diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 77c957bea..00ed97b23 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -87,7 +87,7 @@ jobs:
       run: |
         # Additional dependencies only useful on Linux
         # See https://github.com/robotology/robotology-superbuild/issues/477
-        mamba install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+        mamba install expat-cos6-x86_64 freeglut libdc1394 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
 
     - name: Configure [Conda/Linux&macOS]
       if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
@@ -98,7 +98,7 @@ jobs:
         cmake -GNinja -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
         # Disable options not tested on Conda for now
         # Reference issue: https://github.com/robotology/robotology-superbuild/issues/563
-        cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF .
+        cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF .
 
     - name: Configure [Conda/Windows]
       if: contains(matrix.os, 'windows')
@@ -112,7 +112,16 @@ jobs:
         cmake -G"Visual Studio 16 2019" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
         # Disable options not tested on Conda for now
         # Reference issue: https://github.com/robotology/robotology-superbuild/issues/563
-        cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF -DROBOTOLOGY_ENABLE_ICUB_HEAD:BOOL=OFF -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF .
+        cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF .
+      
+    # For some reason, the Strawberry perl's pkg-config is found
+    # instead of the conda's one, so let's delete the /c/Strawberry directory
+    - name: Debug pkg-config problem
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        rm -rf /c/Strawberry
+        
     - name: Build  [Conda]
       shell: bash -l {0}
       run: |
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index c802d637c..81ee59fda 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -1,6 +1,13 @@
 # Copyright (C) Fondazione Istituto Italiano di Tecnologia
 # CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 
+# Detect if robotology-superbuild is being configured under a conda environment
+if(DEFINED ENV{CONDA_PREFIX})
+  set(ROBOTOLOGY_CONFIGURING_UNDER_CONDA ON)
+else()
+  set(ROBOTOLOGY_CONFIGURING_UNDER_CONDA OFF)
+endif()
+
 # Core
 if(ROBOTOLOGY_ENABLE_CORE)
   find_or_build_package(YARP)
@@ -75,7 +82,7 @@ endif()
 if(ROBOTOLOGY_ENABLE_ICUB_HEAD)
   find_or_build_package(icub_firmware_shared)
   find_or_build_package(ICUB)
-  if((NOT APPLE))
+  if(NOT APPLE AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
     find_or_build_package(diagnosticdaemon)
   endif()
   if((NOT WIN32) AND (NOT APPLE))
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index 2d27c39d6..af9cfed61 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -66,7 +66,7 @@ conda install ace asio boost eigen gazebo glew glfw gsl ipopt libjpeg-turbo libm
 
 If you are on **Linux**, you also need to install also the following packages:
 ~~~
-conda install expat-cos6-x86_64 freeglut libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
+conda install expat-cos6-x86_64 freeglut libdc1394 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64
 ~~~
 
 If you are on **Windows**, you also need to install also the following packages:
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 0ca79174f..85dc519fe 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -34,7 +34,7 @@ repositories:
   ICUB:
     type: git
     url: https://github.com/robotology/icub-main.git
-    version: v1.19.0
+    version: v1.19.1
   ICUBcontrib:
     type: git
     url: https://github.com/robotology/icub-contrib-common.git