diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4a890728d..dcfafbc53 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -108,7 +108,7 @@ jobs:
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install bash-completion expat freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 
+        mamba install bash-completion freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 
 
     # Additional dependencies useful only on Windows
     - name: Dependencies [Conda/Windows]
diff --git a/cmake/Buildergocub-software.cmake b/cmake/Buildergocub-software.cmake
index d3f7a5478..8f4f1ff50 100644
--- a/cmake/Buildergocub-software.cmake
+++ b/cmake/Buildergocub-software.cmake
@@ -24,4 +24,5 @@ ycm_ep_helper(ergocub-software
               DEPENDS YARP
               CMAKE_ARGS -DCOMPILE_ergoCubEmotions:BOOL=${COMPILE_ergoCubEmotions})
 
-set(ergocub-sofware_CONDA_DEPENDENCIES libopencv)              
+set(ergocub-software_CONDA_PKG_NAME ergocub-software)
+set(ergocub-software_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/conda/cmake_recipe_template/meta.yaml b/conda/cmake_recipe_template/meta.yaml
index 315334b71..717f1feee 100644
--- a/conda/cmake_recipe_template/meta.yaml
+++ b/conda/cmake_recipe_template/meta.yaml
@@ -37,13 +37,12 @@ requirements:
 {% for dep in dependencies %}    - {{ dep }}
 {% endfor %}
 {# Handle specific packages required for gl on Linux, see https://conda-forge.org/docs/maintainer/knowledge_base.html?#libgl and https://github.com/conda-forge/qt-main-feedstock/blob/0a0caca0eef18d4f895ec81840dcb037a20dc844/recipe/meta.yaml#L67-L158 #}
-{# libxcb, libxfixes, libxau and expat are not documented anywhere, but without those blocktest does not build correctly #}
+{# libxcb, libxfixes and libxau are not documented anywhere, but without those blocktest does not build correctly #}
 {# xorg-libxrandr is actually needed by glfw 3.4 #}
 {% if require_opengl_linux %}    - xorg-libxfixes
     - xorg-libxdamage
     - xorg-libxxf86vm
     - xorg-libxext
-    - expat
     - xorg-libxau
     - libxcb
     - xorg-libxrandr 
diff --git a/conda/conda_build_config.yml b/conda/conda_build_config.yml
index f696e0c54..eba17fc2e 100644
--- a/conda/conda_build_config.yml
+++ b/conda/conda_build_config.yml
@@ -15,12 +15,6 @@ qt_main:
 swig:
  - 4.1.0
 
-# Workaround for:
-# * Giulio Romualdi's problem installing icub-main with latest blf 0.18.0
-# Remove once ipopt31414 migration is completed
-ipopt:
- - 3.14.14
-
 # Workaround for:
 # libxcb 1.15 migration not completed and not pinned, see https://github.com/robotology/robotology-superbuild/pull/1606#issuecomment-1965508546
 libxcb:
diff --git a/conda/multisheller/ergocub-software_activate.msh b/conda/multisheller/ergocub-software_activate.msh
deleted file mode 100644
index 0d02b0844..000000000
--- a/conda/multisheller/ergocub-software_activate.msh
+++ /dev/null
@@ -1,27 +0,0 @@
-if_(is_set("COMSPEC")).then_([
-	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub")),
-	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-	sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
-]).else_([
-	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/ergoCub")),
-	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
-	sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
-])
-
-# For some reason setting two times the same variable inside the same if does not work in command prompt
-# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
-if_(is_set("COMSPEC")).then_([
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
-	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
-]).else_([
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
-	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
-])
-
-if_(is_set("COMSPEC")).then_([
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
-	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
-]).else_([
-	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
-	sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
-])
diff --git a/conda/multisheller/ergocub-software_deactivate.msh b/conda/multisheller/ergocub-software_deactivate.msh
deleted file mode 100644
index 60a358f54..000000000
--- a/conda/multisheller/ergocub-software_deactivate.msh
+++ /dev/null
@@ -1,27 +0,0 @@
-if_(is_set("COMSPEC")).then_([
-	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub")),
-	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
-	sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
-]).else_([
-	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/ergoCub")),
-	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
-	sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
-])
-
-# For some reason setting two times the same variable inside the same if does not work in command prompt
-# As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
-if_(is_set("COMSPEC")).then_([
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
-	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\ergoCub\\robots"))
-]).else_([
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
-	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/ergoCub/robots"))
-])
-
-if_(is_set("COMSPEC")).then_([
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
-	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
-]).else_([
-	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
-	sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
-])
diff --git a/conda/multisheller/matlab-whole-body-simulator_activate.msh b/conda/multisheller/matlab-whole-body-simulator_activate.msh
index 513302b13..33b25fbd5 100644
--- a/conda/multisheller/matlab-whole-body-simulator_activate.msh
+++ b/conda/multisheller/matlab-whole-body-simulator_activate.msh
@@ -2,22 +2,22 @@ if_(is_set("COMSPEC")).then_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
-  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
   sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
 ]).else_([
   sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_append("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
-  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
   sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
 # As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATH set to a separate if
 if_(is_set("COMSPEC")).then_([
-  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
-  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+  sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_append("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
 ])
diff --git a/conda/multisheller/matlab-whole-body-simulator_deactivate.msh b/conda/multisheller/matlab-whole-body-simulator_deactivate.msh
index e27baa1c4..59da39287 100644
--- a/conda/multisheller/matlab-whole-body-simulator_deactivate.msh
+++ b/conda/multisheller/matlab-whole-body-simulator_deactivate.msh
@@ -2,22 +2,22 @@ if_(is_set("COMSPEC")).then_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "Library")),
-  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots")),
   sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\RRbot\\robots"))
 ]).else_([
   sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/RRbot")),
   sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_remove("AMENT_PREFIX_PATH", env("CONDA_PREFIX")),
-  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots")),
   sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/RRbot/robots"))
 ])
 
 # For some reason setting two times the same variable inside the same if does not work in command prompt
 # As a workaround, we move each GAZEBO_MODEL_PATH and GZ_SIM_RESOURCE_PATHset to a separate if
 if_(is_set("COMSPEC")).then_([
-  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share")),
   sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
 ]).else_([
-  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+  sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
   sys.list_remove("GZ_SIM_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share"))
 ])
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index 795ae2e5b..82a119dab 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -149,12 +149,12 @@ mamba install -c conda-forge asio assimp boost eigen freetype glew glfw glm grap
 
 If you are on **Linux x86-64**, you also need to install also the following packages:
 ~~~
-mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c expat  libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 
+mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 
 ~~~
 
 If you are on **Linux ARM 64-bit**, you also need to install also the following packages:
 ~~~
-mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c expat libselinux-cos7-aarch64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-aarch64 mesa-libgl-devel-cos7-aarch64 libxshmfence-cos7-aarch64 libxshmfence-devel-cos7-aarch64 
+mamba install -c conda-forge bash-completion freeglut libdc1394 libi2c libselinux-cos7-aarch64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-aarch64 mesa-libgl-devel-cos7-aarch64 libxshmfence-cos7-aarch64 libxshmfence-devel-cos7-aarch64 
 ~~~
 
 If you are on **Windows**, you also need to install also the following packages: