINSTALL_DOCUMENTATION=ON',
-                ' -DGENERATE_PYTHON_STUBS=ON',
-                ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF',
-                ' -DBUILD_WITH_SDF_SUPPORT=ON'
-            ],
-            build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-            build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-            build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-            build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-            build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-            build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
-            build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
-        };
-    }
-    else
-    {
-        labelFlags = {
-            build_all: [
-                ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-                ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-                ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-                ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-                ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
-                ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-                ' -DINSTALL_DOCUMENTATION=ON',
-                ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
-                ' -DGENERATE_PYTHON_STUBS=ON',
-                ' -DBUILD_WITH_ACCELERATE_SUPPORT=OFF',
-                ' -DBUILD_WITH_SDF_SUPPORT=ON'
-            ],
-            build_collision: ' -DBUILD_WITH_COLLISION_SUPPORT=ON',
-            build_casadi: ' -DBUILD_WITH_CASADI_SUPPORT=ON',
-            build_autodiff: ' -DBUILD_WITH_AUTODIFF_SUPPORT=ON',
-            build_codegen: ' -DBUILD_WITH_CODEGEN_SUPPORT=ON',
-            build_extra: ' -DBUILD_WITH_EXTRA_SUPPORT=ON',
-            build_openmp: ' -DBUILD_WITH_OPENMP_SUPPORT=ON',
-            build_mpfr: ' -DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=ON',
-            build_sdf: ' -DBUILD_WITH_SDF_SUPPORT=ON',
-            build_accelerate: ' -DBUILD_WITH_ACCELERATE_SUPPORT=ON'
-        };
+    if(isNaN(prNumber)) {
+      return [];
     }
 
-    // Get the GitHub event name that triggered the workflow
-    const {LABELS} = process.env;
-    var labelNames;
-    if(LABELS)
-    {
-        labelNames=[LABELS];
-    }
-    else
-    {
-        if(isNaN(prNumber))
-        {
-            core.setOutput("cmakeFlags", cmakeFlags);
-            return;
-        }
+    const { data } = await github.rest.pulls.get({
+        owner: context.repo.owner,
+        repo: context.repo.repo,
+        pull_number: prNumber,
+    });
+    return data.labels.map(label => label.name);
+  }
+}
 
-        const { data } = await github.rest.pulls.get({
-            owner: context.repo.owner,
-            repo: context.repo.repo,
-            pull_number: prNumber,
-        });
-        labelNames = data.labels.map(label => label.name);
+// Inspired by https://github.com/emmenko/action-verify-pr-labels/tree/master
+module.exports = async ({github, context, core}) => {
+  const labelToOptions = makeLabelToOptions();
+  const labelNames = await getLabelNames(github, context);
+  let options = new CMakeOptions();
+
+  // Turn CMake options ON
+  for (let label of labelNames) {
+    if (labelToOptions[label]) {
+      for (let x of labelToOptions[label]) {
+        options[x] = "ON";
+      }
     }
+  }
 
-    labelNames.forEach(label => {
-        if (labelFlags[label]) {
-            if (Array.isArray(labelFlags[label])) {
-                cmakeFlags += labelFlags[label].join(' ');
-            } else {
-                cmakeFlags += labelFlags[label];
-            }
-        }
-    });
-    console.log(cmakeFlags);
-    core.setOutput("cmakeFlags", cmakeFlags);
-    return;
+  // Transform options object into command line output
+  let cmakeFlags = '';
+  for (let [k, v] of Object.entries(options)) {
+    cmakeFlags += `-D${k}=${v} `;
+  }
+
+  console.log(cmakeFlags);
+  core.setOutput("cmakeFlags", cmakeFlags);
+  return;
 }
diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml
new file mode 100644
index 0000000000..bc6a192758
--- /dev/null
+++ b/.github/workflows/update_pixi_lockfile.yml
@@ -0,0 +1,50 @@
+name: CI - Update Pixi lockfile
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 5 1 * *
+
+jobs:
+  pixi-update:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/create-github-app-token@v1
+        id: generate-token
+        with:
+          app-id: ${{ secrets.APP_ID }}
+          private-key: ${{ secrets.APP_PRIVATE_KEY }}
+
+      - uses: actions/checkout@v4
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          ref: devel
+          # Make sure the value of GITHUB_TOKEN will not be persisted in repo's config
+          persist-credentials: false
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          run-install: false
+
+      - name: Update lockfile
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v7
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          commit-message: 'pixi: Update pixi lockfile'
+          title: Update pixi lockfile
+          body-path: diff.md
+          branch: topic/update-pixi
+          base: devel
+          labels: pixi
+          delete-branch: true
+          add-paths: pixi.lock
diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml
deleted file mode 100644
index 85469f9306..0000000000
--- a/.github/workflows/windows-conda.yml
+++ /dev/null
@@ -1,145 +0,0 @@
-name: CI - Windows via Conda
-on:
-  schedule:
-    - cron: '0 0 * * 1'
-  push:
-    paths-ignore:
-      - doc/**
-      - .gitlab-ci.yml
-      - .gitignore
-      - '*.md'
-      - CITATION.*
-      - COPYING.LESSER
-      - colcon.pkg
-      - .pre-commit-config.yaml
-  pull_request:
-    paths-ignore:
-      - doc/**
-      - .gitlab-ci.yml
-      - .gitignore
-      - '*.md'
-      - CITATION.*
-      - COPYING.LESSER
-      - colcon.pkg
-      - .pre-commit-config.yaml
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda
-    runs-on: ${{ matrix.os }}
-    env:
-      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
-      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
-      CCACHE_COMPRESS: true
-      CCACHE_COMPRESSLEVEL: 5
-
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [windows-2019]
-        compiler: [cl, clang-cl]
-
-    steps:
-      # Extract branch name or set 'devel' branch for scheduled events
-      - name: Get branch name or checkout devel
-        shell: bash
-        run: |
-          if [ "$GITHUB_EVENT_NAME" == "schedule" ]; then
-            echo "BRANCH_NAME=devel" >> $GITHUB_ENV
-            echo "LABELS=build_all" >> $GITHUB_ENV
-          else
-            branchName=${GITHUB_REF#refs/heads/}
-            echo "BRANCH_NAME=$branchName" >> $GITHUB_ENV
-          fi
-
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ env.BRANCH_NAME }}
-          submodules: recursive
-
-      - uses: actions/cache@v4
-        with:
-          path: .ccache
-          save-always: true
-          key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }}
-          restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-
-
-      - uses: conda-incubator/setup-miniconda@v3
-        with:
-          activate-environment: pinocchio
-          auto-update-conda: true
-          environment-file: .github/workflows/conda/environment_windows.yml
-          python-version: '3.10'
-          auto-activate-base: false
-
-      - name: Get Compilation Flags
-        id: get_labels
-        uses: actions/github-script@v7
-        env:
-          LABELS: ${{ env.LABELS }}
-        with:
-          script: |
-            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
-            await script({github, context, core})
-          result-encoding: string
-
-      - name: Build Pinocchio
-        shell: cmd /C CALL {0}
-        run: |
-          :: Set compiler to use.
-          :: This must be done here and not in env since
-          :: cxx-compiler activation script set this variable
-          :: and is called before.
-          set CC=${{ matrix.compiler }}.exe
-          set CXX=${{ matrix.compiler }}.exe
-          echo Compiler set to: %CC%
-
-          call conda list
-
-          :: Create build directory
-          mkdir build
-          pushd build
-
-          :: Configure (Ninja use CC and CXX to determine the compiler)
-          cmake ^
-            -G "Ninja" ^
-            -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
-            -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
-            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
-            -DCMAKE_BUILD_TYPE=Release ^
-            ${{ steps.get_labels.outputs.cmakeFlags }} ^
-            ..
-
-          :: Build
-          cmake --build . -j2
-          if errorlevel 1 exit 1
-
-          :: Testing
-          ctest --output-on-failure
-          if errorlevel 1 exit 1
-
-          :: Install
-          cmake --install .
-
-          :: Test Python import
-          cd ..
-          python -c "import pinocchio"
-          if errorlevel 1 exit 1
-
-  check:
-    if: always()
-    name: check-windows-conda
-
-    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/.gitignore b/.gitignore
index 870362b066..8e33c0dd4d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,3 +7,7 @@ coverage*
 .travis
 .vscode*
 *.orig
+
+# pixi environments
+.pixi
+*.egg-info
diff --git a/CHANGELOG.md b/CHANGELOG.md
index d142af2f0e..69c90dae5e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) ([#2402](https://github.com/stack-of-tasks/pinocchio/pull/2402))
 - Allow use of `pathlib.Path | str` for paths in python bindings ([#2431](https://github.com/stack-of-tasks/pinocchio/pull/2431))
 - Add Pseudo inertia and Log-cholesky parametrization ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296))
+- Add Pixi support ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459))
 
