diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 18a69df8a..7ec91154b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -84,7 +84,7 @@ jobs:
       shell: bash -l {0}
       run: |
         # Dependencies
-        conda install ace asio assimp boost cli11 eigen freetype gazebo gz-sim8 glew glfw glm graphviz gsl "ipopt>=3.13.0" irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json qhull "pcl>=1.11.1" vtk "libopencv>=4.10.0" opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib "ffmpeg==6.*" onnxruntime-cpp "qt6-main>=6.7.2"
+        conda install ace asio assimp libboost-devel cli11 eigen freetype gazebo gz-sim8 glew glfw glm graphviz gsl "ipopt>=3.13.0" irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json qhull "pcl>=1.11.1" vtk "libopencv>=4.10.0" opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp "qt6-main>=6.7.2"
         # Python
         conda install python numpy swig pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad pyqtwebengine qtpy pyyaml
 
@@ -95,8 +95,8 @@ jobs:
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        conda 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
-
+        conda install 
+        
     # Additional dependencies useful only on Windows
     - name: Dependencies [Conda/Windows]
       if: contains(matrix.os, 'windows')
diff --git a/conda/cmake_recipe_template/meta.yaml b/conda/cmake_recipe_template/meta.yaml
index 717f1feee..fd2c11524 100644
--- a/conda/cmake_recipe_template/meta.yaml
+++ b/conda/cmake_recipe_template/meta.yaml
@@ -26,10 +26,6 @@ requirements:
     - ninja
 {% for build_dep in build_dependencies_explicit %}    - {{ build_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 #}
-{% if require_opengl_linux %}{% raw %}    - {{ cdt('mesa-libgl-devel') }}
-    - {{ cdt('mesa-dri-drivers') }}
-    - {{ cdt('libselinux') }}  {% endraw %}{% endif %}
 
 
   host:
@@ -46,7 +42,8 @@ requirements:
     - xorg-libxau
     - libxcb
     - xorg-libxrandr 
-    - xorg-libxfixes {% endif %}
+    - xorg-libxfixes 
+    - libgl-devel  {% endif %}
 {# Handle the constraint of macos >= 10.13 #}
   run:
     - __osx >={{ MACOSX_DEPLOYMENT_TARGET|default("10.9") }}  # [osx and x86_64]
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index aec76bdd7..2c5e1504b 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -150,18 +150,13 @@ of the robotology-superbuild.
 Once you activated it, you can install packages in it. In particular the dependencies for the robotology-superbuild can be installed as:
 
 ~~~
-conda install -c conda-forge ace asio assimp boost cli11 eigen freetype glew glfw glm graphviz gsl "ipopt>3.13.0" irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json qhull "pcl>=1.11.1" "libopencv>=4.10.0" opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib "ffmpeg==6.*" onnxruntime-cpp
+conda install -c conda-forge ace asio assimp libboost-devel cli11 eigen freetype glew glfw glm graphviz gsl "ipopt>3.13.0" irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json qhull "pcl>=1.11.1" "libopencv>=4.10.0" opencv portaudio qt-main sdl sdl2 sqlite tinyxml tinyxml2 spdlog lua soxr qhull cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg onnxruntime-cpp
 ~~~
 
 
-**Additionally** if you are on **Linux x86-64**, you **also** need to install also the following packages:
+**Additionally** if you are on **Linux**, you **also** need to install also the following packages:
 ~~~
-conda 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
-~~~
-
-**Additionally** if you are on **Linux ARM 64-bit**, you **also** need to install also the following packages:
-~~~
-conda 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
+conda install -c conda-forge bash-completion freeglut libdc1394 libi2c xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr libgl-devel
 ~~~
 
 **Additionally** if you are on **Windows**, you **also** need to install also the following packages:
diff --git a/pixi.toml b/pixi.toml
index 2ad0865c7..14fbeef34 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -96,7 +96,7 @@ pkg-config = "*"
 ace = "*"
 asio = "*"
 assimp = "*"
-boost = "*"
+libboost-devel = "*"
 cli11 = "*"
 eigen = "*"
 freetype = "*"
@@ -128,7 +128,7 @@ lua = "*"
 soxr = "*"
 tomlplusplus = "*"
 libzlib = "*"
-ffmpeg = "6.*"
+ffmpeg = "*"
 onnxruntime-cpp = "*"
 vtk = "*"
 
@@ -168,14 +168,14 @@ bash-completion = "*"
 freeglut = "*"
 libdc1394 = "*"
 libi2c = "*"
-mesa-libgl-devel-cos7-x86_64 = "*"
+libgl-devel = "*"
 
 [target.linux-aarch64.dependencies]
 bash-completion = "*"
 freeglut = "*"
 libdc1394 = "*"
 libi2c = "*"
-mesa-libgl-cos7-aarch64 = "*"
+libgl-devel = "*"
 
 [feature.base.dependencies]
 # These additional constraints are incompatible with robostack