diff --git a/.github/workflows/generate-conda-packages.yaml b/.github/workflows/generate-conda-packages.yaml
new file mode 100644
index 000000000..06a5304dc
--- /dev/null
+++ b/.github/workflows/generate-conda-packages.yaml
@@ -0,0 +1,112 @@
+name: Generate conda packages
+# This action automatically generate conda packages for the packages in the robotology-superbuild
+# Check doc/conda-recipe-generation.md for more info
+
+on:
+  workflow_dispatch:
+  schedule:
+  # Run the job once a week
+  - cron: '0 0 * * 2'
+
+jobs:
+    generate-conda-packages:
+        name: "Generate conda packages @${{ matrix.os }}"
+        runs-on:  ${{ matrix.os }}
+        strategy:
+            fail-fast: false
+            matrix:
+              include:
+                - os: ubuntu-latest
+                  conda_platform: linux-64
+                - os: macos-latest
+                  conda_platform: osx-64
+                - os: windows-2019
+                  conda_platform: win-64
+
+        steps:
+        - uses: actions/checkout@v2
+
+        - uses: conda-incubator/setup-miniconda@v2
+          with:
+            mamba-version: "*"
+            channels: conda-forge
+            channel-priority: true
+            python-version: "3.8"
+
+        - name: Install files to enable compilation of mex files [Conda/Linux]
+          if: contains(matrix.os, 'ubuntu')
+          run: |
+            curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
+            unzip msdk_R2020b_mexa64.zip
+            rm msdk_R2020b_mexa64.zip
+            echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
+            echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
+
+        - name: Install files to enable compilation of mex files [Conda/macOS]
+          if: contains(matrix.os, 'macos')
+          run: |
+            curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip
+            unzip msdk_R2020a_mexmaci64.zip
+            rm msdk_R2020a_mexmaci64.zip
+            echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV
+            echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV
+
+        - name: Install files to enable compilation of mex files [Conda/Windows]
+          if: contains(matrix.os, 'windows')
+          shell: bash
+          run: |
+            curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip
+            unzip msdk_R2020a_mexw64.zip
+            rm msdk_R2020a_mexw64.zip
+            echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV
+            echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV
+
+        # Python 3.8 is required by https://github.com/Anaconda-Platform/anaconda-client/pull/551
+        - name: Dependencies for conda recipes generation and upload
+          shell: bash -l {0}
+          run: |
+            mamba install pyyaml jinja2 conda-build ninja anaconda-client
+            python -m pip install git+https://github.com/wolfv/multisheller.git@0cc03c68d0c68d2f9cf7b07ddb68afa531419a6d
+
+        - name: Generate recipes [Linux&macOS]
+          if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+          shell: bash -l {0}
+          run: |
+            mkdir build
+            cd build
+            cmake -GNinja -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DROBOTOLOGY_PROJECT_TAGS=LatestRelease -DROBOTOLOGY_GENERATE_CONDA_RECIPES:BOOL=ON ..
+
+        - name: Generate recipes [Windows]
+          if: contains(matrix.os, 'windows')
+          shell: bash -l {0}
+          run: |
+            mkdir build
+            cd build
+            cmake -G"Visual Studio 16 2019" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DROBOTOLOGY_PROJECT_TAGS=LatestRelease -DROBOTOLOGY_GENERATE_CONDA_RECIPES:BOOL=ON ..
+
+        # Disable options not tested on Conda for now
+        # Reference issue: https://github.com/robotology/robotology-superbuild/issues/563
+        - name: Disable options not supported in conda
+          shell: bash -l {0}
+          run: |
+            # Cleanup recipes
+            rm -rf build/conda/generated_recipes
+            # Re-generate
+            cd build
+            cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF .
+
+        - name: Build conda packages
+          shell: bash -l {0}
+          run: |
+            cd build/conda/generated_recipes
+            conda build -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml .
+        - name: Upload conda packages
+          shell: bash -l {0}
+          env:
+            ANACONDA_API_TOKEN: ${{ secrets.ANACONDA_API_TOKEN }}
+          run: |
+            cd ${CONDA_PREFIX}/conda-bld/${{ matrix.conda_platform}}/
+            ls *.tar.bz2
+            anaconda upload --skip-existing *.tar.bz2
+
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9b0a64b26..07092d090 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,6 +35,15 @@ include(RobotologySuperbuildOptions)
 set(YCM_FOLDER src)
 set(YCM_COMPONENT core)
 set(YCM_MINIMUM_VERSION 0.11.1)
+
+# Include logic for generating Conda recipes (by default it is disabled) and exit
+if(ROBOTOLOGY_GENERATE_CONDA_RECIPES)
+  message(STATUS "ROBOTOLOGY_GENERATE_CONDA_RECIPES CMake option enabled, generating conda recipes.")
+  list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/conda/cmake")
+  include(RobotologySuperbuildGenerateCondaRecipes)
+  return()
+endif()
+
 include(YCMBootstrap)
 
 include(FindOrBuildPackage)
@@ -44,6 +53,7 @@ include(YCMEPHelper)
 # depending on which profiles are enabled
 include(RobotologySuperbuildLogic)
 
+
 if(ROBOTOLOGY_USES_MATLAB)
   # The following line is to properly configure the matlab and simulink software installed by the superbuild
   configure_file(${CMAKE_CURRENT_SOURCE_DIR}/cmake/template/startup_robotology_superbuild.m.in ${CMAKE_BINARY_DIR}/startup_robotology_superbuild.m)
diff --git a/cmake/BuildCppAD.cmake b/cmake/BuildCppAD.cmake
index b0cb87cad..e2cf05e99 100644
--- a/cmake/BuildCppAD.cmake
+++ b/cmake/BuildCppAD.cmake
@@ -10,3 +10,6 @@ ycm_ep_helper(CppAD TYPE GIT
               TAG master
               COMPONENT external
               FOLDER src)
+              
+set(CppAD_CONDA_PKG_NAME cppad)
+set(CppAD_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/BuildGazeboYARPPlugins.cmake b/cmake/BuildGazeboYARPPlugins.cmake
index 09f23606d..811c4f565 100644
--- a/cmake/BuildGazeboYARPPlugins.cmake
+++ b/cmake/BuildGazeboYARPPlugins.cmake
@@ -40,3 +40,5 @@ ycm_ep_helper(GazeboYARPPlugins TYPE GIT
                                 DEPENDS YARP
                                         gazebo
                                 CMAKE_ARGS -DGAZEBO_YARP_PLUGINS_HAS_OPENCV:BOOL=ON)
+
+set(GazeboYARPPlugins_CONDA_DEPENDENCIES opencv gazebo)
diff --git a/cmake/BuildICUB.cmake b/cmake/BuildICUB.cmake
index ef72fe983..21607fb54 100644
--- a/cmake/BuildICUB.cmake
+++ b/cmake/BuildICUB.cmake
@@ -8,6 +8,7 @@ include(FindOrBuildPackage)
 find_or_build_package(YARP QUIET)
 
 set(ICUB_DEPENDS "")
+list(APPEND ICUB_DEPENDS YCM)
 list(APPEND ICUB_DEPENDS YARP)
 
 if(ROBOTOLOGY_ENABLE_ICUB_HEAD)
@@ -81,3 +82,16 @@ ycm_ep_helper(ICUB TYPE GIT
                                     -DENABLE_icubmod_socketcan:BOOL=${ENABLE_icubmod_socketcan}
                                     -DICUB_USE_icub_firmware_shared:BOOL=${ROBOTOLOGY_ENABLE_ICUB_HEAD}
                                     -DICUBMAIN_COMPILE_SIMULATORS:BOOL=${ICUBMAIN_COMPILE_SIMULATORS})
+
+# Options related to generation of conda binary packages
+set(ICUB_CONDA_DEPENDENCIES ace opencv gsl ipopt libode qt sdl)
+if(NOT (APPLE OR WIN32))
+  list(APPEND ICUB_CONDA_DEPENDENCIES libdc1394)
+endif()
+
+if(NOT APPLE)
+  list(APPEND ICUB_CONDA_DEPENDENCIES freeglut)
+endif()
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  list(APPEND ICUB_CONDA_DEPENDENCIES libglu)
+endif()
diff --git a/cmake/BuildLieGroupControllers.cmake b/cmake/BuildLieGroupControllers.cmake
index e89154dc0..9dba63d61 100644
--- a/cmake/BuildLieGroupControllers.cmake
+++ b/cmake/BuildLieGroupControllers.cmake
@@ -13,3 +13,5 @@ ycm_ep_helper(LieGroupControllers TYPE GIT
               COMPONENT dynamics
               FOLDER src
               DEPENDS manif)
+              
+set(LieGroupControllers_CONDA_DEPENDENCIES eigen)
diff --git a/cmake/BuildOsqpEigen.cmake b/cmake/BuildOsqpEigen.cmake
index fc2e74d15..a8efcacc3 100644
--- a/cmake/BuildOsqpEigen.cmake
+++ b/cmake/BuildOsqpEigen.cmake
@@ -14,3 +14,5 @@ ycm_ep_helper(OsqpEigen TYPE GIT
               FOLDER src
               CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF
               DEPENDS osqp)
+
+set(OsqpEigen_CONDA_DEPENDENCIES "eigen")
\ No newline at end of file
diff --git a/cmake/BuildUnicyclePlanner.cmake b/cmake/BuildUnicyclePlanner.cmake
index 0489b028e..4152ee094 100644
--- a/cmake/BuildUnicyclePlanner.cmake
+++ b/cmake/BuildUnicyclePlanner.cmake
@@ -14,3 +14,5 @@ ycm_ep_helper(UnicyclePlanner TYPE GIT
               COMPONENT dynamics
               FOLDER src
               DEPENDS iDynTree)
+              
+set(UnicyclePlanner_CONDA_DEPENDENCIES eigen)
diff --git a/cmake/BuildWBToolbox.cmake b/cmake/BuildWBToolbox.cmake
index f17f96516..237fdbbb6 100644
--- a/cmake/BuildWBToolbox.cmake
+++ b/cmake/BuildWBToolbox.cmake
@@ -23,3 +23,5 @@ ycm_ep_helper(WBToolbox TYPE GIT
                       iDynTree
                       qpOASES
                       BlockFactory)
+
+set(WBToolbox_CONDA_DEPENDENCIES eigen) 
diff --git a/cmake/BuildYARP.cmake b/cmake/BuildYARP.cmake
index 04e1da2a2..84331bb46 100644
--- a/cmake/BuildYARP.cmake
+++ b/cmake/BuildYARP.cmake
@@ -5,10 +5,6 @@
 include(YCMEPHelper)
 include(FindOrBuildPackage)
 
-find_package(ACE QUIET)
-find_package(SQLite QUIET)
-find_package(Eigen3 QUIET)
-
 set(YARP_OPTIONAL_DEPS "")
 if(ROBOTOLOGY_ENABLE_ROBOT_TESTING)
   find_or_build_package(RobotTestingFramework QUIET)
@@ -17,8 +13,6 @@ endif()
 
 # Workaround for https://github.com/robotology/robotology-superbuild/issues/377
 if(NOT APPLE)
-  find_package(SQLite QUIET)
-  list(APPEND YARP_OPTIONAL_DEPS SQLite)
   set(YARP_OPTIONAL_CMAKE_ARGS "")
 else()
   set(YARP_OPTIONAL_CMAKE_ARGS "-DYARP_USE_SYSTEM_SQLite:BOOL=OFF")
@@ -51,8 +45,6 @@ ycm_ep_helper(YARP TYPE GIT
                    COMPONENT core
                    FOLDER src
                    DEPENDS YCM
-                           ACE
-                           Eigen3
                            ${YARP_OPTIONAL_DEPS}
                    CMAKE_ARGS -DYARP_COMPILE_GUIS:BOOL=ON
                               -DYARP_USE_SYSTEM_SQLite:BOOL=ON
@@ -89,3 +81,5 @@ ycm_ep_helper(YARP TYPE GIT
                               -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA}
                               -DENABLE_yarpmod_usbCamera:BOOL=${ENABLE_USBCAMERA}
                               ${YARP_OPTIONAL_CMAKE_ARGS})
+
+set(YARP_CONDA_DEPENDENCIES ace opencv tinyxml qt eigen sdl sdl2 sqlite libjpeg-turbo)
diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
index 8be4b39cf..4d8ed2e41 100644
--- a/cmake/Buildbipedal-locomotion-framework.cmake
+++ b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -45,3 +45,5 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
                          -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_LieGroupControllers:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
               DEPENDS ${bipedal-locomotion-framework_DEPENDS})
+
+set(bipedal-locomotion-framework_CONDA_DEPENDENCIES eigen)
diff --git a/cmake/Buildblocktest-yarp-plugins.cmake b/cmake/Buildblocktest-yarp-plugins.cmake
index 5a6052f81..1b2b2db75 100644
--- a/cmake/Buildblocktest-yarp-plugins.cmake
+++ b/cmake/Buildblocktest-yarp-plugins.cmake
@@ -17,3 +17,6 @@ ycm_ep_helper(blocktest-yarp-plugins TYPE GIT
               DEPENDS YARP
                       blocktestcore
               CMAKE_CACHE_ARGS -DENABLE_MSVC_WARNINGS:BOOL=OFF)
+              
+set(blocktest-yarp-plugins_CONDA_DEPENDENCIES boost-cpp)
+set(blocktest-yarp-plugins_CONDA_VERSION "1.1.0.1")
diff --git a/cmake/Buildblocktestcore.cmake b/cmake/Buildblocktestcore.cmake
index 75f70c23f..cbfe189b7 100644
--- a/cmake/Buildblocktestcore.cmake
+++ b/cmake/Buildblocktestcore.cmake
@@ -14,3 +14,6 @@ ycm_ep_helper(blocktestcore TYPE GIT
               FOLDER src
               CMAKE_CACHE_ARGS -DENABLE_MSVC_WARNINGS:BOOL=OFF
               DEPENDS YCM)
+
+set(blocktestcore_CONDA_DEPENDENCIES qt boost-cpp)
+set(blocktestcore_CONDA_VERSION "2.3.0.1")
diff --git a/cmake/Buildcasadi.cmake b/cmake/Buildcasadi.cmake
index 7898adc2d..472bc2c22 100644
--- a/cmake/Buildcasadi.cmake
+++ b/cmake/Buildcasadi.cmake
@@ -22,3 +22,6 @@ ycm_ep_helper(casadi TYPE GIT
                          -DLIB_PREFIX:PATH=lib
                          -DBIN_PREFIX:PATH=bin
               DEPENDS osqp)
+
+set(casadi_CONDA_PKG_NAME casadi)
+set(casadi_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildhuman-dynamics-estimation.cmake b/cmake/Buildhuman-dynamics-estimation.cmake
index a71e0f310..d13cf1c06 100644
--- a/cmake/Buildhuman-dynamics-estimation.cmake
+++ b/cmake/Buildhuman-dynamics-estimation.cmake
@@ -21,3 +21,5 @@ ycm_ep_helper(human-dynamics-estimation TYPE GIT
                       wearables
                       osqp
                       OsqpEigen)
+
+set(human-dynamics-estimation_CONDA_DEPENDENCIES eigen)
diff --git a/cmake/BuildiDynTree.cmake b/cmake/BuildiDynTree.cmake
index dcbc3521a..3ef998445 100644
--- a/cmake/BuildiDynTree.cmake
+++ b/cmake/BuildiDynTree.cmake
@@ -29,3 +29,5 @@ ycm_ep_helper(iDynTree TYPE GIT
                          -DIDYNTREE_USES_PYTHON:BOOL=${ROBOTOLOGY_USES_PYTHON}
                          -DIDYNTREE_USES_OCTAVE:BOOL=${ROBOTOLOGY_USES_OCTAVE}
               DEPENDS ${iDynTree_DEPENDS})
+
+set(iDynTree_CONDA_DEPENDENCIES libxml2 ipopt eigen qt irrlicht)
diff --git a/cmake/Buildicub-basic-demos.cmake b/cmake/Buildicub-basic-demos.cmake
index 6f48540bd..7082535fc 100644
--- a/cmake/Buildicub-basic-demos.cmake
+++ b/cmake/Buildicub-basic-demos.cmake
@@ -16,3 +16,5 @@ ycm_ep_helper(icub-basic-demos TYPE GIT
                                DEPENDS YARP
                                        ICUB
                                        ICUBcontrib)
+
+set(icub-basic-demos_CONDA_DEPENDENCIES opencv qt)
diff --git a/cmake/Buildicub_firmware_shared.cmake b/cmake/Buildicub_firmware_shared.cmake
index 791e4c7a9..908c3b4fb 100644
--- a/cmake/Buildicub_firmware_shared.cmake
+++ b/cmake/Buildicub_firmware_shared.cmake
@@ -5,8 +5,11 @@
 include(YCMEPHelper)
 include(FindOrBuildPackage)
 
+find_or_build_package(YCM QUIET)
+
 ycm_ep_helper(icub_firmware_shared TYPE GIT
                                    STYLE GITHUB
                                    REPOSITORY robotology/icub-firmware-shared.git
                                    COMPONENT iCub
-                                   FOLDER src)
+                                   FOLDER src
+                                   DEPENDS YCM)
diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
index cbda4c12c..1c85a2073 100644
--- a/cmake/Buildmanif.cmake
+++ b/cmake/Buildmanif.cmake
@@ -11,3 +11,6 @@ ycm_ep_helper(manif TYPE GIT
               COMPONENT external
               FOLDER src
               CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF)
+
+set(manif_CONDA_PKG_NAME manif)
+set(manif_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildmatio-cpp.cmake b/cmake/Buildmatio-cpp.cmake
index 33e621ef5..d9351d546 100644
--- a/cmake/Buildmatio-cpp.cmake
+++ b/cmake/Buildmatio-cpp.cmake
@@ -10,3 +10,5 @@ ycm_ep_helper(matio-cpp TYPE GIT
               COMPONENT dynamics
               FOLDER src
               CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF)
+
+set(matio-cpp_CONDA_DEPENDENCIES "libmatio")
diff --git a/cmake/Buildosqp.cmake b/cmake/Buildosqp.cmake
index be69044e7..f39e7cdc5 100644
--- a/cmake/Buildosqp.cmake
+++ b/cmake/Buildosqp.cmake
@@ -11,3 +11,6 @@ ycm_ep_helper(osqp TYPE GIT
               COMPONENT external
               FOLDER src
               CMAKE_ARGS -DUNITTESTS:BOOL=OFF)
+
+set(osqp_CONDA_PKG_NAME libosqp)
+set(osqp_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildqhull.cmake b/cmake/Buildqhull.cmake
index 47a47c902..8831f69f5 100644
--- a/cmake/Buildqhull.cmake
+++ b/cmake/Buildqhull.cmake
@@ -11,3 +11,6 @@ ycm_ep_helper(qhull TYPE GIT
               COMPONENT external
               FOLDER src
               CMAKE_ARGS -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON)
+
+set(qhull_CONDA_PKG_NAME qhull)
+set(qhull_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/BuildqpOASES.cmake b/cmake/BuildqpOASES.cmake
index f4640f57b..78b8a648d 100644
--- a/cmake/BuildqpOASES.cmake
+++ b/cmake/BuildqpOASES.cmake
@@ -28,3 +28,5 @@ ycm_ep_helper(qpOASES TYPE GIT
               COMPONENT external
               FOLDER src
               CMAKE_ARGS -DQPOASES_BUILD_BINDINGS_MATLAB:BOOL=OFF)
+
+set(qpOASES_CONDA_PKG_NAME "qpoases")
diff --git a/cmake/Buildwalking-controllers.cmake b/cmake/Buildwalking-controllers.cmake
index e6321aacd..a86e7d288 100644
--- a/cmake/Buildwalking-controllers.cmake
+++ b/cmake/Buildwalking-controllers.cmake
@@ -24,8 +24,10 @@ list(APPEND walking-controllers_DEPENDS ICUBcontrib)
 
 ycm_ep_helper(walking-controllers TYPE GIT
               STYLE GITHUB
-              REPOSITORY robotology/walking-controllers
+              REPOSITORY robotology/walking-controllers.git
               TAG master
               COMPONENT dynamics
               FOLDER src
               DEPENDS ${walking-controllers_DEPENDS})
+
+set(walking-controllers_CONDA_DEPENDENCIES "eigen")
diff --git a/cmake/Buildwalking-teleoperation.cmake b/cmake/Buildwalking-teleoperation.cmake
index 503c13efc..c7e6b772c 100644
--- a/cmake/Buildwalking-teleoperation.cmake
+++ b/cmake/Buildwalking-teleoperation.cmake
@@ -17,3 +17,6 @@ ycm_ep_helper(walking-teleoperation TYPE GIT
               DEPENDS iDynTree
                       ICUB
                       YARP)
+
+set(walking-teleoperation_CONDA_DEPENDENCIES "eigen")
+set(walking-teleoperation_CONDA_VERSION "0.0.1")
diff --git a/cmake/Buildwhole-body-estimators.cmake b/cmake/Buildwhole-body-estimators.cmake
index d082f7128..dfa117b86 100644
--- a/cmake/Buildwhole-body-estimators.cmake
+++ b/cmake/Buildwhole-body-estimators.cmake
@@ -22,3 +22,5 @@ ycm_ep_helper(whole-body-estimators TYPE GIT
               COMPONENT dynamics
               FOLDER src
               DEPENDS ${whole-body-estimators_DEPENDS})
+              
+set(whole-body-estimators_CONDA_DEPENDENCIES "eigen")
diff --git a/cmake/RobotologySuperbuildOptions.cmake b/cmake/RobotologySuperbuildOptions.cmake
index 4d4f20c24..d994c39dd 100644
--- a/cmake/RobotologySuperbuildOptions.cmake
+++ b/cmake/RobotologySuperbuildOptions.cmake
@@ -67,16 +67,19 @@ if(NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${ROBOTOLOGY_BUILD_TYPES})
 endif()
 
-set(ROBOTOLOGY_PROJECT_TAGS "Stable" CACHE STRING "The tags to be used for the robotology projects: Stable, Unstable or Custom. This can be changed only before the first configuration.")
+set(ROBOTOLOGY_PROJECT_TAGS "Stable" CACHE STRING "The tags to be used for the robotology projects: Stable, Unstable, LatestRelease or Custom. This can be changed only before the first configuration.")
 mark_as_advanced(ROBOTOLOGY_PROJECT_TAGS)
 set(ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE CACHE FILEPATH "If ROBOTOLOGY_PROJECT_TAGS is custom, this file will be loaded to specify the tags of the projects to use.")
 mark_as_advanced(ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE)
-set_property(CACHE ROBOTOLOGY_PROJECT_TAGS PROPERTY STRINGS "Stable" "Unstable" "Custom")
+set_property(CACHE ROBOTOLOGY_PROJECT_TAGS PROPERTY STRINGS "Stable" "Unstable" "LatestRelease" "Custom")
 
 if(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Stable")
     include(ProjectsTagsStable)
 elseif(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Unstable")
     include(ProjectsTagsUnstable)
+elseif(ROBOTOLOGY_PROJECT_TAGS STREQUAL "LatestRelease")
+    include(YCMLoadVcsYamlInfo)
+    ycm_load_vcs_yaml_info(YAML_FILE ${PROJECT_SOURCE_DIR}/releases/latest.releases.yaml VERBOSE)
 elseif(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Custom")
     if(ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE MATCHES ".yaml$" OR
        ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE MATCHES ".repos$")
@@ -88,3 +91,6 @@ elseif(ROBOTOLOGY_PROJECT_TAGS STREQUAL "Custom")
 else()
     message(FATAL_ERROR "The ROBOTOLOGY_PROJECT_TAGS variable can be Stable, Unstable or Custom. ${ROBOTOLOGY_PROJECT_TAGS} value is not supported.")
 endif()
+
+option(ROBOTOLOGY_GENERATE_CONDA_RECIPES "If enabled, generate conda recipes instead of building the superbuild. This should not be used by end users." OFF)
+mark_as_advanced(ROBOTOLOGY_GENERATE_CONDA_RECIPES)
diff --git a/conda/cmake/CondaGenerationOptions.cmake b/conda/cmake/CondaGenerationOptions.cmake
new file mode 100644
index 000000000..9ab496a41
--- /dev/null
+++ b/conda/cmake/CondaGenerationOptions.cmake
@@ -0,0 +1,7 @@
+# This number needs to be increased at each full rebuild,
+# to ensure that binaries belonging to different rebuilds
+# can be distinguished even if the version number is the same
+set(CONDA_BUILD_NUMBER 0)
+
+# For more conda generation options, check the specific project Build<CMakeProject>.cmake
+# file for variables that start with `<CMakeProject>_CONDA`
diff --git a/conda/cmake/FindOrBuildPackage.cmake b/conda/cmake/FindOrBuildPackage.cmake
new file mode 100644
index 000000000..e69de29bb
diff --git a/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake b/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake
new file mode 100644
index 000000000..73f877f54
--- /dev/null
+++ b/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake
@@ -0,0 +1,195 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+
+# Redefine find_or_build_package and ycm_ep_helper
+# functions to extract metadata necessary for conda recipe
+# generation from the RobotologySuperbuildLogic file
+macro(ycm_ep_helper _name)
+  # Check arguments
+  set(_options )
+  set(_oneValueArgs TYPE
+                    STYLE
+                    COMPONENT
+                    FOLDER
+                    EXCLUDE_FROM_ALL
+                    REPOSITORY  # GIT, SVN and HG
+                    TAG         # GIT and HG only
+                    REVISION    # SVN only
+                    USERNAME    # SVN only
+                    PASSWORD    # SVN only
+                    TRUST_CERT  # SVN only
+                    TEST_BEFORE_INSTALL
+                    TEST_AFTER_INSTALL
+                    TEST_EXCLUDE_FROM_MAIN
+                    CONFIGURE_SOURCE_DIR # DEPRECATED Since YCM 0.10
+                    SOURCE_SUBDIR)
+  set(_multiValueArgs CMAKE_ARGS
+                      CMAKE_CACHE_ARGS
+                      CMAKE_CACHE_DEFAULT_ARGS
+                      DEPENDS
+                      DOWNLOAD_COMMAND
+                      UPDATE_COMMAND
+                      PATCH_COMMAND
+                      CONFIGURE_COMMAND
+                      BUILD_COMMAND
+                      INSTALL_COMMAND
+                      TEST_COMMAND
+                      CLEAN_COMMAND)
+
+  cmake_parse_arguments(_YH_${_name} "${_options}" "${_oneValueArgs}" "${_multiValueArgs}" "${ARGN}")
+
+  get_property(_projects GLOBAL PROPERTY YCM_PROJECTS)
+  list(APPEND _projects ${_name})
+  list(REMOVE_DUPLICATES _projects)
+  set_property(GLOBAL PROPERTY YCM_PROJECTS ${_projects})
+endmacro()
+
+macro(find_or_build_package _pkg)
+  get_property(_superbuild_pkgs GLOBAL PROPERTY YCM_PROJECTS)
+  if(NOT ${_pkg} IN_LIST _superbuild_pkgs)
+    include(Build${_pkg})
+  endif()
+endmacro()
+
+set(metametadata_file ${CMAKE_CURRENT_BINARY_DIR}/conda/robotology-superbuild-conda-metametadata.yaml)
+
+macro(generate_metametadata_file)
+  # Metametadata file name
+  file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/conda)
+  set(metametadata_file_contents "conda-packages-metametadata:\n")
+
+  get_property(_superbuild_pkgs GLOBAL PROPERTY YCM_PROJECTS)
+  foreach(_cmake_pkg IN LISTS _superbuild_pkgs)
+    # If a package is already available in conda-forge, we use
+    # that one by defining appropriately the <_cmake_pkg>_CONDA_PACKAGE_NAME
+    # and <_cmake_pkg>_CONDA_PKG_CONDA_FORGE_OVERRIDE variables
+    if(DEFINED ${_cmake_pkg}_CONDA_PKG_CONDA_FORGE_OVERRIDE AND
+       "${${_cmake_pkg}_CONDA_PKG_CONDA_FORGE_OVERRIDE}")
+      continue()
+    endif()
+
+    # Compute conda version
+    if(DEFINED ${_cmake_pkg}_TAG)
+     set(${_cmake_pkg}_CONDA_TAG ${${_cmake_pkg}_TAG})
+    else()
+     set(${_cmake_pkg}_CONDA_TAG ${_YH_${_cmake_pkg}_TAG})
+    endif()
+
+    if(NOT DEFINED ${_cmake_pkg}_CONDA_VERSION)
+      set(${_cmake_pkg}_CONDA_VERSION ${${_cmake_pkg}_CONDA_TAG})
+    endif()
+
+    # Compute conda CMake options
+    set(${_cmake_pkg}_CONDA_CMAKE_ARGS ${_YH_${_cmake_pkg}_CMAKE_ARGS})
+    list(APPEND ${_cmake_pkg}_CONDA_CMAKE_ARGS ${_YH_${_cmake_pkg}_CMAKE_CACHE_ARGS})
+    list(APPEND ${_cmake_pkg}_CONDA_CMAKE_ARGS ${_YH_${_cmake_pkg}_CMAKE_CACHE_DEFAULT_ARGS})
+    # Convert YCM_EP_ADDITIONAL_CMAKE_ARGS to list
+    string(REPLACE " " ";" YCM_EP_ADDITIONAL_CMAKE_ARGS_AS_LIST "${YCM_EP_ADDITIONAL_CMAKE_ARGS}")
+    list(APPEND ${_cmake_pkg}_CONDA_CMAKE_ARGS ${YCM_EP_ADDITIONAL_CMAKE_ARGS_AS_LIST})
+
+    # Escape backlash for insertion in yaml
+    string(REPLACE "\\" "\\\\" ${_cmake_pkg}_CONDA_CMAKE_ARGS "${${_cmake_pkg}_CONDA_CMAKE_ARGS}")
+
+
+    # Compute conda dependencies
+    # Always append so dependencies not tracked by the superbuild can be injected by
+    # defining a ${_cmake_pkg}_CONDA_DEPENDENCIES in CondaGenerationOptions.cmake
+    foreach(_cmake_dep IN LISTS _YH_${_cmake_pkg}_DEPENDS)
+      list(APPEND ${_cmake_pkg}_CONDA_DEPENDENCIES ${${_cmake_dep}_CONDA_PKG_NAME})
+    endforeach()
+
+    # Compute conda github repository
+    # We remove the trailing .git (if present)
+    string(REPLACE ".git" "" ${_cmake_pkg}_CONDA_GIHUB_REPO "${_YH_${_cmake_pkg}_REPOSITORY}")
+
+    # Dump metametadata in yaml format
+    string(APPEND metametadata_file_contents "  ${${_cmake_pkg}_CONDA_PKG_NAME}:\n")
+    string(APPEND metametadata_file_contents "    name: ${${_cmake_pkg}_CONDA_PKG_NAME}\n")
+    string(APPEND metametadata_file_contents "    version: ${${_cmake_pkg}_CONDA_VERSION}\n")
+    string(APPEND metametadata_file_contents "    github_repo: ${${_cmake_pkg}_CONDA_GIHUB_REPO}\n")
+    string(APPEND metametadata_file_contents "    github_tag: ${${_cmake_pkg}_CONDA_TAG}\n")
+    string(APPEND metametadata_file_contents "    conda_build_number: ${CONDA_BUILD_NUMBER}\n")
+
+    if(NOT "${${_cmake_pkg}_CONDA_CMAKE_ARGS}" STREQUAL "")
+      string(APPEND metametadata_file_contents "    cmake_args:\n")
+      foreach(_cmake_arg IN LISTS ${_cmake_pkg}_CONDA_CMAKE_ARGS)
+        string(APPEND metametadata_file_contents "      - \"${_cmake_arg}\"\n")
+      endforeach()
+    endif()
+
+    if(NOT "${${_cmake_pkg}_CONDA_DEPENDENCIES}" STREQUAL "")
+      string(APPEND metametadata_file_contents "    dependencies:\n")
+      foreach(_dep IN LISTS ${_cmake_pkg}_CONDA_DEPENDENCIES)
+        string(APPEND metametadata_file_contents "      - ${_dep}\n")
+      endforeach()
+    endif()
+
+    # If some dependency require opengl to build and we are on Linux, add the required packages
+    # See https://conda-forge.org/docs/maintainer/knowledge_base.html?#libgl
+    if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
+      if("qt" IN_LIST ${_cmake_pkg}_CONDA_DEPENDENCIES OR
+         "freeglut" IN_LIST ${_cmake_pkg}_CONDA_DEPENDENCIES OR
+         "irrlicht" IN_LIST ${_cmake_pkg}_CONDA_DEPENDENCIES)
+        string(APPEND metametadata_file_contents "    require_opengl_linux: true\n")
+      endif()
+    endif()
+
+    string(APPEND metametadata_file_contents "\n")
+  endforeach()
+
+  file(WRITE ${metametadata_file} ${metametadata_file_contents})
+  message(STATUS "Saved metametadata in ${metametadata_file}")
+endmacro()
+
+macro(generate_conda_recipes)
+  set(python_generation_script "${CMAKE_CURRENT_SOURCE_DIR}/conda/python/generate_conda_recipes_from_metadatadata.py")
+  set(generated_conda_recipes_dir "${CMAKE_CURRENT_BINARY_DIR}/conda/generated_recipes")
+  file(MAKE_DIRECTORY ${generated_conda_recipes_dir})
+  execute_process(COMMAND python ${python_generation_script} -i ${metametadata_file} -o ${generated_conda_recipes_dir} RESULT_VARIABLE CONDA_GENERATION_SCRIPT_RETURN_VALUE)
+  message(STATUS "CONDA_GENERATION_SCRIPT_RETURN_VALUE: ${CONDA_GENERATION_SCRIPT_RETURN_VALUE}")
+  if(CONDA_GENERATION_SCRIPT_RETURN_VALUE STREQUAL "0")
+    message(STATUS "conda recipes correctly generated in ${generated_conda_recipes_dir}.")
+    message(STATUS "To build the generated conda recipes, navigate to the directory and run conda build . in it.")
+  else()
+    message(FATAL_ERROR "Error in execution of script ${python_generation_script}")
+  endif()
+endmacro()
+
+
+# Explicitly add YCM as it is not handled as other projects
+get_property(_projects GLOBAL PROPERTY YCM_PROJECTS)
+list(APPEND _projects YCM)
+set_property(GLOBAL PROPERTY YCM_PROJECTS ${_projects})
+set(_YH_YCM_REPOSITORY robotology/ycm.git)
+# Use ycm-cmake-modules as name as in debian
+set(YCM_CONDA_PKG_NAME ycm-cmake-modules)
+
+include(RobotologySuperbuildLogic)
+include(CondaGenerationOptions)
+
+get_property(_superbuild_pkgs GLOBAL PROPERTY YCM_PROJECTS)
+
+# First of all: define the conda package name of each cmake project
+# This needs to be done first for all packages as it is used later
+# when referring to dependencies
+foreach(_cmake_pkg IN LISTS _superbuild_pkgs)
+  # Unless the <_cmake_pkg>_CONDA_PKG_NAME variable is explicitly defined,
+  # we use the git repo name as the conda pkg name as the convention are similar
+  # (lowercase names, separated by dash)
+  if(NOT DEFINED ${_cmake_pkg}_CONDA_PKG_NAME)
+    string(REGEX MATCH "^[^\/:]+\/([^\/:]+).git$" UNUSED_REGEX_MATCH_OUTPUT "${_YH_${_cmake_pkg}_REPOSITORY}")
+    set(${_cmake_pkg}_CONDA_PKG_NAME ${CMAKE_MATCH_1})
+    if("${${_cmake_pkg}_CONDA_PKG_NAME}" STREQUAL "")
+      message(FATAL_ERROR "Error in extracting conda package name for CMake package ${_cmake_pkg} with repo ${_YH_${_cmake_pkg}_REPOSITORY}")
+    endif()
+  endif()
+endforeach()
+
+# Second step: generate the ${CMAKE_CURRENT_BINARY_DIR}/conda/robotology-superbuild-conda-metametadata.yaml,
+# that contains in yaml form the dependencies and options information contained
+# in the CMake scripts of the robotology-superbuild
+generate_metametadata_file()
+
+# Third step: generate the conda recipes from the metametadata in
+# ${CMAKE_CURRENT_BINARY_DIR}/conda/generate_recipes
+generate_conda_recipes()
diff --git a/conda/cmake/YCMEPHelper.cmake b/conda/cmake/YCMEPHelper.cmake
new file mode 100644
index 000000000..e69de29bb
diff --git a/conda/conda_build_config.yml b/conda/conda_build_config.yml
new file mode 100644
index 000000000..d4e14d048
--- /dev/null
+++ b/conda/conda_build_config.yml
@@ -0,0 +1,3 @@
+# bipedal-locomotion-framework requires 10.13 for std::bad_cast_any
+MACOSX_DEPLOYMENT_TARGET:      # [osx and x86_64]
+  - 10.13                      # [osx and x86_64]
diff --git a/conda/multisheller/blockfactory_activate.msh b/conda/multisheller/blockfactory_activate.msh
new file mode 100644
index 000000000..1bb669806
--- /dev/null
+++ b/conda/multisheller/blockfactory_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("BLOCKFACTORY_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "Library\\bin\\blockfactory"))
+]).else_([
+	sys.list_append("BLOCKFACTORY_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "lib/blockfactory"))
+])
diff --git a/conda/multisheller/blockfactory_deactivate.msh b/conda/multisheller/blockfactory_deactivate.msh
new file mode 100644
index 000000000..2cef2f33c
--- /dev/null
+++ b/conda/multisheller/blockfactory_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("BLOCKFACTORY_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "Library\\bin\\blockfactory"))
+]).else_([
+	sys.list_remove("BLOCKFACTORY_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "lib/blockfactory"))
+])
diff --git a/conda/multisheller/blocktest_activate.msh b/conda/multisheller/blocktest_activate.msh
new file mode 100644
index 000000000..0af698d50
--- /dev/null
+++ b/conda/multisheller/blocktest_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("BLOCKTEST_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\bin"))
+]).else_([
+	sys.list_append("BLOCKTEST_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "bin"))
+])
diff --git a/conda/multisheller/blocktest_deactivate.msh b/conda/multisheller/blocktest_deactivate.msh
new file mode 100644
index 000000000..9a8bca691
--- /dev/null
+++ b/conda/multisheller/blocktest_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("BLOCKTEST_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\bin"))
+]).else_([
+	sys.list_remove("BLOCKTEST_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "bin"))
+])
diff --git a/conda/multisheller/gazebo-yarp-plugins_activate.msh b/conda/multisheller/gazebo-yarp-plugins_activate.msh
new file mode 100644
index 000000000..bbcb034a4
--- /dev/null
+++ b/conda/multisheller/gazebo-yarp-plugins_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("GAZEBO_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "Library\\bin"))
+]).else_([
+	sys.list_append("GAZEBO_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "lib"))
+])
diff --git a/conda/multisheller/gazebo-yarp-plugins_deactivate.msh b/conda/multisheller/gazebo-yarp-plugins_deactivate.msh
new file mode 100644
index 000000000..83c2501f2
--- /dev/null
+++ b/conda/multisheller/gazebo-yarp-plugins_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("GAZEBO_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "Library\\bin"))
+]).else_([
+	sys.list_remove("GAZEBO_PLUGIN_PATH", path.join(env("CONDA_PREFIX"), "lib"))
+])
diff --git a/conda/multisheller/human-dynamics-estimation_activate.msh b/conda/multisheller/human-dynamics-estimation_activate.msh
new file mode 100644
index 000000000..2d97853d6
--- /dev/null
+++ b/conda/multisheller/human-dynamics-estimation_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\HumanDynamicsEstihumation"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/HumanDynamicsEstimation"))
+])
diff --git a/conda/multisheller/human-dynamics-estimation_deactivate.msh b/conda/multisheller/human-dynamics-estimation_deactivate.msh
new file mode 100644
index 000000000..800737dd8
--- /dev/null
+++ b/conda/multisheller/human-dynamics-estimation_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\HumanDynamicsEstimation"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/HumanDynamicsEstimation"))
+])
diff --git a/conda/multisheller/human-gazebo_activate.msh b/conda/multisheller/human-gazebo_activate.msh
new file mode 100644
index 000000000..413c0674a
--- /dev/null
+++ b/conda/multisheller/human-gazebo_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\human-gazebo"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/human-gazebo"))
+])
diff --git a/conda/multisheller/human-gazebo_deactivate.msh b/conda/multisheller/human-gazebo_deactivate.msh
new file mode 100644
index 000000000..8c4b48e78
--- /dev/null
+++ b/conda/multisheller/human-gazebo_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\human-gazebo"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/human-gazebo"))
+])
diff --git a/conda/multisheller/icub-contrib-common_activate.msh b/conda/multisheller/icub-contrib-common_activate.msh
new file mode 100644
index 000000000..5807cb26d
--- /dev/null
+++ b/conda/multisheller/icub-contrib-common_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\ICUBcontrib"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/ICUBcontrib"))
+])
diff --git a/conda/multisheller/icub-contrib-common_deactivate.msh b/conda/multisheller/icub-contrib-common_deactivate.msh
new file mode 100644
index 000000000..29655d4a4
--- /dev/null
+++ b/conda/multisheller/icub-contrib-common_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\ICUBcontrib"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/ICUBcontrib"))
+])
diff --git a/conda/multisheller/icub-main_activate.msh b/conda/multisheller/icub-main_activate.msh
new file mode 100644
index 000000000..5219a7ea3
--- /dev/null
+++ b/conda/multisheller/icub-main_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub"))
+])
diff --git a/conda/multisheller/icub-main_deactivate.msh b/conda/multisheller/icub-main_deactivate.msh
new file mode 100644
index 000000000..8a9f3eac1
--- /dev/null
+++ b/conda/multisheller/icub-main_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub"))
+])
diff --git a/conda/multisheller/icub-models_activate.msh b/conda/multisheller/icub-models_activate.msh
new file mode 100644
index 000000000..d09a52302
--- /dev/null
+++ b/conda/multisheller/icub-models_activate.msh
@@ -0,0 +1,27 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub")),
+	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\\share")),
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\models")),
+	sys.list_append("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\worls"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub")),
+	sys.list_append("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_append("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/models")),
+	sys.list_append("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/worls"))
+])
+
+# 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 set to a separate if
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub\\robots"))
+]).else_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/iCub/robots"))
+])
+
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+]).else_([
+	sys.list_append("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])
\ No newline at end of file
diff --git a/conda/multisheller/icub-models_deactivate.msh b/conda/multisheller/icub-models_deactivate.msh
new file mode 100644
index 000000000..58a7da015
--- /dev/null
+++ b/conda/multisheller/icub-models_deactivate.msh
@@ -0,0 +1,29 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub")),
+	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\\share")),
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\models")),
+	sys.list_remove("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\gazebo\\worls"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/iCub")),
+	sys.list_remove("ROS_PACKAGE_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_remove("AMENT_PREFIX_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/models")),
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/iCub/robots")),
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share")),
+	sys.list_remove("GAZEBO_RESOURCE_PATH", path.join(env("CONDA_PREFIX"), "share/gazebo/worls"))
+])
+
+# 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 set to a separate if
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share\\iCub\\robots"))
+]).else_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share/iCub/robots"))
+])
+
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "Library\\share"))
+]).else_([
+	sys.list_remove("GAZEBO_MODEL_PATH", path.join(env("CONDA_PREFIX"), "share"))
+])
\ No newline at end of file
diff --git a/conda/multisheller/idyntree_activate.msh b/conda/multisheller/idyntree_activate.msh
new file mode 100644
index 000000000..32825b3ac
--- /dev/null
+++ b/conda/multisheller/idyntree_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/idyntree_deactivate.msh b/conda/multisheller/idyntree_deactivate.msh
new file mode 100644
index 000000000..96b2936f2
--- /dev/null
+++ b/conda/multisheller/idyntree_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/osqp-matlab_activate.msh b/conda/multisheller/osqp-matlab_activate.msh
new file mode 100644
index 000000000..32825b3ac
--- /dev/null
+++ b/conda/multisheller/osqp-matlab_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/osqp-matlab_deactivate.msh b/conda/multisheller/osqp-matlab_deactivate.msh
new file mode 100644
index 000000000..96b2936f2
--- /dev/null
+++ b/conda/multisheller/osqp-matlab_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/wb-toolbox_activate.msh b/conda/multisheller/wb-toolbox_activate.msh
new file mode 100644
index 000000000..97d6e1780
--- /dev/null
+++ b/conda/multisheller/wb-toolbox_activate.msh
@@ -0,0 +1,7 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\share\\WBToolbox")),
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\share\\WBToolbox\\images"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "share/WBToolbox")),
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "share/WBToolbox/images"))
+])
diff --git a/conda/multisheller/wb-toolbox_deactivate.msh b/conda/multisheller/wb-toolbox_deactivate.msh
new file mode 100644
index 000000000..eaceb2905
--- /dev/null
+++ b/conda/multisheller/wb-toolbox_deactivate.msh
@@ -0,0 +1,7 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\share\\WBToolbox")),
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\share\\WBToolbox\\images"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "share/WBToolbox")),
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "share/WBToolbox/images"))
+])
diff --git a/conda/multisheller/wearables_activate.msh b/conda/multisheller/wearables_activate.msh
new file mode 100644
index 000000000..6572a37c9
--- /dev/null
+++ b/conda/multisheller/wearables_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\Wearables"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/Wearables"))
+])
diff --git a/conda/multisheller/wearables_deactivate.msh b/conda/multisheller/wearables_deactivate.msh
new file mode 100644
index 000000000..96cc7c271
--- /dev/null
+++ b/conda/multisheller/wearables_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\Wearables"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/Wearables"))
+])
diff --git a/conda/multisheller/whole-body-controllers_activate.msh b/conda/multisheller/whole-body-controllers_activate.msh
new file mode 100644
index 000000000..2e2e29a51
--- /dev/null
+++ b/conda/multisheller/whole-body-controllers_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink"))
+])
diff --git a/conda/multisheller/whole-body-controllers_deactivate.msh b/conda/multisheller/whole-body-controllers_deactivate.msh
new file mode 100644
index 000000000..7777919b1
--- /dev/null
+++ b/conda/multisheller/whole-body-controllers_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex\\+wbc\\simulink"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex/+wbc/simulink"))
+])
diff --git a/conda/multisheller/yarp-matlab-bindings_activate.msh b/conda/multisheller/yarp-matlab-bindings_activate.msh
new file mode 100644
index 000000000..32825b3ac
--- /dev/null
+++ b/conda/multisheller/yarp-matlab-bindings_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_append("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/yarp-matlab-bindings_deactivate.msh b/conda/multisheller/yarp-matlab-bindings_deactivate.msh
new file mode 100644
index 000000000..96b2936f2
--- /dev/null
+++ b/conda/multisheller/yarp-matlab-bindings_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "Library\\mex"))
+]).else_([
+	sys.list_remove("MATLABPATH", path.join(env("CONDA_PREFIX"), "mex"))
+])
diff --git a/conda/multisheller/yarp_activate.msh b/conda/multisheller/yarp_activate.msh
new file mode 100644
index 000000000..057e3b74e
--- /dev/null
+++ b/conda/multisheller/yarp_activate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\yarp"))
+]).else_([
+	sys.list_append("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/yarp"))
+])
diff --git a/conda/multisheller/yarp_deactivate.msh b/conda/multisheller/yarp_deactivate.msh
new file mode 100644
index 000000000..6564064b8
--- /dev/null
+++ b/conda/multisheller/yarp_deactivate.msh
@@ -0,0 +1,5 @@
+if_(is_set("COMSPEC")).then_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "Library\\share\\yarp"))
+]).else_([
+	sys.list_remove("YARP_DATA_DIRS", path.join(env("CONDA_PREFIX"), "share/yarp"))
+])
diff --git a/conda/python/generate_conda_recipes_from_metametadata.py b/conda/python/generate_conda_recipes_from_metametadata.py
new file mode 100644
index 000000000..b173a830e
--- /dev/null
+++ b/conda/python/generate_conda_recipes_from_metametadata.py
@@ -0,0 +1,139 @@
+import argparse
+import jinja2
+import os
+import string
+import yaml
+import shutil
+
+# multisheller includes
+import multisheller
+from multisheller import cmds
+from multisheller.backend import bash, zsh, xonsh, cmdexe, powershell
+import argparse, sys
+import ast
+from multisheller.cmds import *
+from multisheller import path, sys
+from multisheller.backend.utils import write_script
+from pprint import pprint
+
+def dir_path(string):
+    if os.path.isdir(string):
+        return string
+    else:
+        raise NotADirectoryError(string)
+
+
+suffixes = {
+    'cmdexe': '.bat',
+    'bash': '.sh',
+    'zsh': '.zsh',
+    'xonsh': '.xsh',
+    'powershell': '.ps1',
+}
+
+translators = {
+    'cmdexe': cmdexe,
+    'bash': bash,
+    'zsh': zsh,
+    'xonsh': xonsh,
+    'powershell': powershell,
+}
+
+def write_script(generation_directory, name_without_extension, commands, interpreter):
+    fname = generation_directory + "/" + name_without_extension + suffixes[interpreter]
+    s = cmds.Script(commands)
+
+    print(f"Writing file to {fname}")
+    with open(fname, 'w') as f:
+        s = translators[interpreter].to_script(s)
+        f.write(s)
+
+    f.close()
+    print(f"File wrote to {fname}")
+
+    return
+
+# Inspired from:
+#  * https://github.com/wolfv/multisheller/blob/0cc03c68d0c68d2f9cf7b07ddb68afa531419a6d/multisheller/cli/main.py
+#  * https://github.com/wolfv/multisheller/blob/0cc03c68d0c68d2f9cf7b07ddb68afa531419a6d/multisheller/backend/utils.py#L21
+def generate_scripts_from_multisheller_file(multisheller_file, generation_directory, name_without_extension):
+    # Parse msh file
+    with open(multisheller_file) as fi:
+        contents = fi.read()
+    contents = contents
+    tree = ast.parse(contents)
+
+    ls = locals().copy()
+    cmds = []
+    for expr in tree.body:
+        codeobj = compile(ast.Expression(expr.value), '<string>', mode='eval')
+        res = eval(codeobj, globals(), ls)
+        if type(expr) == ast.Assign:
+            for t in expr.targets:
+                ls.update({t.id: res})
+        else:
+            cmds.append(res)
+
+    # Generate scripts
+    write_script(generation_directory, name_without_extension, cmds, "cmdexe")
+    write_script(generation_directory, name_without_extension, cmds, "bash")
+    write_script(generation_directory, name_without_extension, cmds, "zsh")
+    write_script(generation_directory, name_without_extension, cmds, "xonsh")
+    write_script(generation_directory, name_without_extension, cmds, "powershell")
+
+def main():
+
+    # Parse parameters
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-i", "--metametadata", type=str, help="metametadata .yaml file")
+    parser.add_argument("-o", "--recipes_dir", type=dir_path, help="directory of generated recipes directory")
+    args = parser.parse_args()
+
+    # Get recipe templates
+    recipe_template_dir = os.path.realpath(os.path.dirname(os.path.abspath(__file__)) + "/../recipe_template");
+    recipe_template_files = [f for f in os.listdir(recipe_template_dir) if os.path.isfile(os.path.join(recipe_template_dir, f))]
+
+    # Get multisheller scripts
+    multisheller_scripts_dir = os.path.realpath(os.path.dirname(os.path.abspath(__file__)) + "/../multisheller");
+    multisheller_scripts = [f for f in os.listdir(multisheller_scripts_dir) if os.path.isfile(os.path.join(multisheller_scripts_dir, f))]
+
+    # Prepare Jinja templates
+    file_loader = jinja2.FileSystemLoader(recipe_template_dir)
+    env = jinja2.Environment(loader=file_loader)
+    # Load metametadata
+    metametadata = yaml.load(open(args.metametadata), Loader=yaml.FullLoader)
+
+    for pkg in metametadata['conda-packages-metametadata']:
+        print(f"generate_conda_recipes_from_metadatadata: generating recipe for package {pkg}")
+
+        # Check if multisheller file are available for this package,
+        # if available generate activate scripts
+
+        # Get pkginfo
+        pkg_info = metametadata['conda-packages-metametadata'][pkg]
+        recipe_dir = os.path.join(os.path.realpath(args.recipes_dir), pkg_info['name'])
+        shutil.rmtree(recipe_dir, ignore_errors=True)
+        os.mkdir(recipe_dir)
+        print(recipe_dir)
+
+        # Generate activation scripts
+        activation_script_msh = pkg_info['name'] + "_activate.msh"
+        deactivation_script_msh = pkg_info['name'] + "_deactivate.msh"
+        if activation_script_msh in multisheller_scripts and deactivation_script_msh in multisheller_scripts:
+            print(f"Generating scripts for {pkg_info['name']}")
+            generate_scripts_from_multisheller_file(multisheller_scripts_dir + "/" + activation_script_msh, recipe_dir, "activate")
+            generate_scripts_from_multisheller_file(multisheller_scripts_dir + "/" + deactivation_script_msh, recipe_dir, "deactivate")
+            # To copy the activation scripts in the recipe
+            pkg_info['copy_activation_scripts'] = True
+        else:
+            pkg_info['copy_activation_scripts'] = False
+
+        # Generate recipe
+        for template_file in recipe_template_files:
+            template = env.get_template(template_file)
+            template_output = template.render(pkg_info)
+            with open(os.path.join(recipe_dir, template_file), 'w') as f:
+                f.write(template_output)
+
+if __name__ == '__main__':
+    main()
diff --git a/conda/recipe_template/bld.bat b/conda/recipe_template/bld.bat
new file mode 100644
index 000000000..775bedbe0
--- /dev/null
+++ b/conda/recipe_template/bld.bat
@@ -0,0 +1,46 @@
+mkdir build
+cd build
+
+:: Hardcoding Visual Studio 2019 as GitHub Actions does not have VS2019
+:: -DBUILD_SHARED_LIBS=ON for now disabled as a workaround for https://github.com/robotology/icub-main/issues/717 
+cmake ^
+    -G"Visual Studio 16 2019" ^
+    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
+    -DCMAKE_PREFIX_PATH=%LIBRARY_PREFIX% ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_VERBOSE_MAKEFILE=OFF ^
+    -DCMAKE_INSTALL_LIBDIR=lib ^
+{% for cmake_arg in cmake_args %}    {{ cmake_arg }} ^
+{% endfor %}    %SRC_DIR%
+if errorlevel 1 exit 1
+
+:: Build.
+cmake --build . --config Release
+if errorlevel 1 exit 1
+
+:: Install.
+cmake --build . --config Release --target install
+if errorlevel 1 exit 1
+
+{% if copy_activation_scripts is sameas true %}
+setlocal EnableDelayedExpansion
+:: Copy the [de]activate scripts to %PREFIX%\etc\conda\[de]activate.d.
+:: This will allow them to be run on environment activation.
+for %%F in (activate deactivate) DO (
+    if not exist %PREFIX%\etc\conda\%%F.d mkdir %PREFIX%\etc\conda\%%F.d
+    copy %RECIPE_DIR%\%%F.bat %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.bat
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %RECIPE_DIR%\%%F.sh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.sh
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %RECIPE_DIR%\%%F.ps1 %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.ps1
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %RECIPE_DIR%\%%F.xsh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.xsh
+    if %errorlevel% neq 0 exit /b %errorlevel%
+
+    copy %RECIPE_DIR%\%%F.zsh %PREFIX%\etc\conda\%%F.d\%PKG_NAME%_%%F.zsh
+    if %errorlevel% neq 0 exit /b %errorlevel%
+)
+{% endif %}
diff --git a/conda/recipe_template/build.sh b/conda/recipe_template/build.sh
new file mode 100644
index 000000000..1a2f178db
--- /dev/null
+++ b/conda/recipe_template/build.sh
@@ -0,0 +1,31 @@
+#!/bin/sh
+
+mkdir build
+cd build
+
+cmake .. \
+    -GNinja \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_PREFIX_PATH=$PREFIX \
+    -DCMAKE_INSTALL_PREFIX=$PREFIX \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_VERBOSE_MAKEFILE=OFF \
+    -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+{% for cmake_arg in cmake_args %}    {{ cmake_arg }} \
+{% endfor %}
+
+cmake --build . --config Release
+cmake --build . --config Release --target install
+
+{% if copy_activation_scripts is sameas true %}
+# Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+# This will allow them to be run on environment activation.
+for CHANGE in "activate" "deactivate"
+do
+    mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+    cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+    cp "${RECIPE_DIR}/${CHANGE}.xsh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.xsh"
+    cp "${RECIPE_DIR}/${CHANGE}.zsh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.zsh"
+    cp "${RECIPE_DIR}/${CHANGE}.ps1" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.ps1"
+done
+{% endif %}
diff --git a/conda/recipe_template/meta.yaml b/conda/recipe_template/meta.yaml
new file mode 100644
index 000000000..27be179e0
--- /dev/null
+++ b/conda/recipe_template/meta.yaml
@@ -0,0 +1,51 @@
+{{ '{% set name =' }} "{{ name }}" {{ '%}' }}
+
+package:
+{% raw %}  name: {{ name }} {% endraw %}
+  version: "{{ version.replace("v","") }}"
+
+source:
+  git_url: https://github.com/{{ github_repo }}.git
+  git_rev: {{ github_tag }}
+
+build:
+  number: {{ conda_build_number }}
+  run_exports:
+{% raw %}    # As robotology-superbuild packages tipically do not worry about ABI compatibility,
+    # we explicitly specify that for every patch version the ABI changes
+    - {{ pin_subpackage(name, max_pin='x.x.x') }}
+{% endraw %}
+
+requirements:
+  build:
+{# A C/C++ compiler and CMake are required by all packages #}
+{% raw %}    - {{ compiler('c') }}
+    - {{ compiler('cxx') }} {% endraw %}
+    - cmake
+    - pkg-config
+    - ninja
+{# Handle specific packages required for gl on Linux, see https://conda-forge.org/docs/maintainer/knowledge_base.html?#libgl #}
+{# libxcb, libxfixes, libxau and expat are not documented anywhere, but without those blocktest does not build correctly #}
+{% if require_opengl_linux %}{% raw %}    - {{ cdt('mesa-libgl-devel') }}
+    - {{ cdt('mesa-dri-drivers') }}
+    - {{ cdt('libselinux') }}
+    - {{ cdt('libxdamage') }}
+    - {{ cdt('libxxf86vm') }}
+    - {{ cdt('libxext') }}
+    - {{ cdt('libxcb') }}
+    - {{ cdt('libxfixes') }}
+    - {{ cdt('libxau') }}
+    - {{ cdt('expat') }}  {% endraw %}{% endif %}
+
+  host:
+{# List all dependencies just a host. Run dependenencies should be correctly set by run_exports #}
+{% 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 #}
+{% if require_opengl_linux %}    - xorg-libxfixes {% endif %}
+{# Handle the constraint of macos >= 10.13 #}
+  run:
+    - __osx >={{ MACOSX_DEPLOYMENT_TARGET|default("10.9") }}  # [osx and x86_64]
+
+about:
+  home: https://github.com/{{ github_repo }}
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index aa06ed877..5459f457f 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -4,6 +4,11 @@
 
