diff --git a/.github/workflows/test-pixi.yml b/.github/workflows/test-pixi.yml
index c44de32..a577985 100644
--- a/.github/workflows/test-pixi.yml
+++ b/.github/workflows/test-pixi.yml
@@ -6,7 +6,7 @@ on:
 
 jobs:
   pixi-test:
-    name: '[pixi:${{ matrix.os }}]'
+    name: '[pixi:${{ matrix.os }}:env:${{ matrix.pixi_env }}]'
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -17,6 +17,10 @@ jobs:
           # Disabled until https://github.com/robotology/gz-sim-yarp-plugins/issues/205 is fixed
           # windows-2019
         ]
+        pixi_env: [
+          default,
+          ionic
+        ]
 
     steps:
     - uses: actions/checkout@v4
@@ -39,4 +43,4 @@ jobs:
       run: pixi info
 
     - name: Run tests
-      run: pixi run test
+      run: pixi run -e ${{ matrix.pixi_env }} test
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54fc730..bfe254f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,15 +4,37 @@ project(gz-sim-yarp-plugins
         LANGUAGES CXX C
         VERSION 0.3.0)
 
-find_package(gz-cmake3 REQUIRED)
 find_package(YARP REQUIRED COMPONENTS robotinterface os)
 find_package(YCM REQUIRED)
 
-gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+# Initial value of GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION is empty, and then is set to 8 or 9 depending if gz-sim8 or gz-sim9 are available
+set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS "Version of gz-sim used to compile gz-sim-yarp-plugins (either 8 or 9)")
+set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS})
+
+# If GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION is not set, try to guess a suitable value
+# based on the gz-sim version that can be found in the system
+if(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "")
+    find_package(gz-sim8 QUIET)
+    if(gz-sim8_FOUND)
+        set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "8" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS} FORCE)
+    else()
+        find_package(gz-sim9 REQUIRED)
+        set(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION "9" CACHE STRING ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION_DOCS} FORCE)
+    endif()
+endif()
 
-gz_find_package(gz-sim8 REQUIRED)
-set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+if(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "8")
+    set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+    find_package(gz-plugin2 REQUIRED COMPONENTS register)
+    set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+elseif(GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION STREQUAL "9")
+    find_package(gz-sim9 REQUIRED)
+    set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+    find_package(gz-plugin3 REQUIRED COMPONENTS register)
+    set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
+else()
+    message(FATAL_ERROR "Unsupported GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION value ${GZ_SIM_YARP_PLUGINS_USED_GZ_SIM_VERSION}, only 8 or 9 are supported.")
+endif()
 
 option(GZ_SIM_YARP_PLUGINS_BUILD_TOOLS "If enabled, build command line helper tools" ON)
 
diff --git a/pixi.lock b/pixi.lock
index 0bd2988..09289da 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1311,6 +1311,1317 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/zlib-1.3.1-h2466b09_1.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.6-h0ea2cb4_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/zziplib-0.13.69-h3ca93ac_2.conda
+  ionic:
+    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/linux-64/ace-8.0.0-hac33072_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-auth-0.7.31-h57bd9a3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-cal-0.7.4-hfd43aa1_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.9.28-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-compression-0.2.19-h756ea98_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-event-stream-0.4.3-h29ce20c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-http-0.8.10-h5e77a74_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-io-0.14.18-h33ff4e5_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-mqtt-0.10.6-h02abb05_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-s3-0.6.6-h834ce55_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-sdkutils-0.1.19-h756ea98_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-checksums-0.1.20-h756ea98_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-crt-cpp-0.28.3-h469002c_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-sdk-cpp-1.11.407-h9f1560d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-core-cpp-1.13.0-h935415a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-identity-cpp-1.8.0-hd126650_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-blobs-cpp-12.12.0-hd2e3451_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/azure-storage-common-cpp-12.7.0-h10ac4d7_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/blis-0.9.0-h4ab18f5_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-hef167b5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h25a0e75_3.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-1.33.1-heb4867d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.8.0-h2b85faf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.0-hebfffa5_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cfitsio-4.4.1-hf8ad068_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-18-18.1.8-default_hf981a13_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-18.1.8-default_hf981a13_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.4.1-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.30.4-hf9cb763_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/collada-dom-2.5.0-h6e3624d_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.8.0-ha770c72_0.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/cppzmq-4.10.0-h2e2a08d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.8.0-h1a2810e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dartsim-cpp-6.14.5-h198e952_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.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/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/elfutils-0.191-h924a536_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.3-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fcl-0.7.0-hadc09e8_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fd-find-10.2.0-h8fae777_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-7.0.2-gpl_h8657690_705.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/flann-1.9.2-h54ed35b_1.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-2.14.2-h14ed4e7_0.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/fortran-compiler-1.8.0-h36df796_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freeglut-3.2.2-ha6d2627_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freeimage-3.18.0-h4bd6248_21.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/freexl-2.0.0-h743c826_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.10-h36c2ea0_0.tar.bz2
+      - 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
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+      - 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/geos-3.13.0-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/geotiff-1.7.3-h77b800c_3.conda
+      - 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
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/giflib-5.2.2-hd590300_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glfw-3.4-hd590300_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.82.1-h2ff4ddf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.82.1-h4833e2c_0.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-3.8.7-h32866dd_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/gst-plugins-base-1.24.7-h0a52356_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gstreamer-1.24.7-hf3bb09a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gtest-1.15.2-h434a139_0.conda
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+  license: Apache-2.0
+  size: 462249
+  timestamp: 1727813789418
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+  name: libgz-sensors9
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+  build: h944dae9_3
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+  url: https://conda.anaconda.org/conda-forge/win-64/libgz-sensors9-9.0.0-h944dae9_3.conda
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+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: Apache-2.0
+  size: 392478
+  timestamp: 1727814786190
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+  name: libgz-sensors9
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+  build: hcd0cff2_3
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libgz-sensors9-9.0.0-hcd0cff2_3.conda
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+  - libprotobuf >=4.25.3,<4.25.4.0a0
+  - libsdformat15 >=15.0.0,<16.0a0
+  - libstdcxx >=13
+  - ogre >=1.10.12.1,<1.11.0a0
+  license: Apache-2.0
+  size: 460249
+  timestamp: 1727813930043
 - kind: conda
   name: libgz-sim8
   version: 8.3.0
@@ -13522,6 +15937,153 @@ packages:
   license_family: APACHE
   size: 11710750
   timestamp: 1713970216414
+- kind: conda
+  name: libgz-sim9
+  version: 9.0.0
+  build: hb16c8d3_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libgz-sim9-9.0.0-hb16c8d3_0.conda
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+  - libgz-rendering9 >=9.0.0,<10.0a0
+  - libgz-sensors9 >=9.0.0,<10.0a0
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+  - libgz-transport14 >=14.0.0,<15.0a0
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+  - libprotobuf >=4.25.3,<4.25.4.0a0
+  - libsdformat15 >=15.0.0,<16.0a0
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+  - python_abi 3.12.* *_cp312
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+  - tinyxml2 >=10.0.0,<11.0a0
+  - xorg-libxfixes >=6.0.0,<7.0a0
+  license: Apache-2.0
+  size: 11229759
+  timestamp: 1727796278827
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+  build: hf2d66a4_0
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+  url: https://conda.anaconda.org/conda-forge/win-64/libgz-sim9-9.0.0-hf2d66a4_0.conda
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+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
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+  license: Apache-2.0
+  size: 10448020
+  timestamp: 1727797767830
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+  build: py312hc0bf31e_0
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libgz-sim9-9.0.0-py312hc0bf31e_0.conda
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+  - libgz-sensors9 >=9.0.0,<10.0a0
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+  - libgz-transport14 >=14.0.0,<15.0a0
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+  - libprotobuf >=4.25.3,<4.25.4.0a0
+  - libsdformat15 >=15.0.0,<16.0a0
+  - libstdcxx >=13
+  - pybind11-abi 4
+  - python >=3.12,<3.13.0a0 *_cpython
+  - python_abi 3.12.* *_cp312
+  - qt-main >=5.15.8,<5.16.0a0
+  - tinyxml2 >=10.0.0,<11.0a0
+  - xorg-libxfixes >=6.0.0,<7.0a0
+  license: Apache-2.0
+  size: 11161140
+  timestamp: 1727796736288
+- kind: conda
+  name: libgz-sim9
+  version: 9.0.0
+  build: py312he507933_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-sim9-9.0.0-py312he507933_0.conda
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+  - libgz-physics8 >=8.0.0,<9.0a0
+  - libgz-plugin3 >=3.0.0,<4.0a0
+  - libgz-rendering9 >=9.0.0,<10.0a0
+  - libgz-sensors9 >=9.0.0,<10.0a0
+  - libgz-tools2 >=2.0.1,<3.0a0
+  - libgz-transport14 >=14.0.0,<15.0a0
+  - libgz-utils3 >=3.0.0,<4.0a0
+  - libprotobuf >=4.25.3,<4.25.4.0a0
+  - libsdformat15 >=15.0.0,<16.0a0
+  - pybind11-abi 4
+  - python >=3.12,<3.13.0a0 *_cpython
+  - python_abi 3.12.* *_cp312
+  - qt-main >=5.15.8,<5.16.0a0
+  - tinyxml2 >=10.0.0,<11.0a0
+  license: Apache-2.0
+  size: 9784886
+  timestamp: 1727796864974
 - kind: conda
   name: libgz-tools2
   version: 2.0.1
@@ -13662,36 +16224,141 @@ packages:
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   - libabseil >=20240116.2,<20240117.0a0
   - libgcc >=13
-  - libgz-cmake3 >=3.5.3,<4.0a0
-  - libgz-msgs10 >=10.3.0,<11.0a0
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+  - libgz-msgs10 >=10.3.0,<11.0a0
+  - libgz-tools2 >=2.0.1,<3.0a0
+  - libgz-utils2 >=2.2.0,<3.0a0
+  - libprotobuf >=4.25.3,<4.25.4.0a0
+  - libsqlite >=3.46.1,<4.0a0
+  - libstdcxx >=13
+  - libuuid >=2.38.1,<3.0a0
+  - zeromq >=4.3.5,<4.4.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 648233
+  timestamp: 1725433722291
+- kind: conda
+  name: libgz-transport13
+  version: 13.4.0
+  build: ha6d6571_1
+  build_number: 1
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/libgz-transport13-13.4.0-ha6d6571_1.conda
+  sha256: f924b1d8004d33f545340fed32e1412023687484bf7499ce9b88e90eecbf4865
+  md5: 3a315921ee7971d51357c012dfa1168a
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+  - libprotobuf >=4.25.3,<4.25.4.0a0
+  - libsqlite >=3.46.1,<4.0a0
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+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  - zeromq >=4.3.5,<4.3.6.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 490664
+  timestamp: 1725434255009
+- kind: conda
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+  version: 14.0.0
+  build: h2790677_2
+  build_number: 2
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-transport14-14.0.0-h2790677_2.conda
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+  md5: c777f38f80b4021a1b5a686d6187daf4
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+  - libsqlite >=3.46.1,<4.0a0
+  - zeromq >=4.3.5,<4.4.0a0
+  license: Apache-2.0
+  size: 521757
+  timestamp: 1727786814896
+- kind: conda
+  name: libgz-transport14
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+  build: h42e8520_2
+  build_number: 2
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libgz-transport14-14.0.0-h42e8520_2.conda
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+  license: Apache-2.0
+  size: 642408
+  timestamp: 1727786716549
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+  build: h5edbe1f_2
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+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libgz-transport14-14.0.0-h5edbe1f_2.conda
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   - libgz-tools2 >=2.0.1,<3.0a0
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   - libsqlite >=3.46.1,<4.0a0
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   license: Apache-2.0
-  license_family: APACHE
-  size: 648233
-  timestamp: 1725433722291
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 - kind: conda
-  name: libgz-transport13
-  version: 13.4.0
-  build: ha6d6571_1
-  build_number: 1
+  name: libgz-transport14
+  version: 14.0.0
+  build: hc8978a5_2
+  build_number: 2
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/libgz-transport13-13.4.0-ha6d6571_1.conda
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-  md5: 3a315921ee7971d51357c012dfa1168a
+  url: https://conda.anaconda.org/conda-forge/win-64/libgz-transport14-14.0.0-hc8978a5_2.conda
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   depends:
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-  - libgz-msgs10 >=10.3.0,<11.0a0
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   - libgz-tools2 >=2.0.1,<3.0a0
-  - libgz-utils2 >=2.2.0,<3.0a0
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   - libprotobuf >=4.25.3,<4.25.4.0a0
   - libsqlite >=3.46.1,<4.0a0
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   - zeromq >=4.3.5,<4.3.6.0a0
   license: Apache-2.0
-  license_family: APACHE
-  size: 490664
-  timestamp: 1725434255009
+  size: 492190
+  timestamp: 1727787727823
 - kind: conda
   name: libgz-utils2
   version: 2.2.0
@@ -13772,6 +16438,84 @@ packages:
   license_family: APACHE
   size: 55324
   timestamp: 1724612768380
+- kind: conda
+  name: libgz-utils3
+  version: 3.0.0
+  build: h076fc8e_3
+  build_number: 3
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-utils3-3.0.0-h076fc8e_3.conda
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+  md5: 8fa2c15ec6a9ad2393ac6ff0891dcdea
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+  - cli11
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+  - spdlog >=1.14.1,<1.15.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 65341
+  timestamp: 1727635232668
+- kind: conda
+  name: libgz-utils3
+  version: 3.0.0
+  build: h5eaaa13_3
+  build_number: 3
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libgz-utils3-3.0.0-h5eaaa13_3.conda
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+  md5: fba303bdb75d787b93ae05ea1e1040cb
+  depends:
+  - cli11
+  - libgcc >=13
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - libstdcxx >=13
+  - spdlog >=1.14.1,<1.15.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 70643
+  timestamp: 1727635180081
+- kind: conda
+  name: libgz-utils3
+  version: 3.0.0
+  build: h6ea83cf_3
+  build_number: 3
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libgz-utils3-3.0.0-h6ea83cf_3.conda
+  sha256: 117fb7644e6660a0f0590cdb226f288f167a7f8787212d0ff6f89fccac0789df
+  md5: b9959df549dc2468661ded32a675b91e
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - cli11
+  - libgcc >=13
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - libstdcxx >=13
+  - spdlog >=1.14.1,<1.15.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 72412
+  timestamp: 1727635217839
+- kind: conda
+  name: libgz-utils3
+  version: 3.0.0
+  build: hb990982_3
+  build_number: 3
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/libgz-utils3-3.0.0-hb990982_3.conda
+  sha256: b12f8f48d81980bf924fa6c7c884158834c81599e0e5638597d1a8673c2c0be7
+  md5: 625e397b0ef07be94a4f25301147710b
+  depends:
+  - cli11
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - spdlog >=1.14.1,<1.15.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: Apache-2.0
+  license_family: APACHE
+  size: 68656
+  timestamp: 1727635669212
 - kind: conda
   name: libhwloc
   version: 2.11.1
@@ -16591,6 +19335,93 @@ packages:
   license_family: APACHE
   size: 846719
   timestamp: 1722935273816
+- kind: conda
+  name: libsdformat15
+  version: 15.0.0
+  build: h13c1794_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libsdformat15-15.0.0-h13c1794_0.conda
+  sha256: abfdc3423fc17f8b49e21457825e571652dfb13ed6c3075ebed8de6d32700645
+  md5: cb0e0c956d8596b84373355d518ce3d8
+  depends:
+  - libgcc >=13
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - libgz-math8 >=8.0.0,<9.0a0
+  - libgz-tools2 >=2.0.1,<3.0a0
+  - libgz-utils3 >=3.0.0,<4.0a0
+  - libstdcxx >=13
+  - tinyxml2 >=10.0.0,<11.0a0
+  - urdfdom >=4.0.1,<4.1.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 1042463
+  timestamp: 1727527543981
+- kind: conda
+  name: libsdformat15
+  version: 15.0.0
+  build: h5ba3470_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libsdformat15-15.0.0-h5ba3470_0.conda
+  sha256: f3fe84557be035357b714c42f9da0ab4fbe5209d708b512684490fbfd2839f17
+  md5: 34a77e6c742b0f9ffa759a277c606d19
+  depends:
+  - __osx >=11.0
+  - libcxx >=17
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - libgz-math8 >=8.0.0,<9.0a0
+  - libgz-tools2 >=2.0.1,<3.0a0
+  - libgz-utils3 >=3.0.0,<4.0a0
+  - tinyxml2 >=10.0.0,<11.0a0
+  - urdfdom >=4.0.1,<4.1.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 809358
+  timestamp: 1727527337452
+- kind: conda
+  name: libsdformat15
+  version: 15.0.0
+  build: hbf83bc3_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libsdformat15-15.0.0-hbf83bc3_0.conda
+  sha256: e24851b686073c7e9e9d3037ff8a3245233321079173dcc4cb46c46cc703ae7f
+  md5: addb6c99ac319f073f59124b95b928a6
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - libgz-math8 >=8.0.0,<9.0a0
+  - libgz-tools2 >=2.0.1,<3.0a0
+  - libgz-utils3 >=3.0.0,<4.0a0
+  - libstdcxx >=13
+  - tinyxml2 >=10.0.0,<11.0a0
+  - urdfdom >=4.0.1,<4.1.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  size: 1108436
+  timestamp: 1727527781165
+- kind: conda
+  name: libsdformat15
+  version: 15.0.0
+  build: hf143461_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/libsdformat15-15.0.0-hf143461_0.conda
+  sha256: 1112cc4b0ed4a4adec315f23730c1fa6f9dd50d950b84a80c20955a0bef2ec24
+  md5: d57621f0efba8cc0f5e7a23e5af450a7
+  depends:
+  - dlfcn-win32 >=1.4.1,<2.0a0
+  - libgz-cmake4 >=4.0.0,<5.0a0
+  - libgz-math8 >=8.0.0,<9.0a0
+  - libgz-tools2 >=2.0.1,<3.0a0
+  - libgz-utils3 >=3.0.0,<4.0a0
+  - tinyxml2 >=10.0.0,<11.0a0
+  - ucrt >=10.0.20348.0
+  - urdfdom >=4.0.1,<4.1.0a0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: Apache-2.0
+  license_family: APACHE
+  size: 830278
+  timestamp: 1727529418149
 - kind: conda
   name: libsndfile
   version: 1.2.2
@@ -18016,6 +20847,21 @@ packages:
   license_family: APACHE
   size: 276263
   timestamp: 1723605341828
+- kind: conda
+  name: llvm-openmp
+  version: 19.1.0
+  build: hba312e6_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/llvm-openmp-19.1.0-hba312e6_0.conda
+  sha256: af4b01dbfdba42141c8db6ffd2909da9df35c878654ac0149421459128e037bd
+  md5: 2f97682b9d39cf0cc42bc96d55e543cb
+  depends:
+  - __osx >=11.0
+  constrains:
+  - openmp 19.1.0|19.1.0.*
+  license: Apache-2.0 WITH LLVM-exception
+  size: 279779
+  timestamp: 1727798548683
 - kind: conda
   name: llvm-tools
   version: 17.0.6
@@ -23560,6 +26406,49 @@ packages:
   license_family: MIT
   size: 18478
   timestamp: 1727619299547
+- kind: conda
+  name: xorg-libxdmcp
+  version: 1.1.5
+  build: h57736b2_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxdmcp-1.1.5-h57736b2_0.conda
+  sha256: efcc150da5926cf244f757b8376d96a4db78bc15b8d90ca9f56ac6e75755971f
+  md5: 25a5a7b797fe6e084e04ffe2db02fc62
+  depends:
+  - libgcc >=13
+  license: MIT
+  license_family: MIT
+  size: 20615
+  timestamp: 1727796660574
+- kind: conda
+  name: xorg-libxdmcp
+  version: 1.1.5
+  build: hb9d3cd8_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxdmcp-1.1.5-hb9d3cd8_0.conda
+  sha256: 6b250f3e59db07c2514057944a3ea2044d6a8cdde8a47b6497c254520fade1ee
+  md5: 8035c64cb77ed555e3f150b7b3972480
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  license: MIT
+  license_family: MIT
+  size: 19901
+  timestamp: 1727794976192
+- kind: conda
+  name: xorg-libxdmcp
+  version: 1.1.5
+  build: hd74edd7_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/xorg-libxdmcp-1.1.5-hd74edd7_0.conda
+  sha256: 9939a166d780700d81023546759102b33fdc2c5f11ef09f5f66c77210fd334c8
+  md5: 77c447f48cab5d3a15ac224edb86a968
+  depends:
+  - __osx >=11.0
+  license: MIT
+  license_family: MIT
+  size: 18487
+  timestamp: 1727795205022
 - kind: conda
   name: xorg-libxext
   version: 1.3.6
@@ -23639,6 +26528,37 @@ packages:
   license_family: MIT
   size: 19705
   timestamp: 1727618702362
+- kind: conda
+  name: xorg-libxfixes
+  version: 6.0.1
+  build: h57736b2_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxfixes-6.0.1-h57736b2_0.conda
+  sha256: f5c71e0555681a82a65c483374b91d91b2cb9a9903b3a22ddc00f36719fce549
+  md5: 78f8715c002cc66991d7c11e3cf66039
+  depends:
+  - libgcc >=13
+  - xorg-libx11 >=1.8.9,<2.0a0
+  license: MIT
+  license_family: MIT
+  size: 20289
+  timestamp: 1727796500830
+- kind: conda
+  name: xorg-libxfixes
+  version: 6.0.1
+  build: hb9d3cd8_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxfixes-6.0.1-hb9d3cd8_0.conda
+  sha256: 2fef37e660985794617716eb915865ce157004a4d567ed35ec16514960ae9271
+  md5: 4bdb303603e9821baf5fe5fdff1dc8f8
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - xorg-libx11 >=1.8.10,<2.0a0
+  license: MIT
+  license_family: MIT
+  size: 19575
+  timestamp: 1727794961233
 - kind: conda
   name: xorg-libxi
   version: 1.7.10
@@ -23676,6 +26596,41 @@ packages:
   license_family: MIT
   size: 46832
   timestamp: 1727638107602
+- kind: conda
+  name: xorg-libxi
+  version: 1.8.2
+  build: h57736b2_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxi-1.8.2-h57736b2_0.conda
+  sha256: 7b587407ecb9ccd2bbaf0fb94c5dbdde4d015346df063e9502dc0ce2b682fb5e
+  md5: eeee3bdb31c6acde2b81ad1b8c287087
+  depends:
+  - libgcc >=13
+  - xorg-libx11 >=1.8.9,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxfixes >=6.0.1,<7.0a0
+  license: MIT
+  license_family: MIT
+  size: 48197
+  timestamp: 1727801059062
+- kind: conda
+  name: xorg-libxi
+  version: 1.8.2
+  build: hb9d3cd8_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxi-1.8.2-hb9d3cd8_0.conda
+  sha256: 1a724b47d98d7880f26da40e45f01728e7638e6ec69f35a3e11f92acd05f9e7a
+  md5: 17dcc85db3c7886650b8908b183d6876
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxfixes >=6.0.1,<7.0a0
+  license: MIT
+  license_family: MIT
+  size: 47179
+  timestamp: 1727799254088
 - kind: conda
   name: xorg-libxinerama
   version: 1.1.5
@@ -23785,6 +26740,27 @@ packages:
   license_family: MIT
   size: 69622
   timestamp: 1696449047382
+- kind: conda
+  name: xorg-libxpm
+  version: 3.5.17
+  build: h86ecc28_1
+  build_number: 1
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxpm-3.5.17-h86ecc28_1.conda
+  sha256: ce7d4a2c075e594b034ee8080271dd7244b0e10a54f1aeb42a5d5eca2f3a950d
+  md5: b9fbc43bcc6bd9aa22f0aa4b81cac173
+  depends:
+  - gettext
+  - libasprintf >=0.22.5,<1.0a0
+  - libgcc >=13
+  - libgettextpo >=0.22.5,<1.0a0
+  - xorg-libx11 >=1.8.9,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxt >=1.3.0,<2.0a0
+  license: MIT
+  license_family: MIT
+  size: 69584
+  timestamp: 1727801259630
 - kind: conda
   name: xorg-libxpm
   version: 3.5.17
@@ -23804,6 +26780,28 @@ packages:
   license_family: MIT
   size: 56509
   timestamp: 1696449340453
+- kind: conda
+  name: xorg-libxpm
+  version: 3.5.17
+  build: hb9d3cd8_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxpm-3.5.17-hb9d3cd8_1.conda
+  sha256: 8ce7ae21dcbbb759c6fb9e5ad2a2f2f4e54172adf160ea59e11712598edbb75c
+  md5: f35bec7fface97f67f44ca952fc740b7
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - gettext
+  - libasprintf >=0.22.5,<1.0a0
+  - libgcc >=13
+  - libgettextpo >=0.22.5,<1.0a0
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxt >=1.3.0,<2.0a0
+  license: MIT
+  license_family: MIT
+  size: 64764
+  timestamp: 1727801210327
 - kind: conda
   name: xorg-libxpm
   version: 3.5.17
@@ -23824,6 +26822,28 @@ packages:
   license_family: MIT
   size: 64324
   timestamp: 1696449073283
+- kind: conda
+  name: xorg-libxpm
+  version: 3.5.17
