diff --git a/recipes/gym-ignition/activate.sh b/recipes/gym-ignition/activate.sh
new file mode 100644
index 0000000000000..595856d26d5e5
--- /dev/null
+++ b/recipes/gym-ignition/activate.sh
@@ -0,0 +1 @@
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH="${IGN_GAZEBO_SYSTEM_PLUGIN_PATH}:${CONDA_PREFIX}/lib/scenario/plugins"
diff --git a/recipes/gym-ignition/build_gym_ignition.bat b/recipes/gym-ignition/build_gym_ignition.bat
new file mode 100644
index 0000000000000..f7ae1893253a1
--- /dev/null
+++ b/recipes/gym-ignition/build_gym_ignition.bat
@@ -0,0 +1,40 @@
+set section=##[section]
+
+echo.
+echo %section%=====================
+echo %section%Building gym-ignition
+echo %section%=====================
+echo.
+
+:: Print the CI environment
+echo ##[group] Environment
+set
+echo ##[endgroup]
+echo.
+
+:: Fix Python package version
+sed -i.orig 's|name = gym_ignition|name = gym_ignition\'$'\nversion =|g' setup.cfg
+sed -i.tmp "s|version =|version = $PKG_VERSION|g" setup.cfg
+diff -u setup.cfg.orig setup.cfg
+
+:: Disable setuptools_scm
+sed -i.orig "s|\[tool.setuptools_scm\]||g" pyproject.toml
+sed -i.tmp 's|local_scheme = "dirty-tag"||g' pyproject.toml
+diff -u pyproject.toml.orig pyproject.toml
+
+:: Delete wheel folder
+rmdir /s /q _dist_conda
+
+:: Install Python package
+%PYTHON% -m pip install ^
+    --no-build-isolation --no-deps ^
+    .
+if errorlevel 1 exit 1
+
+:: Restore original files
+move /y setup.cfg.orig setup.cfg
+if errorlevel 1 exit 1
+move /y pyproject.toml.orig pyproject.toml
+if errorlevel 1 exit 1
+
+echo "${section}Finishing: building gym-ignition"
diff --git a/recipes/gym-ignition/build_gym_ignition.sh b/recipes/gym-ignition/build_gym_ignition.sh
new file mode 100644
index 0000000000000..a4970b4084bbc
--- /dev/null
+++ b/recipes/gym-ignition/build_gym_ignition.sh
@@ -0,0 +1,32 @@
+test "$CI" = "azure" && section="##[section]" || section=""
+
+echo
+echo "${section}============================="
+echo "${section}Building gym-ignition (py$PY_VER)"
+echo "${section}============================="
+echo
+
+# Print the CI environment
+echo "##[group] Environment"
+env
+echo "##[endgroup]"
+echo
+
+# Fix Python package version
+sed -i.orig 's|name = gym_ignition|name = gym_ignition\'$'\nversion =|g' setup.cfg
+sed -i.tmp "s|version =|version = $PKG_VERSION|g" setup.cfg
+diff -u setup.cfg{.orig,} || true
+
+# Disable setuptools_scm
+sed -i.orig "s|\[tool.setuptools_scm\]||g" pyproject.toml
+sed -i.tmp 's|local_scheme = "dirty-tag"||g' pyproject.toml
+diff -u pyproject.toml{.orig,} || true
+
+# Install Python package
+pip install --no-build-isolation --no-deps .
+
+# Restore original files
+mv setup.cfg{.orig,}
+mv pyproject.toml{.orig,}
+
+echo "${section}Finishing: building gym-ignition"
diff --git a/recipes/gym-ignition/build_libscenario.bat b/recipes/gym-ignition/build_libscenario.bat
new file mode 100644
index 0000000000000..cbfbdcbb65b69
--- /dev/null
+++ b/recipes/gym-ignition/build_libscenario.bat
@@ -0,0 +1,36 @@
+set section=##[section]
+
+echo.
+echo %section%====================
+echo %section%Building libscenario
+echo %section%====================
+echo.
+
+:: Print the CI environment
+echo ##[group] Environment
+set
+echo ##[endgroup]
+echo.
+
+:: Configure the CMake project
+cmake ^
+    -S .\scenario\ ^
+    -B build\ ^
+    -GNinja ^
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DCMAKE_INSTALL_PREFIX:PATH=%LIBRARY_PREFIX% ^
+    -DSCENARIO_USE_IGNITION:BOOL=ON ^
+    -DSCENARIO_ENABLE_BINDINGS:BOOL=OFF
+if errorlevel 1 exit 1
+
+:: Compile the CMake project
+cmake --build build\
+if errorlevel 1 exit 1
+
+:: Install the CMake project
+cmake --install build\
+if errorlevel 1 exit 1
+
+:: TODO: activate / deactivate
+
+echo %section%Finishing: building libscenario
diff --git a/recipes/gym-ignition/build_libscenario.sh b/recipes/gym-ignition/build_libscenario.sh
new file mode 100644
index 0000000000000..eeb176b764c38
--- /dev/null
+++ b/recipes/gym-ignition/build_libscenario.sh
@@ -0,0 +1,42 @@
+test "$CI" = "azure" && section="##[section]" || section=""
+
+echo
+echo "${section}===================="
+echo "${section}Building libscenario"
+echo "${section}===================="
+echo
+
+# Print the CI environment
+echo "##[group] Environment"
+env
+echo "##[endgroup]"
+echo
+
+# Create a temp build folder
+build_folder=$(mktemp -d)
+
+# Configure the CMake project
+cmake \
+    -S ./scenario/ \
+    -B ${build_folder}/ \
+    -GNinja \
+    -DCMAKE_INSTALL_LIBDIR=lib \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DCMAKE_INSTALL_PREFIX:PATH=$PREFIX \
+    -DSCENARIO_USE_IGNITION:BOOL=ON \
+    -DSCENARIO_ENABLE_BINDINGS:BOOL=OFF
+
+# Compile the CMake project
+cmake --build ${build_folder}/
+
+# Install the CMake project
+cmake --install ${build_folder}/
+
+# Copy the [de]activate scripts to $PREFIX/etc/conda/[de]activate.d.
+# This will allow them to be run on environment activation.
+for CHANGE in "activate" "deactivate" ; do
+    mkdir -p "${PREFIX}/etc/conda/${CHANGE}.d"
+    cp "${RECIPE_DIR}/${CHANGE}.sh" "${PREFIX}/etc/conda/${CHANGE}.d/${PKG_NAME}_${CHANGE}.sh"
+done
+
+echo "${section}Finishing: building libscenario"
diff --git a/recipes/gym-ignition/build_scenario.bat b/recipes/gym-ignition/build_scenario.bat
new file mode 100644
index 0000000000000..c351e96aa2a3a
--- /dev/null
+++ b/recipes/gym-ignition/build_scenario.bat
@@ -0,0 +1,7 @@
+set section=##[section]
+
+echo.
+echo %section%=================
+echo %section%Building scenario
+echo %section%=================
+echo.
diff --git a/recipes/gym-ignition/build_scenario.sh b/recipes/gym-ignition/build_scenario.sh
new file mode 100644
index 0000000000000..fa0175dccbc7d
--- /dev/null
+++ b/recipes/gym-ignition/build_scenario.sh
@@ -0,0 +1,7 @@
+test "$CI" = "azure" && section="##[section]" || section=""
+
+echo
+echo "${section}================="
+echo "${section}Building scenario"
+echo "${section}================="
+echo
diff --git a/recipes/gym-ignition/build_scenariopy.bat b/recipes/gym-ignition/build_scenariopy.bat
new file mode 100644
index 0000000000000..f024db6d6ae53
--- /dev/null
+++ b/recipes/gym-ignition/build_scenariopy.bat
@@ -0,0 +1,62 @@
+set section=##[section]
+
+echo.
+echo %section%===================
+echo %section%Building scenariopy
+echo %section%===================
+echo.
+
+:: Print the CI environment
+echo ##[group] Environment
+set
+echo ##[endgroup]
+echo.
+
+:: Fix Python package version
+sed -i.orig "s|name = scenario|name = scenario\nversion =|g" scenario\setup.cfg
+sed -i.tmp "s|version =|version = %PKG_VERSION%|g" scenario\setup.cfg
+diff -u scenario\setup.cfg.orig scenario\setup.cfg
+
+:: Disable setuptools_scm
+sed -i.orig "s|\[tool.setuptools_scm\]||g" scenario\pyproject.toml
+sed -i.tmp "s|root = ""../""||g" scenario\pyproject.toml
+sed -i.tmp "s|local_scheme = ""dirty-tag""||g" scenario\pyproject.toml
+diff -u scenario\pyproject.toml.orig scenario\pyproject.toml
+
+:: Delete wheel folder
+rmdir /s /q _dist_conda
+
+:: Generate the wheel
+%PYTHON% ^
+    -m build ^
+    --wheel ^
+    --outdir _dist_conda\ ^
+    --no-isolation ^
+    --skip-dependency-check ^
+    "-C--global-option=build_ext" ^
+    "-C--global-option=-DSCENARIO_BUILD_SHARED_LIBRARY:BOOL=ON" ^
+    "-C--global-option=--component=python" ^
+    .\scenario\
+if errorlevel 1 exit 1
+
+:: Delete the build folder
+rmdir /s /q build/
+
+:: Install Python package
+%PYTHON% -m pip install ^
+    --no-index --find-links=.\_dist_conda\ ^
+    --no-build-isolation --no-deps ^
+    scenario
+if errorlevel 1 exit 1
+
+:: Delete wheel folder
+rmdir /s /q _dist_conda\
+if errorlevel 1 exit 1
+
+:: Restore original files
+move /y scenario\setup.cfg.orig scenario\setup.cfg
+if errorlevel 1 exit 1
+move /y scenario\pyproject.toml.orig scenario\pyproject.toml
+if errorlevel 1 exit 1
+
+echo %section%Finishing: building scenariopy
diff --git a/recipes/gym-ignition/build_scenariopy.sh b/recipes/gym-ignition/build_scenariopy.sh
new file mode 100644
index 0000000000000..3fb5f66448ecc
--- /dev/null
+++ b/recipes/gym-ignition/build_scenariopy.sh
@@ -0,0 +1,57 @@
+test "$CI" = "azure" && section="##[section]" || section=""
+
+echo
+echo "${section}==========================="
+echo "${section}Building scenariopy (py$PY_VER)"
+echo "${section}==========================="
+echo
+
+# Print the CI environment
+echo "##[group] Environment"
+env
+echo "##[endgroup]"
+echo
+
+# Fix Python package version
+sed -i.orig 's|name = scenario|name = scenario\'$'\nversion =|g' scenario/setup.cfg
+sed -i.tmp "s|version =|version = $PKG_VERSION|g" scenario/setup.cfg
+diff -u scenario/setup.cfg{.orig,} || true
+
+# Disable setuptools_scm
+sed -i.orig "s|\[tool.setuptools_scm\]||g" scenario/pyproject.toml
+sed -i.tmp 's|root = "../"||g' scenario/pyproject.toml
+sed -i.tmp 's|local_scheme = "dirty-tag"||g' scenario/pyproject.toml
+diff -u scenario/pyproject.toml{.orig,} || true
+
+# Create a temp dist folder
+dist_folder=$(mktemp -d)
+
+# Delete the build folder
+rm -rf build/
+
+# Generate the wheel
+$PYTHON \
+    -m build \
+    --wheel \
+    --outdir ${dist_folder}/ \
+    --no-isolation \
+    --skip-dependency-check \
+    "-C--global-option=build_ext" \
+    "-C--global-option=-DSCENARIO_BUILD_SHARED_LIBRARY:BOOL=ON" \
+    "-C--global-option=--component=python" \
+    ./scenario/
+
+# Delete the build folder
+rm -rf build/
+
+# Install Python package
+pip install \
+  --no-index --find-links=${dist_folder}/ \
+  --no-build-isolation --no-deps \
+  scenario
+
+# Restore original files
+mv scenario/setup.cfg{.orig,}
+mv scenario/pyproject.toml{.orig,}
+
+echo "${section}Finishing: building scenariopy"
\ No newline at end of file
diff --git a/recipes/gym-ignition/conda_build_config.yaml b/recipes/gym-ignition/conda_build_config.yaml
new file mode 100644
index 0000000000000..68950115fa205
--- /dev/null
+++ b/recipes/gym-ignition/conda_build_config.yaml
@@ -0,0 +1,8 @@
+MACOSX_DEPLOYMENT_TARGET:  # [osx and x86_64]
+  - "10.13"                # [osx and x86_64]
+MACOSX_SDK_VERSION:        # [osx and x86_64]
+  - "10.13"                # [osx and x86_64]
+c_compiler:    # [win]
+  - vs2019     # [win]
+cxx_compiler:  # [win]
+  - vs2019     # [win]
diff --git a/recipes/gym-ignition/deactivate.sh b/recipes/gym-ignition/deactivate.sh
new file mode 100644
index 0000000000000..4b62852ce4c3a
--- /dev/null
+++ b/recipes/gym-ignition/deactivate.sh
@@ -0,0 +1 @@
+export IGN_GAZEBO_SYSTEM_PLUGIN_PATH="$(echo $IGN_GAZEBO_SYSTEM_PLUGIN_PATH | tr ':' '\n' | grep -v "$CONDA_PREFIX/lib/scenario/plugins" | grep -v '^$' | tr '\n' ':')"
diff --git a/recipes/gym-ignition/meta.yaml b/recipes/gym-ignition/meta.yaml
new file mode 100644
index 0000000000000..211d2e8ea17e6
--- /dev/null
+++ b/recipes/gym-ignition/meta.yaml
@@ -0,0 +1,218 @@
+{% set name = "gym-ignition" %}
+{% set version = "1.3.1" %}
+
+package:
+  name: {{ name|lower }}
+  version: {{ version }}
+
+source:
+  url: https://github.com/robotology/gym-ignition/archive/refs/tags/v{{ version }}.tar.gz
+  sha256: ec6f49a584ce6b0aaba2c89f9f628abbc7cdcd750e0bbdf1106f3527abd7f38f
+
+build:
+  number: 0
+  skip: true  # [win or osx]
+
+outputs:
+
+  - name: libscenario
+    script: build_libscenario.sh  # [unix]
+    script: build_libscenario.bat  # [win]
+    build:
+      skip: true  # [win or osx]
+      # Note: run_exports does not work in the subpackages of the same recipe
+      #       https://github.com/conda/conda-build/issues/3478
+      run_exports:
+        - {{ pin_subpackage("libscenario", max_pin="x.x") }}
+    requirements:
+      build:
+        - cmake
+        - ninja
+        - pkg-config
+        - clang  # [win]
+        - vs2019_win-32  # [win32]
+        - vs2019_win-64  # [win64]
+        - {{ compiler("c") }}
+        - {{ compiler("cxx") }}
+        - {{ cdt("mesa-libgl-devel") }}  # [linux]
+        - sed  # [unix]
+        - m2-sed  # [win]
+        - diffutils  # [unix]
+        - m2-diffutils  # [win]
+      host:
+        - eigen
+        - idyntree
+        - libignition-gazebo6
+      run:
+        - __osx >={{ MACOSX_DEPLOYMENT_TARGET|default("10.9") }}  # [osx and x86_64]
+        # Require idyntree x.x since idyntree-feedstock just requires x
+        - {{ pin_compatible('idyntree', max_pin="x.x") }}
+        # These should be exported by libignition-gazebo6
+        - {{ pin_compatible('libignition-common4') }}
+        - {{ pin_compatible('libignition-fuel-tools7') }}
+        - {{ pin_compatible('libignition-math6') }}
+        - {{ pin_compatible('libignition-msgs8') }}
+        - {{ pin_compatible('libignition-physics5') }}
+        - {{ pin_compatible('libignition-plugin1') }}
+        - {{ pin_compatible('libignition-transport11') }}
+        - {{ pin_compatible('libsdformat12') }}
+        # Not sure why conda render just pins x instead of x.x like libprotobuf-feedstock.
