diff --git a/pixi.lock b/pixi.lock
index a5b806e..85974be 100644
--- a/pixi.lock
+++ b/pixi.lock
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+  size: 25436
+  timestamp: 1684965001294
+- kind: conda
+  name: pytest-repeat
+  version: 0.9.2
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/pytest-repeat-0.9.2-pyhd8ed1ab_0.conda
+  sha256: 3e1f0e333a9e5fdcc3ac5b61ef080c7505faec2626a0d44374118d10d597c7c5
+  md5: 2adb83b12c1c57dc515b153405feb6c9
+  depends:
+  - pytest >=3.6
+  - python >=3.7
+  license: MPL-2.0
+  license_family: MOZILLA
+  size: 10172
+  timestamp: 1696219876612
+- kind: conda
+  name: pytest-rerunfailures
+  version: '13.0'
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/pytest-rerunfailures-13.0-pyhd8ed1ab_0.conda
+  sha256: 1f9d937fcdaf7402f8e073fe5dad361d8aea44984f87ea4871a7e02975f26333
+  md5: a98ebdf693c6c7b4d128acd61655d785
+  depends:
+  - importlib-metadata >=1
+  - packaging >=17.1
+  - pytest >=7
+  - python >=3.7
+  - setuptools
+  license: MPL-2.0
+  license_family: OTHER
+  size: 17648
+  timestamp: 1700663731515
 - kind: conda
   name: python
   version: 3.11.8
@@ -3595,6 +4612,22 @@ packages:
   license: Python-2.0
   size: 30754113
   timestamp: 1708118457486
+- kind: conda
+  name: python-dateutil
+  version: 2.9.0
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-2.9.0-pyhd8ed1ab_0.conda
+  sha256: f3ceef02ac164a8d3a080d0d32f8e2ebe10dd29e3a685d240e38b3599e146320
+  md5: 2cf4264fffb9e6eff6031c5b6884d61c
+  depends:
+  - python >=3.7
+  - six >=1.5
+  license: Apache-2.0
+  license_family: APACHE
+  size: 222742
+  timestamp: 1709299922152
 - kind: conda
   name: python_abi
   version: '3.11'
@@ -3640,6 +4673,80 @@ packages:
   license_family: BSD
   size: 6755
   timestamp: 1695147711935
+- kind: conda
+  name: pywin32
+  version: '306'
+  build: py311h12c1d0e_2
+  build_number: 2
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/pywin32-306-py311h12c1d0e_2.conda
+  sha256: 79d942817bdaf384602113e5fcb9158dc45cae4044bed308918a5db97f141fdb
+  md5: 25df0fc55722ea1a94494f41302e2d1c
+  depends:
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: PSF-2.0
+  license_family: PSF
+  size: 6124285
+  timestamp: 1695974706892
+- kind: conda
+  name: pyyaml
+  version: 6.0.1
+  build: py311h2725bcf_1
+  build_number: 1
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/pyyaml-6.0.1-py311h2725bcf_1.conda
+  sha256: 8ce2ba443414170a2570514d0ce6d03625a847e91af9763d48dc58c338e6f7f3
+  md5: 9283f991b5e5856a99f8aabba9927df5
+  depends:
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - yaml >=0.2.5,<0.3.0a0
+  license: MIT
+  license_family: MIT
+  size: 188606
+  timestamp: 1695373840022
+- kind: conda
+  name: pyyaml
+  version: 6.0.1
+  build: py311h459d7ec_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/pyyaml-6.0.1-py311h459d7ec_1.conda
+  sha256: 28729ef1ffa7f6f9dfd54345a47c7faac5d34296d66a2b9891fb147f4efe1348
+  md5: 52719a74ad130de8fb5d047dc91f247a
+  depends:
+  - libgcc-ng >=12
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - yaml >=0.2.5,<0.3.0a0
+  license: MIT
+  license_family: MIT
+  size: 200626
+  timestamp: 1695373818537
+- kind: conda
+  name: pyyaml
+  version: 6.0.1
+  build: py311ha68e1ae_1
+  build_number: 1
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.1-py311ha68e1ae_1.conda
+  sha256: 4fb0770fc70381a8ab3ced33413ad9dc5e82d4c535b593edd580113ce8760298
+  md5: 2b4128962cd665153e946f2a88667a3b
+  depends:
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  - yaml >=0.2.5,<0.3.0a0
+  license: MIT
+  license_family: MIT
+  size: 175469
+  timestamp: 1695374086205
 - kind: conda
   name: readline
   version: '8.2'
@@ -3794,6 +4901,21 @@ packages:
   license: Zlib
   size: 1369406
   timestamp: 1701816620021
+- kind: conda
+  name: setuptools
+  version: 69.1.1
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.1.1-pyhd8ed1ab_0.conda
+  sha256: 7a6dca60efcaa42d0ebb784950bc16230a968256cb5048a4441cb34653b5ec58
+  md5: 576de899521b7d43674ba3ef6eae9142
+  depends:
+  - python >=3.8
+  license: MIT
+  license_family: MIT
+  size: 469644
+  timestamp: 1708702431036
 - kind: conda
   name: sigtool
   version: 0.1.3
@@ -3808,6 +4930,21 @@ packages:
   license_family: MIT
   size: 213817
   timestamp: 1643442169866
+- kind: conda
+  name: six
+  version: 1.16.0
+  build: pyh6c4a22f_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/six-1.16.0-pyh6c4a22f_0.tar.bz2
+  sha256: a85c38227b446f42c5b90d9b642f2c0567880c15d72492d8da074a59c8f91dd6
+  md5: e5f25f8dbc060e9a8d912e432202afc2
+  depends:
+  - python
+  license: MIT
+  license_family: MIT
+  size: 14259
+  timestamp: 1620240338595
 - kind: conda
   name: sysroot_linux-64
   version: '2.12'
@@ -3948,6 +5085,36 @@ packages:
   license_family: BSD
   size: 3318875
   timestamp: 1699202167581
+- kind: conda
+  name: toml
+  version: 0.10.2
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/toml-0.10.2-pyhd8ed1ab_0.tar.bz2
+  sha256: f0f3d697349d6580e4c2f35ba9ce05c65dc34f9f049e85e45da03800b46139c1
+  md5: f832c45a477c78bebd107098db465095
+  depends:
+  - python >=2.7
+  license: MIT
+  license_family: MIT
+  size: 18433
+  timestamp: 1604308660817
+- kind: conda
+  name: tomli
+  version: 2.0.1
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/tomli-2.0.1-pyhd8ed1ab_0.tar.bz2
+  sha256: 4cd48aba7cd026d17e86886af48d0d2ebc67ed36f87f6534f4b67138f5a5a58f
+  md5: 5844808ffab9ebdb694585b50ba02a96
+  depends:
+  - python >=3.7
+  license: MIT
+  license_family: MIT
+  size: 15940
+  timestamp: 1644342331069
 - kind: conda
   name: tzdata
   version: 2024a
@@ -4039,6 +5206,23 @@ packages:
   license_family: Proprietary
   size: 749868
   timestamp: 1702511239004
+- kind: conda
+  name: vcstool
+  version: 0.3.0
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/vcstool-0.3.0-pyhd8ed1ab_0.tar.bz2
+  sha256: ec3085cf6f19a8b396106bb818f58dcc007db641b30651de803c2085d2304d02
+  md5: df3532b78514a3bf74707b3ba646a866
+  depends:
+  - python >=3.6
+  - pyyaml
+  - setuptools
+  license: Apache-2.0
+  license_family: Apache
+  size: 33393
+  timestamp: 1628498742394
 - kind: conda
   name: vs2015_runtime
   version: 14.38.33130
@@ -4374,6 +5558,50 @@ packages:
   license: LGPL-2.1 and GPL-2.0
   size: 217804
   timestamp: 1660346976440
+- kind: conda
+  name: yaml
+  version: 0.2.5
+  build: h0d85af4_2
+  build_number: 2
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/yaml-0.2.5-h0d85af4_2.tar.bz2
+  sha256: 5301417e2c8dea45b401ffee8df3957d2447d4ce80c83c5ff151fc6bfe1c4148
+  md5: d7e08fcf8259d742156188e8762b4d20
+  license: MIT
+  license_family: MIT
+  size: 84237
+  timestamp: 1641347062780
+- kind: conda
+  name: yaml
+  version: 0.2.5