 ### Fixed
 - Fix linkage of Boost.Serialization on Windows ([#2400](https://github.com/stack-of-tasks/pinocchio/pull/2400))
@@ -25,6 +26,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix `pinocchio-test-py-robot_wrapper` when building with SDF and collision support ([#2437](https://github.com/stack-of-tasks/pinocchio/pull/2437))
 - Fix crash when calling `Inertia::FromDynamicParameters` in Python with wrong vector size ([#2296](https://github.com/stack-of-tasks/pinocchio/pull/2296))
 - Fix `examples/cassie-simulation.py` and `examples/talos-simulation.py` ([#2443](https://github.com/stack-of-tasks/pinocchio/pull/2443))
+- Fix build with CppAd 2024 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459))
+- Fix `pinocchio-test-cpp-mjcf` unittest with Boost 1.86 ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459))
+- Fix `pinocchio-test-cpp-constraint-variants` uninitialized values ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459))
+- Fix mixing library symbols between Pinocchio scalar bindings ([#2459](https://github.com/stack-of-tasks/pinocchio/pull/2459))
 
 ### Changed
 
diff --git a/README.md b/README.md
index c4a8895040..9d841cf437 100644
--- a/README.md
+++ b/README.md
@@ -190,6 +190,23 @@ Please note that we always advise including the `pinocchio/fwd.hpp` header as th
 |             |                                                                                                                                                                            | &nbsp;&nbsp;&nbsp;&nbsp; | **Humble**   | [![](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Hbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) |
 |             |                                                                                                                                                                            | &nbsp;&nbsp;&nbsp;&nbsp; | **Rolling**  | [![](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__pinocchio__ubuntu_jammy_amd64__binary) |
 
+## Build/install from source with Pixi
+
+To build **Pinocchio** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation).
+
+[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that
+will install all required dependencies in `.pixi` directory.
+It's used by our CI agent so you have the guarantee to get the right dependencies.
+
+Run the following command to install dependencies, configure, build and test the project:
+
+```bash
+pixi run test
+```
+
+The project will be built in the `build` directory.
+You can run `pixi shell` and build the project with `cmake` and `ninja` manually.
+
 ## Visualization
 
 **Pinocchio** provides support for many open-source and free visualizers:
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index ca8792bd1a..3ddebe60c6 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -44,8 +44,16 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
   endif()
   add_dependencies(${PROJECT_NAME}-python ${PYTHON_LIB_NAME})
 
-  # Remove lib prefix for the target and use the right define for DLLAPI definition
-  set_target_properties(${PYTHON_LIB_NAME} PROPERTIES PREFIX "" DEFINE_SYMBOL "${PYWRAP}_EXPORTS")
+  # Remove lib prefix for the target and use the right define for DLLAPI definition.
+  #
+  # Set inlined function visibility to hidden by default. This avoid bug on OSX where two symbol
+  # from two different binding (`pinocchio::python::exposeSpecificTypeFeatures`) can be wrongly
+  # loaded (see https://github.com/stack-of-tasks/pinocchio/issues/2462).
+  set_target_properties(
+    ${PYTHON_LIB_NAME}
+    PROPERTIES PREFIX ""
+               DEFINE_SYMBOL "${PYWRAP}_EXPORTS"
+               VISIBILITY_INLINES_HIDDEN ON)
 
   # Do not report:
   #
@@ -164,7 +172,8 @@ if(BUILD_PYTHON_INTERFACE)
     target_compile_definitions(
       ${PYWRAP}_cppad PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION
                               CPPAD_DEBUG_AND_RELEASE)
-    target_include_directories(${PYWRAP}_cppad SYSTEM PUBLIC ${cppad_INCLUDE_DIR})
+    target_include_directories(${PYWRAP}_cppad SYSTEM
+                               PUBLIC $<BUILD_INTERFACE:${cppad_INCLUDE_DIR}>)
     target_link_libraries(${PYWRAP}_cppad PUBLIC ${cppad_LIBRARY})
     list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppad")
 
@@ -178,7 +187,8 @@ if(BUILD_PYTHON_INTERFACE)
     target_compile_definitions(
       ${PYWRAP}_cppadcg PRIVATE PYCPPAD_EXCLUDE_EIGEN_NUMTRAITS_SPECIALIZATION
                                 CPPAD_DEBUG_AND_RELEASE)
-    target_include_directories(${PYWRAP}_cppadcg SYSTEM PUBLIC ${cppadcg_INCLUDE_DIR})
+    target_include_directories(${PYWRAP}_cppadcg SYSTEM
+                               PUBLIC $<BUILD_INTERFACE:${cppadcg_INCLUDE_DIR}>)
     target_link_libraries(${PYWRAP}_cppadcg PUBLIC ${cppadcg_LIBRARY} ${cppad_LIBRARY})
     list(APPEND STUBGEN_DEPENDENCIES "${PYWRAP}_cppadcg")
 