+        # Maybe because there's no explicit protobuf in host.
+        - {{ pin_compatible('libprotobuf', max_pin="x.x") }}
+    test:
+      commands:
+        # Inspect activate scripts
+        - env | grep IGN_GAZEBO_SYSTEM_PLUGIN_PATH  # [unix]
+        - set IGN_GAZEBO_SYSTEM_PLUGIN_PATH  # [win]
+        # Check existence of ScenarIO Gazebo library
+        - test -f ${PREFIX}/lib/libGazeboSimulator.so  # [linux]
+        - test -f ${PREFIX}/lib/libGazeboSimulator.dylib  # [osx]
+        - if not exist %PREFIX%\\Library\\lib\\GazeboSimulator.lib exit 1  # [win]
+        # Check existence of ScenarIO and ScenarIO Gazebo CMake targets
+        - test -f ${PREFIX}/lib/cmake/Scenario/ScenarioConfig.cmake  # [unix]
+        - test -f ${PREFIX}/lib/cmake/ScenarioGazebo/ScenarioGazeboConfig.cmake  # [unix]
+        - if not exist %PREFIX%\\Library\\lib\\cmake\\Scenario\\ScenarioConfig.cmake exit 1  # [win]
+        - if not exist %PREFIX%\\Library\\lib\\cmake\\ScenarioGazebo\\ScenarioGazeboConfig.cmake exit 1  # [win]
+
+  - name: scenariopy
+    script: build_scenariopy.sh  # [unix]
+    script: build_scenariopy.bat  # [win]
+    build:
+      skip: true  # [win or osx or py<38]
+    requirements:
+      build:
+        - clang  # [win]
+        - vs2019_win-32  # [win32]
+        - vs2019_win-64  # [win64]
+        - cmake
+        - {{ compiler("c") }}
+        - {{ compiler("cxx") }}
+        - ninja
+        - pkg-config
+        - swig
+        - sed  # [unix]
+        - m2-sed  # [win]
+        - diffutils  # [unix]
+        - m2-diffutils  # [win]
+        # https://conda-forge.org/docs/maintainer/knowledge_base.html#libgl
+        # Should these be handled by the Ignition Gazebo recipe? 
+        # Without them, CMake fails with: Failed to find "GL/gl.h".