+  build: h7f98852_2
+  build_number: 2
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
+  sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
+  md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
+  depends:
+  - libgcc-ng >=9.4.0
+  license: MIT
+  license_family: MIT
+  size: 89141
+  timestamp: 1641346969816
+- kind: conda
+  name: yaml
+  version: 0.2.5
+  build: h8ffe710_2
+  build_number: 2
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/yaml-0.2.5-h8ffe710_2.tar.bz2
+  sha256: 4e2246383003acbad9682c7c63178e2e715ad0eb84f03a8df1fbfba455dfedc5
+  md5: adbfb9f45d1004a26763652246a33764
+  depends:
+  - vc >=14.1,<15.0a0
+  - vs2015_runtime >=14.16.27012
+  license: MIT
+  license_family: MIT
+  size: 63274
+  timestamp: 1641347623319
 - kind: conda
   name: ycm-cmake-modules
   version: 0.16.2
@@ -4419,6 +5647,21 @@ packages:
   license_family: BSD
   size: 141935
   timestamp: 1703085317380
+- kind: conda
+  name: zipp
+  version: 3.17.0
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/zipp-3.17.0-pyhd8ed1ab_0.conda
+  sha256: bced1423fdbf77bca0a735187d05d9b9812d2163f60ab426fc10f11f92ecbe26
+  md5: 2e4d6bc0b14e10f895fc6791a7d9b26a
+  depends:
+  - python >=3.8
+  license: MIT
+  license_family: MIT
+  size: 18954
+  timestamp: 1695255262261
 - kind: conda
   name: zlib
   version: 1.2.13
diff --git a/pixi.toml b/pixi.toml
index 3abf1e1..6d98a97 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -13,30 +13,16 @@ platforms = ["linux-64", "win-64", "osx-64"]
 # is released
 
 [activation]
-scripts = ["set_install_prefix.sh"]
+scripts = ["pixi_activation.sh"]
 
 [target.win-64.activation]
-scripts = ["set_install_prefix.bat"]
+scripts = ["pixi_activation.bat"]
 
 
 [tasks]
 
-download_yarp = { cmd = "git clone https://github.com/robotology/yarp .pixi_src_yarp && cd .pixi_src_yarp && git checkout e3ec363c0af7469fcb2c218c356844b8d6bbb1c5" }
-download_icub_main = { cmd = "git clone https://github.com/robotology/icub-main .pixi_src_icub_main && cd .pixi_src_icub_main && git checkout v2.5.0" }
-download_ergocub_software = { cmd = "git clone https://github.com/icub-tech-iit/ergocub-software .pixi_src_ergocub_software && cd .pixi_src_ergocub_software && git checkout v0.7.1" }
-download_deps = {cmd = "echo Downloaded all deps", depends_on = ["download_yarp", "download_icub_main", "download_ergocub_software"]}
-
-configure_yarp = { cmd = "cmake -DCMAKE_BUILD_TYPE=Release  -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON -DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX -GNinja -S.pixi_src_yarp -B.build_yarp" }
-build_yarp = { cmd = "cmake --build .build_yarp --config Release", depends_on = ["configure_yarp"] }
-install_yarp = { cmd = ["cmake", "--install", ".build_yarp", "--config", "Release"], depends_on = ["build_yarp"] }
-configure_icub_main = { cmd = "cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX -GNinja -S.pixi_src_icub_main -B.build_icub_main", depends_on = "install_yarp" }
-build_icub_main = { cmd = "cmake --build .build_icub_main --config Release", depends_on = ["configure_icub_main"] }
-install_icub_main = { cmd = ["cmake", "--install", ".build_icub_main", "--config", "Release"], depends_on = ["build_icub_main"] }
-configure_ergocub_software = { cmd = "cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX -GNinja -S.pixi_src_ergocub_software -B.build_ergocub_software", depends_on = "install_yarp" }
