diff --git a/.github/workflows/macos-linux-pixi.yml b/.github/workflows/macos-linux-pixi.yml
new file mode 100644
index 00000000..de9d883b
--- /dev/null
+++ b/.github/workflows/macos-linux-pixi.yml
@@ -0,0 +1,75 @@
+name: CI - OSX/Linux via Pixi
+
+on:
+  push:
+    paths-ignore:
+      - 'doc/**'
+      - '.gitignore'
+      - '*.md'
+      - 'CHANGELOG.md'
+  pull_request:
+    paths-ignore:
+      - 'doc/'
+      - '.gitignore'
+      - '*.md'
+      - 'CHANGELOG.md'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  simple-mpc-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }}
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+        environment: [all]
+        build_type: [Release, Debug]
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v4
+      with:
+        path: .ccache
+        key: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-
+
+    - uses: prefix-dev/setup-pixi@v0.8.1
+      with:
+        pixi-version: v0.39.2
+        cache: true
+        environments: ${{ matrix.environment }}
+
+    - name: Build simple-mpc
+      shell: bash -l {0}
+      env:
+        CMAKE_BUILD_PARALLEL_LEVEL: 4
+        SIMPLE_MPC_BUILD_TYPE: ${{ matrix.build_type }}
+      run: |
+        pixi run -e ${{ matrix.environment }} test
+
+  check:
+    if: always()
+    name: check-macos-linux-pixi
+
+    needs:
+    - simple-mpc-pixi
+
+    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/include/simple-mpc/math-util.hpp b/include/simple-mpc/math-util.hpp
new file mode 100644
index 00000000..e4444da6
--- /dev/null
+++ b/include/simple-mpc/math-util.hpp
@@ -0,0 +1,25 @@
+#include <Eigen/Core>
+
+namespace simple_mpc
+{
+  namespace math
+  {
+
+    /// @note Backport from <pinocchio/math/matrix.hpp> in topic/simulation branch.
+    template<typename Matrix>
+    void make_symmetric(const Eigen::MatrixBase<Matrix> & mat, const int mode = Eigen::Upper)
+    {
+      if (mode == Eigen::Upper)
+      {
+        mat.const_cast_derived().template triangularView<Eigen::StrictlyLower>() =
+          mat.transpose().template triangularView<Eigen::StrictlyLower>();
+      }
+      else if (mode == Eigen::Lower)
+      {
+        mat.const_cast_derived().template triangularView<Eigen::StrictlyUpper>() =
+          mat.transpose().template triangularView<Eigen::StrictlyUpper>();
+      }
+    }
+
+  } // namespace math
+} // namespace simple_mpc
diff --git a/include/simple-mpc/robot-handler.hpp b/include/simple-mpc/robot-handler.hpp
index d5d21b63..c6b0aa19 100644
--- a/include/simple-mpc/robot-handler.hpp
+++ b/include/simple-mpc/robot-handler.hpp
@@ -130,7 +130,7 @@ namespace simple_mpc
     }
     size_t getFootNb(const std::string & foot_name) const
     {
-      return std::find(feet_names_.begin(), feet_names_.end(), foot_name) - feet_names_.begin();
+      return size_t(std::find(feet_names_.begin(), feet_names_.end(), foot_name) - feet_names_.begin());
     }
 
     const std::vector<FrameIndex> & getFeetIds() const
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 00000000..4ae659c8
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,7687 @@
+version: 6
+environments:
+  all:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/_x86_64-microarch-level-1-2_x86_64.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aligator-0.10.0-py311h42abf9d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.13-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-asl-1.0.0-h5888daf_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.1-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.4-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.8.0-h2b85faf_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.12.14-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.2-h3394656_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/casadi-3.6.7-py311hd13a426_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.10.1-h065aff2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.4.2-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.31.2-h74e3db0_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/coal-3.0.0-hd8ed1ab_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-python-3.0.0-py311h48d4333_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.1-py311hd18a35c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/crocoddyl-2.1.0-py311h1d1b899_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.8.0-h1a2810e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.27-h54b06d7_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.13.6-h5008d03_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/decorator-5.1.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.16-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.0-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigenpy-3.10.1-np20py311h2672b3f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.192-h7f4e02f_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.2.0-pyh6b898a9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/executing-2.1.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.4-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.0.2-h434a139_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.55.3-py311h2dc5d0c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.12.1-h267a509_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-13.3.0-h9576a4e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.3.0-hfea6d02_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-hc28eda2_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gdbm-1.18-h0a1914f_2.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-0.22.5-he02047a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-tools-0.22.5-he02047a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.8.8-h2d3e045_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.13-h59595ed_1003.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-13.3.0-h9576a4e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.3.0-hdbfa832_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.3.0-h6834431_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-9.0.0-hda332d3_1.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.0.0-pyhd8ed1ab_1.conda
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-8.30.0-pyh707e725_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-3.10.0-he073ed8_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.1-h166bdaf_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.7-py311hd18a35c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.16-hb7c19ff_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.43-h712a8e2_2.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hb9d3cd8_2.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp19.1-19.1.6-default_hb5137d0_0.conda
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diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 00000000..2caa64d4
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,72 @@
+[project]
+name = "simple-mpc"
+version = "0.1"
+channels = ["conda-forge"]
+description = "MPC schemes for locomotion"
+platforms = ["linux-64", "osx-arm64"]
+license = "BSD-2-Clause"
+license-file = "LICENSE"
+readme = "README.md"
+
+[build-dependencies]
+ccache = ">=4.9.1"
+cmake = ">=3.10"
+cxx-compiler = ">=1.7.0"
+ninja = ">=1.11"
+pkg-config = ">=0.29.2"
+
+[dependencies]
+libboost-python-devel = ">=1.80.0"
+python = "3.11"
+eigenpy = ">=3.10.1"
+aligator = ">=0.10"
+benchmark = ">=1.8.0"
+pytest = ">=8.3.0"
+matplotlib = ">=3.9"
+
+[activation]
+scripts = ["build_scripts/pixi/activation.sh"]
+
+[tasks]
+# We must avoid to set CMAKE_CXX_FLAGS because of WIN32
+# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478
+configure = { cmd = [
+  "CXXFLAGS=$ALIGATOR_CXX_FLAGS",
+  "cmake",
+  "-G",
+  "Ninja",
+  "-B",
+  "build",
+  "-S",
+  ".",
+  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
+  "-DCMAKE_BUILD_TYPE=$SIMPLE_MPC_BUILD_TYPE",
+  "-DBUILD_TESTING=ON",
+  "-DGENERATE_PYTHON_STUBS=ON",
+] }
+build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
+clean = { cmd = "rm -rf build" }
+test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
+  "build",
+] }
+
+[feature.lint]
+dependencies = { pre-commit = ">=3.6.2" }
+tasks = { lint = { cmd = "pre-commit run --all" } }
+
+[feature.py311.dependencies]
+python = "3.11.*"
+
+# Use clang on GNU/Linux.
+# We must use scripts instead of env to setup CC and CXX
+# to avoid cxx-compiler to overwrite them.
+[feature.clang]
+platforms = ["linux-64"]
+activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] }
+dependencies = { clangxx = "*" }
+
+[environments]
+default = { features = ["py311"], solve-group = "py311" }
+clang = { features = ["clang", "py311"] }
+lint = { features = ["lint"], solve-group = "py311" }
+all = { features = [], solve-group = "py311" }
diff --git a/tests/robot_handler.cpp b/tests/robot_handler.cpp
index 5af14f78..bb1bef9a 100644
--- a/tests/robot_handler.cpp
+++ b/tests/robot_handler.cpp
@@ -2,6 +2,7 @@
 #include <boost/test/unit_test.hpp>
 
 #include "simple-mpc/fwd.hpp"
+#include "simple-mpc/math-util.hpp"
 #include "simple-mpc/robot-handler.hpp"
 #include "test_utils.cpp"
 #include <pinocchio/algorithm/center-of-mass.hpp>
@@ -227,7 +228,7 @@ BOOST_AUTO_TEST_CASE(data_handler)
     pinocchio::computeJointJacobians(model, data);
     pinocchio::computeJointJacobiansTimeVariation(model, data, q, v);
     pinocchio::crba(model, data, q);
-    pinocchio::make_symmetric(data.M);
+    simple_mpc::math::make_symmetric(data.M);
     pinocchio::nonLinearEffects(model, data, q, v);
     pinocchio::dccrba(model, data, q, v);