diff --git a/build_scripts/pixi/activation.bat b/build_scripts/pixi/activation.bat
new file mode 100644
index 0000000000..a0b664c39a
--- /dev/null
+++ b/build_scripts/pixi/activation.bat
@@ -0,0 +1,21 @@
+:: Setup ccache
+set CMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+:: Create compile_commands.json for language server
+set CMAKE_EXPORT_COMPILE_COMMANDS=1
+
+:: Activate color output with Ninja
+set CMAKE_COLOR_DIAGNOSTICS=1
+
+# Set default build value only if not previously set
+if not defined PINOCCHIO_BUILD_TYPE (set PINOCCHIO_BUILD_TYPE=Release)
+if not defined PINOCCHIO_PYTHON_STUBS (set PINOCCHIO_PYTHON_STUBS=ON)
+if not defined PINOCCHIO_COLLISION_SUPPORT (set PINOCCHIO_COLLISION_SUPPORT=OFF)
+if not defined PINOCCHIO_ACCELERATE_SUPPORT (set PINOCCHIO_ACCELERATE_SUPPORT=OFF)
+if not defined PINOCCHIO_CASADI_SUPPORT (set PINOCCHIO_CASADI_SUPPORT=OFF)
+if not defined PINOCCHIO_AUTODIFF_SUPPORT (set PINOCCHIO_AUTODIFF_SUPPORT=OFF)
+if not defined PINOCCHIO_EXTRA_SUPPORT (set PINOCCHIO_EXTRA_SUPPORT=OFF)
+if not defined PINOCCHIO_OPENMP_SUPPORT (set PINOCCHIO_OPENMP_SUPPORT=OFF)
+if not defined PINOCCHIO_CODEGEN_SUPPORT (set PINOCCHIO_CODEGEN_SUPPORT=OFF)
+if not defined PINOCCHIO_SDF_SUPPORT (set PINOCCHIO_SDF_SUPPORT=OFF)
+if not defined PINOCCHIO_MPFR_SUPPORT (set PINOCCHIO_MPFR_SUPPORT=OFF)
diff --git a/build_scripts/pixi/activation.sh b/build_scripts/pixi/activation.sh
new file mode 100644
index 0000000000..335141f9c8
--- /dev/null
+++ b/build_scripts/pixi/activation.sh
@@ -0,0 +1,45 @@
+#! /bin/bash
+# Activation script
+
+# Remove flags setup from cxx-compiler
+unset CFLAGS
+unset CPPFLAGS
+unset CXXFLAGS
+unset DEBUG_CFLAGS
+unset DEBUG_CPPFLAGS
+unset DEBUG_CXXFLAGS
+unset LDFLAGS
+
+if [[ $host_alias == *"apple"* ]];
+then
+  # On OSX setting the rpath and -L it's important to use the conda libc++ instead of the system one.
+  # If conda-forge use install_name_tool to package some libs, -headerpad_max_install_names is then mandatory
+  export LDFLAGS="-Wl,-headerpad_max_install_names -Wl,-rpath,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
+elif [[ $host_alias == *"linux"* ]];
+then
+  # On GNU/Linux, I don't know if these flags are mandatory with g++ but
+  # it allow to use clang++ as compiler
+  export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
+fi
+
+# Setup ccache
+export CMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+# Create compile_commands.json for language server
+export CMAKE_EXPORT_COMPILE_COMMANDS=1
+
+# Activate color output with Ninja
+export CMAKE_COLOR_DIAGNOSTICS=1
+
+# Set default build value only if not previously set
+export PINOCCHIO_BUILD_TYPE=${PINOCCHIO_BUILD_TYPE:=Release}
+export PINOCCHIO_PYTHON_STUBS=${PINOCCHIO_PYTHON_STUBS:=ON}
+export PINOCCHIO_COLLISION_SUPPORT=${PINOCCHIO_COLLISION_SUPPORT:=OFF}
+export PINOCCHIO_ACCELERATE_SUPPORT=${PINOCCHIO_ACCELERATE_SUPPORT:=OFF}
+export PINOCCHIO_CASADI_SUPPORT=${PINOCCHIO_CASADI_SUPPORT:=OFF}
+export PINOCCHIO_AUTODIFF_SUPPORT=${PINOCCHIO_AUTODIFF_SUPPORT:=OFF}
+export PINOCCHIO_EXTRA_SUPPORT=${PINOCCHIO_EXTRA_SUPPORT:=OFF}
+export PINOCCHIO_OPENMP_SUPPORT=${PINOCCHIO_OPENMP_SUPPORT:=OFF}
+export PINOCCHIO_CODEGEN_SUPPORT=${PINOCCHIO_CODEGEN_SUPPORT:=OFF}
+export PINOCCHIO_SDF_SUPPORT=${PINOCCHIO_SDF_SUPPORT:=OFF}
+export PINOCCHIO_MPFR_SUPPORT=${PINOCCHIO_MPFR_SUPPORT:=OFF}
diff --git a/build_scripts/pixi/activation_clang.sh b/build_scripts/pixi/activation_clang.sh
new file mode 100644
index 0000000000..10f91fe3c1
--- /dev/null
+++ b/build_scripts/pixi/activation_clang.sh
@@ -0,0 +1,5 @@
+#! /bin/bash
+# Clang activation script
+
+export CC=clang
+export CXX=clang++
diff --git a/build_scripts/pixi/activation_clang_cl.bat b/build_scripts/pixi/activation_clang_cl.bat
new file mode 100644
index 0000000000..bdd7db87e6
--- /dev/null
+++ b/build_scripts/pixi/activation_clang_cl.bat
@@ -0,0 +1,3 @@
+:: Setup clang-cl compiler
+set CC=clang-cl
+set CXX=clang-cl
diff --git a/include/pinocchio/algorithm/contact-info.hpp b/include/pinocchio/algorithm/contact-info.hpp
index cbb648e9eb..2d60a3ff26 100644
--- a/include/pinocchio/algorithm/contact-info.hpp
+++ b/include/pinocchio/algorithm/contact-info.hpp
@@ -901,11 +901,43 @@ namespace pinocchio
 
     /// \brief Default constructor
     RigidConstraintDataTpl()
+    : contact_force(Force::Zero())
+    , oMc1(SE3::Identity())
+    , oMc2(SE3::Identity())
+    , c1Mc2(SE3::Identity())
+    , contact_placement_error(Motion::Zero())
+    , contact1_velocity(Motion::Zero())
+    , contact2_velocity(Motion::Zero())
+    , contact_velocity_error(Motion::Zero())
+    , contact_acceleration(Motion::Zero())
+    , contact_acceleration_desired(Motion::Zero())
+    , contact_acceleration_error(Motion::Zero())
+    , contact1_acceleration_drift(Motion::Zero())
+    , contact2_acceleration_drift(Motion::Zero())
+    , contact_acceleration_deviation(Motion::Zero())
+    , extended_motion_propagators_joint1()
+    , lambdas_joint1()
+    , extended_motion_propagators_joint2()
+    , dv1_dq(6, 0)
+    , da1_dq(6, 0)
+    , da1_dv(6, 0)
+    , da1_da(6, 0)
+    , dv2_dq(6, 0)
+    , da2_dq(6, 0)
+    , da2_dv(6, 0)
+    , da2_da(6, 0)
+    , dvc_dq()
+    , dac_dq()
+    , dac_dv()
+    , dac_da()
     {
     }
 
     explicit RigidConstraintDataTpl(const ContactModel & contact_model)
     : contact_force(Force::Zero())
+    , oMc1(SE3::Identity())
+    , oMc2(SE3::Identity())
+    , c1Mc2(SE3::Identity())
     , contact_placement_error(Motion::Zero())
     , contact1_velocity(Motion::Zero())
     , contact2_velocity(Motion::Zero())
@@ -919,18 +951,18 @@ namespace pinocchio
     , extended_motion_propagators_joint1(contact_model.depth_joint1, Matrix6::Zero())
     , lambdas_joint1(contact_model.depth_joint1, Matrix6::Zero())
     , extended_motion_propagators_joint2(contact_model.depth_joint2, Matrix6::Zero())
-    , dv1_dq(6, contact_model.nv)
-    , da1_dq(6, contact_model.nv)
-    , da1_dv(6, contact_model.nv)
-    , da1_da(6, contact_model.nv)
-    , dv2_dq(6, contact_model.nv)
-    , da2_dq(6, contact_model.nv)
-    , da2_dv(6, contact_model.nv)
-    , da2_da(6, contact_model.nv)
-    , dvc_dq(contact_model.size(), contact_model.nv)
-    , dac_dq(contact_model.size(), contact_model.nv)
-    , dac_dv(contact_model.size(), contact_model.nv)
-    , dac_da(contact_model.size(), contact_model.nv)
+    , dv1_dq(Matrix6x::Zero(6, contact_model.nv))
+    , da1_dq(Matrix6x::Zero(6, contact_model.nv))
+    , da1_dv(Matrix6x::Zero(6, contact_model.nv))
+    , da1_da(Matrix6x::Zero(6, contact_model.nv))
+    , dv2_dq(Matrix6x::Zero(6, contact_model.nv))
+    , da2_dq(Matrix6x::Zero(6, contact_model.nv))
+    , da2_dv(Matrix6x::Zero(6, contact_model.nv))
+    , da2_da(Matrix6x::Zero(6, contact_model.nv))
+    , dvc_dq(MatrixX::Zero(contact_model.size(), contact_model.nv))
+    , dac_dq(MatrixX::Zero(contact_model.size(), contact_model.nv))
+    , dac_dv(MatrixX::Zero(contact_model.size(), contact_model.nv))
+    , dac_da(MatrixX::Zero(contact_model.size(), contact_model.nv))
     {
     }
 
diff --git a/include/pinocchio/autodiff/cppad.hpp b/include/pinocchio/autodiff/cppad.hpp
index de37bed2ee..3004c751f5 100644
--- a/include/pinocchio/autodiff/cppad.hpp
+++ b/include/pinocchio/autodiff/cppad.hpp
@@ -15,6 +15,7 @@
 
 #define EIGEN_MATRIXBASE_PLUGIN <pinocchio/autodiff/cppad/math/eigen_plugin.hpp>
 
+#include <boost/mpl/int.hpp>
 #include <cppad/cppad.hpp>
 #include <Eigen/Dense>
 
diff --git a/include/pinocchio/codegen/cppadcg.hpp b/include/pinocchio/codegen/cppadcg.hpp
index 62ba80746a..5ceba8cf9c 100644
--- a/include/pinocchio/codegen/cppadcg.hpp
+++ b/include/pinocchio/codegen/cppadcg.hpp
@@ -10,6 +10,7 @@
 #include "pinocchio/math/fwd.hpp"
 
 #include <cmath>
+#include <boost/mpl/int.hpp>
 #include <cppad/cg/support/cppadcg_eigen.hpp>
 
 #include "pinocchio/autodiff/cppad.hpp"
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 0000000000..362a699424
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,24568 @@
+version: 5
+environments:
+  accelerate:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    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/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-2.4.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_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-1.34.2-heb4867d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.8.0-h2b85faf_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.0-hebfffa5_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.10.1-h065aff2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2024.8.30-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.30.5-hf9cb763_0.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-1.3.0-py312h68727a3_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.8.0-h1a2810e_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/cyrus-sasl-2.1.27-h54b06d7_7.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/eigenpy-3.10.0-py312h13dac87_1.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-2.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.3-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
+      - 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_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.14.2-h14ed4e7_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.54.1-py312h66e93f0_0.conda
+      - 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/gcc-13.3.0-h9576a4e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.3.0-hfea6d02_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-hc28eda2_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.13-h59595ed_1003.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-13.3.0-h9576a4e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.3.0-hdbfa832_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.3.0-h6834431_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-9.0.0-hda332d3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-8.28.0-pyh707e725_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/jedi-0.19.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-3.10.0-he073ed8_17.conda
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+  - ucrt >=10.0.20348.0
+  - 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
+  sha256: efa04a98cb149643fa54c4dad5a0179e36a5fbc88427ea0eec88ceed87fd0f96
+  md5: 4cb2cd56f039b129bb0e491c1164167e
+  depends:
+  - __osx >=10.9
+  - libzlib >=1.2.13,<2.0.0a0
+  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
+  sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b
+  md5: 4d056880988120e29d75bfff282e0f45
+  depends:
+  - libgcc-ng >=12
+  - 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
+  sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09
+  md5: d96942c06c3e84bfcc5efb038724a7fd
+  depends:
+  - __osx >=11.0
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 405089
+  timestamp: 1714723101397
diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 0000000000..7d15868ded
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,186 @@
+[project]
+name = "pinocchio"
+version = "3.2.0"
+description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
+platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]
+channels = ["conda-forge"]
+license = "BSD-2-Clause"
+license-file = "LICENSE"
+
+[build-dependencies]
+ccache = ">=4.9.1"
+cmake = ">=3.10"
+cxx-compiler = ">=1.7.0"
+ninja = ">=1.11"
+pkg-config = ">=0.29.2"
+
+[dependencies]
+libboost-devel = ">=1.80.0"
+libboost-python-devel = ">=1.80.0"
+eigen = ">=3.4.0"
+numpy = ">=1.22.0"
+python = ">=3.9.0"
+eigenpy = ">=3.7.0"
+urdfdom = ">=4.0"
+meshcat-python = ">=0.3"
+matplotlib = ">=3.9.2"
+
+[activation]
+scripts = ["build_scripts/pixi/activation.sh"]
+
+[target.win-64.activation]
+scripts = ["build_scripts/pixi/activation.bat"]
+
+[tasks]
+# We must avoid to set CMAKE_CXX_FLAGS because of WIN32
+# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478
+configure = { cmd = [
+  "CXXFLAGS=$PINOCCHIO_CXX_FLAGS",
+  "cmake",
+  "-G",
+  "Ninja",
+  "-B",
+  "build",
+  "-S",
+  ".",
+  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
+  "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE",
+  "-DGENERATE_PYTHON_STUBS=$PINOCCHIO_PYTHON_STUBS",
+  "-DBUILD_WITH_COLLISION_SUPPORT=$PINOCCHIO_COLLISION_SUPPORT",
+  "-DBUILD_WITH_ACCELERATE_SUPPORT=$PINOCCHIO_ACCELERATE_SUPPORT",
+  "-DBUILD_WITH_CASADI_SUPPORT=$PINOCCHIO_CASADI_SUPPORT",
+  "-DBUILD_WITH_AUTODIFF_SUPPORT=$PINOCCHIO_AUTODIFF_SUPPORT",
+  "-DBUILD_WITH_EXTRA_SUPPORT=$PINOCCHIO_EXTRA_SUPPORT",
+  "-DBUILD_WITH_OPENMP_SUPPORT=$PINOCCHIO_OPENMP_SUPPORT",
+  "-DBUILD_WITH_CODEGEN_SUPPORT=$PINOCCHIO_CODEGEN_SUPPORT",
+  "-DBUILD_WITH_SDF_SUPPORT=$PINOCCHIO_SDF_SUPPORT",
+  "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=$PINOCCHIO_MPFR_SUPPORT",
+] }
+build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
+clean = { cmd = "rm -rf build" }
+test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
+  "build",
+] }
+
+
+[feature.lint]
+dependencies = { pre-commit = ">=3.6.2" }
+tasks = { lint = { cmd = "pre-commit run --all" } }
+
+[feature.collision]
+dependencies = { hpp-fcl = ">=2.4" }
+activation = { env = { PINOCCHIO_COLLISION_SUPPORT = "ON" } }
+
+[feature.sdf]
+dependencies = { libsdformat = ">=9.8" }
+activation = { env = { PINOCCHIO_SDF_SUPPORT = "ON" } }
+
+[feature.casadi]
+dependencies = { casadi = ">=3.6.7" }
+activation = { env = { PINOCCHIO_CASADI_SUPPORT = "ON" } }
+
+[feature.autodiff]
+dependencies = { cppad = ">=20230000.0", pycppad = ">=1.2.4" }
+activation = { env = { PINOCCHIO_AUTODIFF_SUPPORT = "ON" } }
+
+# Not supported by Windows
+[feature.codegen]
+[feature.codegen.target.unix]
+dependencies = { cppadcodegen = ">=2.4.3" }
+activation = { env = { PINOCCHIO_CODEGEN_SUPPORT = "ON" } }
+
+[feature.mpfr]
+dependencies = { mpfr = ">=4.2.1" }
+activation = { env = { PINOCCHIO_MPFR_SUPPORT = "ON" } }
+
+[feature.extra.target.win]
+dependencies = { qhull = ">=2020.2" }
+activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } }
+[feature.extra.target.unix]
+dependencies = { qhull = ">=2020.2", qhull-static = ">=2020.2" }
+activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } }
+
+# Not supported by Windows (because of conda-forge issue)
+[feature.openmp]
+[feature.openmp.target.linux]
+dependencies = { libgomp = ">=14.2" }
+activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } }
+[feature.openmp.target.osx]
+dependencies = { llvm-openmp = ">=19.1" }
+activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } }
+
+# Accelerate only work on Apple ARM platform
+[feature.accelerate]
+[feature.accelerate.target.osx-arm64]
+activation = { env = { PINOCCHIO_ACCELERATE_SUPPORT = "ON" } }
+
+[feature.py312.dependencies]
+python = "3.12.*"
+
+[feature.py39.dependencies]
+python = "3.9.*"
+
+# Use clang-cl on Windows.
+# We must use scripts instead of env to setup CC and CXX
+# to avoid cxx-compiler to overwrite them.
+[feature.clang-cl]
+platforms = ["win-64"]
+activation = { scripts = ["build_scripts/pixi/activation_clang_cl.bat"] }
+
+# Use clang on GNU/Linux.
+# We must use scripts instead of env to setup CC and CXX
+# to avoid cxx-compiler to overwrite them.
+[feature.clang]
+platforms = ["linux-64"]
+activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] }
+dependencies = { clangxx = "*" }
+
+[environments]
+default = { features = ["py312"], solve-group = "py312" }
+clang = { features = ["clang", "py312"] }
+lint = { features = ["lint"], solve-group = "py312" }
+collision = { features = ["collision", "py312"], solve-group = "py312" }
+accelerate = { features = ["accelerate", "py312"], solve-group = "py312" }
+casadi = { features = ["casadi", "py312"], solve-group = "py312" }
+autodiff = { features = ["autodiff", "py312"], solve-group = "py312" }
+extra = { features = ["extra", "py312"], solve-group = "py312" }
+openmp = { features = ["openmp", "py312"], solve-group = "py312" }
+codegen = { features = ["codegen", "py312"], solve-group = "py312" }
+mpfr = { features = ["mpfr", "py312"], solve-group = "py312" }
+sdf = { features = ["sdf", "py312"], solve-group = "py312" }
+py39 = { features = ["py39"], solve-group = "py39" }
+# Accelerate will only work in Eigen next release
+all = { features = [
+  "collision",
+  "casadi",
+  "autodiff",
+  "extra",
+  "openmp",
+  "codegen",
+  "mpfr",
+  "sdf",
+  "py312",
+], solve-group = "py312" }
+all-py39 = { features = [
+  "collision",
+  "casadi",
+  "autodiff",
+  "extra",
+  "openmp",
+  "codegen",
+  "mpfr",
+  "sdf",
+  "py39",
+], solve-group = "py39" }
+all-clang-cl = { features = [
+  "collision",
+  "casadi",
+  "autodiff",
+  "extra",
+  "openmp",
+  "codegen",
+  "mpfr",
+  "sdf",
+  "clang-cl",
+  "py312",
+], solve-group = "py312" }
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d645cb85c9..aeb1902cdd 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -302,7 +302,8 @@ if(BUILD_WITH_CODEGEN_SUPPORT)
   # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
   # This can happen when Pinocchio is build in Debug mode using another library using cppad.
   target_compile_definitions(${PROJECT_NAME}_cppadcg PUBLIC CPPAD_DEBUG_AND_RELEASE)
-  target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE} ${cppadcg_INCLUDE_DIR})
+  target_include_directories(${PROJECT_NAME}_cppadcg SYSTEM ${CPPADCG_SCOPE}
+                             $<BUILD_INTERFACE:${cppadcg_INCLUDE_DIR}>)
   target_link_libraries(${PROJECT_NAME}_cppadcg ${CPPADCG_SCOPE} ${cppadcg_LIBRARY}
                         ${cppad_LIBRARY})
 endif()
@@ -313,7 +314,8 @@ if(BUILD_WITH_AUTODIFF_SUPPORT)
   # CPPAD_DEBUG_AND_RELEASE allow to mix debug and release versions of CppAD in the same program.
   # This can happen when Pinocchio is build in Debug mode using another library using cppad.
   target_compile_definitions(${PROJECT_NAME}_cppad PUBLIC CPPAD_DEBUG_AND_RELEASE)
-  target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE} ${cppad_INCLUDE_DIR})
+  target_include_directories(${PROJECT_NAME}_cppad SYSTEM ${CPPAD_SCOPE}
+                             $<BUILD_INTERFACE:${cppad_INCLUDE_DIR}>)
   target_link_libraries(${PROJECT_NAME}_cppad ${CPPAD_SCOPE} ${cppad_LIBRARY})
 endif()
 