 [`conda-forge`](https://conda-forge.org/)  is a community-mantained channel for the `conda` package manager that provides many dependencies useful for scientific software, in particular all the one that are required by the robotology-superbuild .
 
+## Table of Contents
+* [conda-forge overview](#conda-forge-overview)
+* [Binary installation](#binary-installation)
+* [Source installation](#source-installation)
+
 ## conda-forge overview
 
 The **advantages** of the use of conda and conda-forge are: 
@@ -18,24 +23,66 @@ The **advantages** of the use of conda and conda-forge are:
 The **disadvantages**  of conda and conda-forge are:
 * **Not compatible with dependencies installed by other package managers:** As conda-forge provides all the software it installs without using almost anything from the system, you cannot mix libraries installed by other package managers (such as `apt` or `homebrew`). If you have a dependency
   that is only provided by `apt` and is not available in `conda-forge`, then you should install all the dependencies that you want to use from `apt`. 
-* **No Debug version of C++ libraries on Windows:** as other package managers such as `apt` or `homebrew`, a part from some small exceptions conda-forge only ships the version of the libraries compiled as shared library and in `Release` compilation mode. This is not a big problem on Linux or macOS, where executables compiled in `Debug` can link libraries compiled in `Release`, but is more problematic on Windows, where this is not possible. When you are using conda-forge libraries on Windows, you can't compile your executable in `Debug` mode, but only in `Release` or `RelWithDebInfo` mode. If you stricly need to also have the `Debug` version of the libraries, the [`vcpkg`](https://github.com/microsoft/vcpkg) package manager may be more useful for oyu. 
+* **No Debug version of C++ libraries on Windows:** as other package managers such as `apt` or `homebrew`, a part from some small exceptions conda-forge only ships the version of the libraries compiled as shared library and in `Release` compilation mode. This is not a big problem on Linux or macOS, where executables compiled in `Debug` can link libraries compiled in `Release`, but is more problematic on Windows, where this is not possible. When you are using conda-forge libraries on Windows, you can't compile your executable in `Debug` mode, but only in `Release` or `RelWithDebInfo` mode. If you stricly need to also have the `Debug` version of the libraries, the [`vcpkg`](https://github.com/microsoft/vcpkg) package manager may be more useful for you.
 
-## Source installation
+## Binary installation
 
-This section describes how to compile and install the robotology-superbuild with conda-forge provided dependencies on Windows, macOS and Linux. 
+This section describes how to compile and install the binary packages built from the robotology-superbuild on conda on Windows, macOS and Linux. 
+The binary packages are hosted in the [`robotology` conda channel](https://anaconda.org/robotology) . Only packages that are built as part of the profiles and options that are supported on Conda (see [documentation on profiles](profiles.md)) are available as conda binary packages in the `robotology` channel. 
 
 ### Install a conda distribution
 If you do not have a conda distribution on your system, we suggest to use the minimal 
 [`miniforge3`](https://github.com/conda-forge/miniforge#miniforge3) distribution, that uses `conda-forge` packages by default, following the instructions in our [`install-miniforge`](install-miniforge.md) documentation. 
 