+  build: hd74edd7_1
+  build_number: 1
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/xorg-libxpm-3.5.17-hd74edd7_1.conda
+  sha256: ad5b72ef13b41ac89bb29282b3293478029df26bc596317899e8fd035f2c4df9
+  md5: e72da5101948cbab93fcafebcb91ee76
+  depends:
+  - __osx >=11.0
+  - gettext
+  - libasprintf >=0.22.5,<1.0a0
+  - libgettextpo >=0.22.5,<1.0a0
+  - libintl >=0.22.5,<1.0a0
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxt >=1.3.0,<2.0a0
+  license: MIT
+  license_family: MIT
+  size: 54582
+  timestamp: 1727801268488
 - kind: conda
   name: xorg-libxrandr
   version: 1.5.2
@@ -23861,6 +26881,41 @@ packages:
   license_family: MIT
   size: 29855
   timestamp: 1727618983747
+- kind: conda
+  name: xorg-libxrandr
+  version: 1.5.4
+  build: h86ecc28_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxrandr-1.5.4-h86ecc28_0.conda
+  sha256: b2588a2b101d1b0a4e852532c8b9c92c59ef584fc762dd700567bdbf8cd00650
+  md5: dd3e74283a082381aa3860312e3c721e
+  depends:
+  - libgcc >=13
+  - xorg-libx11 >=1.8.9,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxrender >=0.9.11,<0.10.0a0
+  license: MIT
+  license_family: MIT
+  size: 30197
+  timestamp: 1727794957221
+- kind: conda
+  name: xorg-libxrandr
+  version: 1.5.4
+  build: hb9d3cd8_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxrandr-1.5.4-hb9d3cd8_0.conda
+  sha256: ac0f037e0791a620a69980914a77cb6bb40308e26db11698029d6708f5aa8e0d
+  md5: 2de7f99d6581a4a7adbff607b5c278ca
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libxrender >=0.9.11,<0.10.0a0
+  license: MIT
+  license_family: MIT
+  size: 29599
+  timestamp: 1727794874300
 - kind: conda
   name: xorg-libxrender
   version: 0.9.11
diff --git a/pixi.toml b/pixi.toml
index cbc58d6..ee593a6 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -17,6 +17,12 @@ GZ_SIM_SYSTEM_PLUGIN_PATH = "$CONDA_PREFIX/lib"
 CMAKE_INSTALL_PREFIX = "%CONDA_PREFIX%\\Library"
 GZ_SIM_SYSTEM_PLUGIN_PATH = "%CONDA_PREFIX%\\Library\\bin"
 
+[feature.harmonic.activation.env]
+GSYP_BUILD_DIRECTORY_NAME = ".build_harmonic"
+
+[feature.ionic.activation.env]
+GSYP_BUILD_DIRECTORY_NAME = ".build_ionic"
+
 [tasks]
 
 configure = { cmd = [
@@ -30,19 +36,18 @@ configure = { cmd = [
     # The source is in the root directory
     "-S",
     ".",
-    # We wanna build in the .build directory
+    # We wanna build in the $GSYP_BUILD_DIRECTORY_NAME directory
     "-B",
-    ".build",
+    "$GSYP_BUILD_DIRECTORY_NAME"
 ]}
 
-build = { cmd = "cmake --build .build --config Release", depends_on = ["configure"] }
-test = { cmd = "ctest --test-dir .build --build-config Release --output-on-failure", depends_on = ["build"] }
-install = { cmd = ["cmake", "--install", ".build", "--config", "Release"], depends_on = ["build"] }
-uninstall = { cmd = ["cmake", "--build", ".build", "--target", "uninstall"]}
+build = { cmd = "cmake --build $GSYP_BUILD_DIRECTORY_NAME --config Release", depends_on = ["configure"] }
+test = { cmd = "ctest --test-dir $GSYP_BUILD_DIRECTORY_NAME --build-config Release --output-on-failure", depends_on = ["build"] }
+install = { cmd = ["cmake", "--install", "$GSYP_BUILD_DIRECTORY_NAME", "--config", "Release"], depends_on = ["build"] }
+uninstall = { cmd = ["cmake", "--build", "$GSYP_BUILD_DIRECTORY_NAME", "--target", "uninstall"]}
 cpp-fmt = "fd --extension h --extension hh --extension hpp --extension c --extension cc --extension cpp --exec clang-format -i --verbose"
 
 [dependencies]
-libgz-sim8 = "*"
 yarp = "*"
 ycm-cmake-modules = "*"
 cmake = "*"
@@ -62,3 +67,13 @@ libegl-devel = "*"
 libgl-devel = "*"
 libopengl-devel = "*"
 libegl-devel = "*"
+
+[feature.harmonic.dependencies]
+libgz-sim8 = "*"
+
+[feature.ionic.dependencies]
+libgz-sim9 = "*"
+
+[environments]
+default = ["harmonic"]
+ionic = ["ionic"]