diff --git a/.github/workflows/conda/environment_macos_linux.yml b/.github/workflows/conda/environment_macos_linux.yml
deleted file mode 100644
index 9673c1fe5b..0000000000
--- a/.github/workflows/conda/environment_macos_linux.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-name: pinocchio
-channels:
-  - conda-forge
-dependencies:
-  - eigen=3.4.0
-  - hpp-fcl
-  - numpy
-  - boost
-  - eigenpy
-  - urdfdom
-  - python
-  - cmake
-  - ccache
-  - pkg-config
-  - ninja
-  - llvm-openmp
-  - cxx-compiler
-  - meshcat-python
-  - casadi
-  - cppad<=20230000
-  - cppadcodegen
-  - pycppad
-  - matplotlib
-  - mpfr
-  - qhull
-  - qhull-static
-  - libsdformat
diff --git a/.github/workflows/conda/environment_windows.yml b/.github/workflows/conda/environment_windows.yml
deleted file mode 100644
index 99569b5795..0000000000
--- a/.github/workflows/conda/environment_windows.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: pinocchio-windows
-channels:
-  - conda-forge
-dependencies:
-  - eigen=3.4.0
-  - hpp-fcl
-  - numpy
-  - boost
-  - eigenpy
-  - urdfdom
-  - python
-  - cmake
-  - ccache
-  - pkg-config
-  - ninja
-  - cxx-compiler
-  - meshcat-python
-  - casadi
-  - cppad<=20230000
-  - cppadcodegen
-  - pycppad
-  - matplotlib
-  - mpfr
-  - qhull
-  - libsdformat
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-windows-pixi.yml
similarity index 68%
rename from .github/workflows/macos-linux-conda.yml
rename to .github/workflows/macos-linux-windows-pixi.yml
index b14fa92fdd..0951d7ccb6 100644
--- a/.github/workflows/macos-linux-conda.yml
+++ b/.github/workflows/macos-linux-windows-pixi.yml
@@ -1,4 +1,4 @@
-name: CI - OSX/Linux via Conda
+name: CI - MacOS/Linux/Windows via Pixi
 
 on:
   schedule:
@@ -28,8 +28,8 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  pinocchio-conda:
-    name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} with Conda
+  pinocchio-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.compiler }}
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
@@ -41,16 +41,27 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-latest, macos-latest]
+        os: [ubuntu-latest, macos-latest, macos-13]
+        environment: [all, all-py39]
         build_type: [Release, Debug]
-        python-version: ['3.8', '3.12']
 
         include:
+          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: ubuntu-latest
             BUILD_ADVANCED_TESTING: OFF
-          # Disable BUILD_ADVANCED_TESTING as the test can take many time to run
           - os: macos-latest
             BUILD_ADVANCED_TESTING: OFF
+          - os: macos-13
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+          - os: windows-latest
+            environment: all-clang-cl
+            build_type: Release
+            BUILD_ADVANCED_TESTING: OFF
+
 
     steps:
       # extract branch name or checkout devel branch for scheduled events
@@ -71,18 +82,16 @@ jobs:
       - uses: actions/cache@v4
         with:
           path: .ccache
-          save-always: true
           key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-${{ github.sha }}
           restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.python-version }}-
 
-      - uses: conda-incubator/setup-miniconda@v3
+      - uses: prefix-dev/setup-pixi@v0.8.1
         with:
-          activate-environment: pinocchio-linux
-          auto-update-conda: true
-          environment-file: .github/workflows/conda/environment_macos_linux.yml
-          python-version: ${{ matrix.python-version }}
-          auto-activate-base: false
+          pixi-version: v0.33.0
+          cache: true
+          environments: ${{ matrix.environment }}
 
+      # Avoid filling all disk space with debug symbols
       - name: Setup CMAKE_TOOLCHAIN_FILE
         if: (contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')) && contains(matrix.build_type, 'Debug')
         run: |
@@ -99,38 +108,29 @@ jobs:
             await script({github, context, core})
           result-encoding: string
 
-      - name: Build Pinocchio
-        shell: bash -el {0}
+      - name: Build Pinocchio [MacOS/Linux/Windows]
+        env:
+          CMAKE_BUILD_PARALLEL_LEVEL: 2
+          PINOCCHIO_BUILD_TYPE: ${{ matrix.build_type }}
         run: |
-          conda list
-          echo $CONDA_PREFIX
-
-          mkdir build
-          cd build
-
-          cmake .. \
-            -G "Ninja" \
-            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-            -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          # Launch configure but overwrite default options
+          pixi run -e ${{ matrix.environment }} configure \
             -DBUILD_ADVANCED_TESTING=${{ env.BUILD_ADVANCED_TESTING }} \
             ${{ steps.get_labels.outputs.cmakeFlags }}
-          cmake --build . -j2
-          ctest --output-on-failure
-          cmake --install .
+          pixi run -e ${{ matrix.environment }} cmake --build build --target all
+          pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
+          pixi run -e ${{ matrix.environment }} cmake --install build
 