-After you installed it, make sure that you can execute the `conda info` package from your terminal, and its output is similar to:
+### Create an environment 
+Differently from `apt` and `homebrew`, the `conda` package manager is an `environment`-oriented package manager, meaning that packages are not 
+installed in some global location, but rather you install packages in an `environment` (that is just a directory in your filesystem), so that you
+can easily have multiple different environments with different packages installed on your system. To read more about this, check https://docs.conda.io/projects/conda/en/4.6.1/user-guide/tasks/manage-environments.html .
+
+For this reason, to use the robotology conda packages it is suggested to first create a conda environment, and then install in it all the packages you want to use. To create a new environment called `robotologyenv`, execute the following command:
+~~~
+conda create -n robotologyenv
+~~~
+
+Once you created the `robotologyenv` environment, you can "activate" it for the current terminal (i.e. make sure that the installed packages can be found) by the command:
+~~~
+conda activate robotologyenv
+~~~
+
+**IMPORTANT: if you open a new terminal, you need to manually activate the environment also there.**
+
+### Install robotology packages
+
+Once you are in an activated environment, you can install robotology packages by just running the command:
+~~~
+conda install -c robotology <packagename>
+~~~
+
+The list of available packages is available at https://anaconda.org/robotology/repo . 
+
+For example, if you want to install yarp and icub-main, you simple need to install:
+~~~
+conda install -c robotology yarp icub-main
+~~~
+
+In addition, if you want to simulate the iCub in Gazebo, you should also install `icub-models` and `gazebo-yarp-plugins`:
+~~~
+conda install -c robotology gazebo-yarp-plugins icub-models
 ~~~
-$ conda info
 
-     active environment : None
-[...]
+If you want to develop some C++ code on the top of these libraries, it is recommended to also install the necessary compiler and development tools directly in the same environment:
+~~~
+conda install compilers cmake pkg-config make ninja
 ~~~
 
+## Source installation
+
+This section describes how to compile and install the robotology-superbuild with conda-forge provided dependencies on Windows, macOS and Linux. 
+
+### Install a conda distribution
+If you do not have a conda distribution on your system, we suggest to use the minimal 
+[`miniforge3`](https://github.com/conda-forge/miniforge#miniforge3) distribution, that uses `conda-forge` packages by default, following the instructions in our [`install-miniforge`](install-miniforge.md) documentation. 
+
 Also other conda distributions should be supported, you just will need to manually specify to use the `conda-forge` packages by adding `-c conda-forge` 
 to all `conda install` commands.
 
diff --git a/doc/conda-recipe-generation.md b/doc/conda-recipe-generation.md
new file mode 100644
index 000000000..16603a7b6
--- /dev/null
+++ b/doc/conda-recipe-generation.md
@@ -0,0 +1,59 @@
+Conda Recipe Generation
+=======================
+
+## Rationale
+
+See the [documentation on conda-forge and the robotology-superbuild](conda-forge.md) for a general discussion on how the robotology-superbuild and conda can work together. 
+
+This document describes how to the internal machinery used to generate the conda recipes and then build conda binaries. If you just want to compile the robotology-superbuild from source using conda-forge dependendencies of you just want to install conda binary packages from the `robotology` conda channel, you do not need to read this document, as the information in the [documentation on conda-forge and the robotology-superbuild](conda-forge.md) should be enough.
+
+## How to generate recipes
+
+To generate the conda recipes for a given configuration of the `robotology-superbuild`, configure the `robotology-superbuild` in a conda workspace (TODO: docs on this, for now check the GitHub Action CI). As the conda recipes are intendend to build release version of software, specify an option to get a specific release.
+
+After that, install the additional dependencies required for the recipe generation:
+~~~
+conda install pyyaml jinja2 conda-build ninja anaconda-client
+python -m pip install git+https://github.com/wolfv/multisheller.git@0cc03c68d0c68d2f9cf7b07ddb68afa531419a6d
+~~~
+
+Then, set the `ROBOTOLOGY_GENERATE_CONDA_RECIPES` CMake option to `ON` in the `robotology-superbuild` build. This will **deactivate** the usual logic
+for building projects of the `robotology-superbuild`, and instead will generate (at CMake configure time) conda recipes in `<build_dir>/conda/generated_recipes` for all the projects of the superbuild. If the configuration was concluded correctly, i.e. CMake configuration ended with:
+~~~
+-- To build the generated conda recipes, navigate to the directory and run conda build . in it.
+-- Configuring done
+-- Generating done
+-- Build files have been written to: C:/src/robotology-superbuild/build-conda
+~~~
+you can then build the generated recipes by moving in the `<build_dir>/conda/generated_recipes` directory and running either [`conda build .`](https://github.com/conda/conda-build) or [`boa .`](https://github.com/mamba-org/boa).
+
+Note that the generated recipes will depend on the specific configuration of the robotology-superbuild used, so enabling additional profiles will generate recipes
+for the packages contained in those profiles. For this reason, the generated recipes in general are not cross-platform. For example the recipes generated on `Linux` could contain Linux-specific CMake options passed to the projects, so may not be usable on Windows.
+If you want to obtain recipe that can be built on a given operating system, please generate them with the robotology-superbuild on that operating system.
+
+## Internals
+
+All the files necessary to generate the conda recipes are contained in the `conda` directory of the root source dir.
+
+In particular:
+
+### `conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake`
+This CMake scripts contain the logic to generate the recipes. The generation is articulated as follows.
+
+The `cmake/RobotologySuperbuildLogic.cmake` file, that contains the logic of which projects should be built,
+is run after redefining the `ycm_ep_helper` and `find_or_build_package` YCM functions, to extract the informations on name,
+versions, dependency and cmake options of subpackages. This information are combined with the conda-specific metadata specified
+in `conda/cmake/CondaGenerationOptions.cmake` (that contains information such as conda dependencies external to the `robotology-superbuild`)
+to generate the `<build_dir>/conda/robotology-superbuild-conda-metametadata.yaml` file.
+
+After that, the data in `<build_dir>/conda/robotology-superbuild-conda-metametadata.yaml` is used via the `conda/python/generate_conda_recipes_from_metadatadata.py`
+python script to generate the conda recipes.
+
+### `conda/recipe_template`
+
+This directory contains `Jinja2` templates for the files `meta.yaml`, `bld.bat` and `build.sh` that will be part of each generated recipe.
+
+### `conda/python/generate_conda_recipes_from_metadatadata.py`
+
+Python script that takes the `metametadata` file generated by the `generate_metametadata_file` CMake macro, and uses it to configure the
+`Jinja2` templates `conda/recipe_template` to generate the recipe for each specific package.
diff --git a/doc/developers-faqs.md b/doc/developers-faqs.md
index b3cbb1491..de37ca00c 100644
--- a/doc/developers-faqs.md
+++ b/doc/developers-faqs.md
@@ -57,3 +57,20 @@ you can disable the automatical update of the tags by adding its CMake name in t
 * Once the release is ready to be made, create a `releases/yyyy.mm` branch from `master`
 * On the branch `releases/yyyy.mm` modify the default value of the `ROBOTOLOGY_PROJECT_TAGS` CMake option to be `Custom` and of the `ROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE` to the point to the `yyyy.mm.yaml` file.
 * Create a new tag and release `vyyyy.mm` on the  `releases/yyyy.mm` branch
+
+
+## How to ensure that binary packages are correctly generated for a new package
+* If the package is already available in [`conda-forge`](https://conda-forge.org), then no binary should be created and the `conda-forge` version should be used. This is done by setting in the `Build<pkg>.cmake` file the `<pkg>_CONDA_PKG_NAME` variable to the name of the package in `conda-forge`, and setting to `ON` the `<pkg>_CONDA_PKG_CONDA_FORGE_OVERRIDE` variable. For an example of such package, see [Buildosqp.cmake](../cmake/Buildosqp.cmake).
+* If instead the package is not part of conda-forge, then it is appropriate to generate a binary package as part of the `robotology` channel, providing the following CMake options in the `Build<pkg>.cmake` file:
+
+| Variable | Meaning | Default Value |
+|:--------:|:-------:|:--------------:|
+| `<pkg>_CONDA_PKG_NAME`  | The name that will be used for the conda package name. The convention is to use lowercase names separated by dashes. | The name of the github repo of the package. | 
+| `<pkg>_CONDA_DEPENDENCIES` | The list of conda-forge dependencies required by this package. Note that dependencies managed by the robotology-superbuild should not be listed, as those are handled automatically. | The default value is empty. |
+
+For any doubt, double check the existing `Build<pkg>.cmake` files for inspiration.
+* If your package needs to set or modify some environment variables to work correctly, it should provide a pair of [multisheller](https://github.com/wolfv/multisheller) scripts named `<condaPkgName>_activate.msh` and `<condaPkgName>_deactivate.msh` in the `conda/multisheller` directory to describe how the environment should be modified. Refer to the existing scripts for more details.
+
+
+## How often are conda binary packages generated?
+* The conda binaries hosted in the [robotology conda channel](https://anaconda.org/robotology) are re-generated weekly by [`generate-conda-packages`](../.github/workflows/generate-conda-packages.yaml) GitHub Action CI job. At each new re-build, remember to bump the `CONDA_BUILD_NUMBER` in the [`conda/cmake/CondaGenerationOptions.cmake`](../conda/cmake/CondaGenerationOptions.cmake) file. The latest released version of the packages, as specified in the [`releases/latest.releases.yaml`](../releases/latest.releases.yaml) file is used to generate the binaries, that is in turn updated weekly automatically by the [`update-latest-releases`](../.github/workflows/update-latest-releases.yml) GitHub Action CI job. If you need to quickly generate a new binary for a new release, feel free to [open an issue to request that](https://github.com/robotology/robotology-superbuild/issues/new).
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 1e0d3bf0a..030068ca8 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -54,7 +54,7 @@ repositories:
   yarp-matlab-bindings:
     type: git
     url: https://github.com/robotology/yarp-matlab-bindings.git
-    version: v3.4.1
+    version: v3.4.2
   RobotTestingFramework:
     type: git
     url: https://github.com/robotology/robot-testing-framework.git