-build_ergocub_software = { cmd = "cmake --build .build_ergocub_software --config Release", depends_on = ["configure_ergocub_software"] }
-install_ergocub_software = { cmd = ["cmake", "--install", ".build_ergocub_software", "--config", "Release"], depends_on = ["build_ergocub_software"] }
-install_deps = {cmd = "echo Installed all deps", depends_on = ["install_yarp", "install_icub_main", "install_ergocub_software"]}
-
+download_deps = {cmd = "echo Download all deps && mkdir -p ./.pixi_colcon_ws/src && vcs import --input ./pixi_source_deps.yaml ./.pixi_colcon_ws/src"}
+install_deps = {cmd = "echo Install all deps && cd .pixi_colcon_ws && colcon build --metas ../pixi_source_deps_options.meta --event-handlers console_direct+ --merge-install --install-base $CMAKE_INSTALL_PREFIX"}
 
 configure = { cmd = [
     "cmake",
@@ -67,8 +53,11 @@ cxx-compiler = "*"
 ninja = "*"
 pkg-config = "*"
 eigen = "*"
-# For tests
+# YARP from source dependencies
 ace = "*"
 ycm-cmake-modules = "*"
 catch2 = "*"
 tinyxml = "*"
+# Used to download and build dependencies from source
+colcon-common-extensions = "*"
+vcstool = "*"
diff --git a/set_install_prefix.bat b/pixi_activation.bat
similarity index 62%
rename from set_install_prefix.bat
rename to pixi_activation.bat
index 15e6442..962e7a4 100644
--- a/set_install_prefix.bat
+++ b/pixi_activation.bat
@@ -1,2 +1,4 @@
 set CMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library
+set CMAKE_PREFIX_PATH=%CMAKE_INSTALL_PREFIX%;%CMAKE_PREFIX_PATH%
+set PYTHONPATH=""
 set YARP_DATA_DIRS=%CMAKE_INSTALL_PREFIX%\share\yarp;%CMAKE_INSTALL_PREFIX%\share\ergoCub
diff --git a/set_install_prefix.sh b/pixi_activation.sh
similarity index 61%
rename from set_install_prefix.sh
rename to pixi_activation.sh
index 377c92c..06f5676 100644
--- a/set_install_prefix.sh
+++ b/pixi_activation.sh
@@ -1,2 +1,4 @@
 export CMAKE_INSTALL_PREFIX=$CONDA_PREFIX
+export CMAKE_PREFIX_PATH=$CMAKE_INSTALL_PREFIX:$CMAKE_PREFIX_PATH
+export PYTHONPATH=
 export YARP_DATA_DIRS=$CMAKE_INSTALL_PREFIX/share/yarp:$CMAKE_INSTALL_PREFIX/share/ergoCub
diff --git a/pixi_source_deps.yaml b/pixi_source_deps.yaml
new file mode 100644
index 0000000..4cdf9ef
--- /dev/null
+++ b/pixi_source_deps.yaml
@@ -0,0 +1,13 @@
+repositories:
+  YARP:
+    type: git
+    url: https://github.com/robotology/yarp.git
+    version: e3ec363c0af7469fcb2c218c356844b8d6bbb1c5
+  ICUB:
+    type: git
+    url: https://github.com/robotology/icub-main.git
+    version: v2.5.0
+  ergocub-software:
+    type: git
+    url: https://github.com/icub-tech-iit/ergocub-software.git
+    version: v0.7.1
diff --git a/pixi_source_deps_options.meta b/pixi_source_deps_options.meta
new file mode 100644
index 0000000..7983ebf
--- /dev/null
+++ b/pixi_source_deps_options.meta
@@ -0,0 +1,21 @@
+{
+    "names":
+    {
+        "YARP" :
+        {
+            "cmake-args": [
+                "-DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON",
+                "-DYARP_COMPILE_GUIS=OFF"
+            ]
+        },
+        "ICUB" :
+        {
+            "cmake-args": [
+                "-DBUILD_SHARED_LIBS=ON",
+                "-DICUBMAIN_COMPILE_CORE=OFF",
+                "-DICUBMAIN_COMPILE_TOOLS=OFF",
+                "-DICUBMAIN_COMPILE_MODULES=OFF"
+            ]
+        }
+    }
+}