       - name: Uninstall Pinocchio
-        shell: bash -el {0}
         run: |
-          cd build
-          cmake --build . --target uninstall
+          cmake --build build --target uninstall
 
   check:
     if: always()
-    name: check-macos-linux-conda
+    name: check-macos-linux-windows-pixi
 
     needs:
-      - pinocchio-conda
+      - pinocchio-pixi
 
     runs-on: Ubuntu-latest
 
diff --git a/.github/workflows/windows-conda.yml b/.github/workflows/windows-conda.yml
deleted file mode 100644
index 85469f9306..0000000000
--- a/.github/workflows/windows-conda.yml
+++ /dev/null
@@ -1,145 +0,0 @@
-name: CI - Windows via Conda
-on:
-  schedule:
-    - cron: '0 0 * * 1'
-  push:
-    paths-ignore:
-      - doc/**
-      - .gitlab-ci.yml
-      - .gitignore
-      - '*.md'
-      - CITATION.*
-      - COPYING.LESSER
-      - colcon.pkg
-      - .pre-commit-config.yaml
-  pull_request:
-    paths-ignore:
-      - doc/**
-      - .gitlab-ci.yml
-      - .gitignore
-      - '*.md'
-      - CITATION.*
-      - COPYING.LESSER
-      - colcon.pkg
-      - .pre-commit-config.yaml
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  build:
-    name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda
-    runs-on: ${{ matrix.os }}
-    env:
-      CCACHE_BASEDIR: ${GITHUB_WORKSPACE}
-      CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache
-      CCACHE_COMPRESS: true
-      CCACHE_COMPRESSLEVEL: 5
-
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [windows-2019]
-        compiler: [cl, clang-cl]
-
-    steps:
-      # Extract branch name or set 'devel' branch for scheduled events
-      - name: Get branch name or checkout devel
-        shell: bash
-        run: |
-          if [ "$GITHUB_EVENT_NAME" == "schedule" ]; then
-            echo "BRANCH_NAME=devel" >> $GITHUB_ENV
-            echo "LABELS=build_all" >> $GITHUB_ENV
-          else
-            branchName=${GITHUB_REF#refs/heads/}
-            echo "BRANCH_NAME=$branchName" >> $GITHUB_ENV
-          fi
-
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ env.BRANCH_NAME }}
-          submodules: recursive
-
-      - uses: actions/cache@v4
-        with:
-          path: .ccache
-          save-always: true
-          key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }}
-          restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-
-
-      - uses: conda-incubator/setup-miniconda@v3
-        with:
-          activate-environment: pinocchio
-          auto-update-conda: true
-          environment-file: .github/workflows/conda/environment_windows.yml
-          python-version: '3.10'
-          auto-activate-base: false
-
-      - name: Get Compilation Flags
-        id: get_labels
-        uses: actions/github-script@v7
-        env:
-          LABELS: ${{ env.LABELS }}
-        with:
-          script: |
-            const script = require('./.github/workflows/scripts/get_compilation_flags.js');
-            await script({github, context, core})
-          result-encoding: string
-
-      - name: Build Pinocchio
-        shell: cmd /C CALL {0}
-        run: |
-          :: Set compiler to use.
-          :: This must be done here and not in env since
-          :: cxx-compiler activation script set this variable
-          :: and is called before.
-          set CC=${{ matrix.compiler }}.exe
-          set CXX=${{ matrix.compiler }}.exe
-          echo Compiler set to: %CC%
-
-          call conda list
-
-          :: Create build directory
-          mkdir build
-          pushd build
-
-          :: Configure (Ninja use CC and CXX to determine the compiler)
-          cmake ^
-            -G "Ninja" ^
-            -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
-            -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
-            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
-            -DCMAKE_BUILD_TYPE=Release ^
-            ${{ steps.get_labels.outputs.cmakeFlags }} ^
-            ..
-
-          :: Build
-          cmake --build . -j2
-          if errorlevel 1 exit 1
-
-          :: Testing
-          ctest --output-on-failure
-          if errorlevel 1 exit 1
-
-          :: Install
-          cmake --install .
-
-          :: Test Python import
-          cd ..
-          python -c "import pinocchio"
-          if errorlevel 1 exit 1
-
-  check:
-    if: always()
-    name: check-windows-conda
-
-    needs:
-      - build
-
-    runs-on: Ubuntu-latest
-
-    steps:
-      - name: Decide whether the needed jobs succeeded or failed
-        uses: re-actors/alls-green@release/v1
-        with:
-          jobs: ${{ toJSON(needs) }}
diff --git a/pixi.toml b/pixi.toml
index 64238213ac..f693a4f929 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -43,6 +43,7 @@ configure = { cmd = [
   "build",
   "-S",
   ".",
+  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
   "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE",
   "-DGENERATE_PYTHON_STUBS=$PINOCCHIO_PYTHON_STUBS",
   "-DBUILD_WITH_COLLISION_SUPPORT=$PINOCCHIO_COLLISION_SUPPORT",