diff --git a/unittest/mjcf.cpp b/unittest/mjcf.cpp
index e6a8887112..1c1f6e5a12 100644
--- a/unittest/mjcf.cpp
+++ b/unittest/mjcf.cpp
@@ -483,7 +483,7 @@ BOOST_AUTO_TEST_CASE(parse_dirs_no_strippath)
                                     <asset>
                                         <texture name="testTexture" file="texture.png" type="2d"/>
                                         <material name="matTest" texture="testTexture"/>
-                                        <mesh file="C://auto/mesh.obj"/>
+                                        <mesh file="C:/auto/mesh.obj"/>
                                     </asset>
                                   </mujoco>)");
 #else
@@ -517,7 +517,7 @@ BOOST_AUTO_TEST_CASE(parse_dirs_no_strippath)
   // Test Meshes
   pinocchio::mjcf::details::MjcfMesh mesh = graph.mapOfMeshes.at("mesh");
 #ifdef _WIN32
-  BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C://auto/mesh.obj");
+  BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "C:/auto/mesh.obj");
 #else
   BOOST_CHECK_EQUAL(boost::filesystem::path(mesh.filePath).generic_string(), "/auto/mesh.obj");
 #endif
diff --git a/unittest/sincos.cpp b/unittest/sincos.cpp
index eaf583343a..276758dfe4 100644
--- a/unittest/sincos.cpp
+++ b/unittest/sincos.cpp
@@ -19,7 +19,9 @@ namespace
   template<>
   inline float sinCosTolerance<float>()
   {
-    return 1e-7f;
+    // I don't know how tolerance has been calculated.
+    // 1e-7 doesn't work on ARM + Debug architecture.
+    return 1.5e-7f;
   }
 
   template<>