+        - {{ cdt('mesa-libgl-devel') }}  # [linux]
+        - {{ cdt('mesa-dri-drivers') }}  # [linux]
+        - {{ cdt('libselinux') }}  # [linux]
+        - {{ cdt('libxdamage') }}  # [linux]
+        - {{ cdt('libxxf86vm') }}  # [linux]
+        - {{ cdt('libxext') }}     # [linux]
+      host:
+        - build
+        - cmake-build-extension
+        - idyntree
+        - libignition-gazebo6
+        - pip
+        - python
+        # https://conda-forge.org/docs/maintainer/knowledge_base.html#libgl
+        - xorg-libxfixes  # [linux]
+        # Here just to make DSO happy, it is a run-only requirement
+        - {{ pin_subpackage("libscenario", exact=True) }}
+      run:
+        # Require idyntree x.x since idyntree-feedstock just requires x
+        - {{ pin_compatible('idyntree', max_pin="x.x") }}
+        # Manually specify the run_exports of libscenario since they are not
+        # applied to subpackages of the same recipe
+        # https://github.com/conda/conda-build/issues/3478
+        # Here we also need to pin an exact version and not just a compatible one
+        - {{ pin_subpackage("libscenario", exact=True) }}
+        - packaging
+        - python
+    test:
+      imports:
+        - scenario
+      commands:
+        - pip check
+        - test $(pip list | grep scenario | tr -s " " | grep $PKG_VERSION | wc -l) -eq 1  # [unix]
+      requires:
+        - pip
+
+  - name: scenario
+    script: build_scenario.sh  # [unix]
+    script: build_scenario.bat  # [win]
+    build:
+      skip: true  # [win or osx or py<38]
+    requirements:
+      run:
+        - {{ pin_subpackage("libscenario", exact=True) }}
+        - {{ pin_subpackage("scenariopy", exact=True) }}
+    test:
+      imports:
+        - scenario
+      commands:
+        - pip check
+        # Inspect activate scripts
+        - env | grep IGN_GAZEBO_SYSTEM_PLUGIN_PATH  # [unix]
+        - set IGN_GAZEBO_SYSTEM_PLUGIN_PATH  # [win]
+        # Check existence of ScenarIO Gazebo library
+        - test -f ${PREFIX}/lib/libGazeboSimulator.so  # [linux]
+        - test -f ${PREFIX}/lib/libGazeboSimulator.dylib  # [osx]
+        - if not exist %PREFIX%\\Library\\lib\\GazeboSimulator.lib exit 1  # [win]
+        # Check existence of ScenarIO and ScenarIO Gazebo CMake targets
+        - test -f ${PREFIX}/lib/cmake/Scenario/ScenarioConfig.cmake  # [unix]
+        - test -f ${PREFIX}/lib/cmake/ScenarioGazebo/ScenarioGazeboConfig.cmake  # [unix]
+        - if not exist %PREFIX%\\Library\\lib\\cmake\\Scenario\\ScenarioConfig.cmake exit 1  # [win]
+        - if not exist %PREFIX%\\Library\\lib\\cmake\\ScenarioGazebo\\ScenarioGazeboConfig.cmake exit 1  # [win]
+      requires:
+        - pip
+
+# Disabled due to https://github.com/conda-forge/staged-recipes/pull/16582#issuecomment-951088666
+#
+#  - name: gym-ignition
+#    script: build_gym_ignition.sh  # [unix]
+#    script: build_gym_ignition.bat  # [win]
+#    build:
+#      skip: true  # [win or osx or py<38]
+#      noarch: python
+#    requirements:
+#      build:
+#        - sed  # [unix]
+#        - m2-sed  # [win]
+#        - diffutils  # [unix]
+#        - m2-diffutils  # [win]
+#      host:
+#        - pip
+#        - python
+#      run:
+#        - gym
+#        - gym-ignition-models
+#        - idyntree
+#        - lxml
+#        - numpy
+#        - python
+#        - {{ pin_subpackage("scenariopy", max_pin="x.x") }}
+#        - scipy
+#    test:
+#      source_files:
+#        - tests
+#        - setup.cfg
+#      imports:
+#        - gym_ignition
+#      commands:
+#        # - pip check (requires https://github.com/conda-forge/idyntree-feedstock/pull/8)
+#        - test $(pip list | grep gym-ignition | tr -s " " | grep $PKG_VERSION | wc -l) -eq 1  # [unix]
+#        - sed -i "s|def test_angular_acceleration|def _test_angular_acceleration|g" tests/test_scenario/test_link_velocities.py
+#        - pytest  # [linux]
+#      requires:
+#        - pip
+#        - pytest
+#        - pytest-icdiff
+#        - sed  # [unix]
+#        - m2-sed  # [win]
+
+about:
+  home: https://github.com/robotology/gym-ignition
+  summary: A toolkit for developing OpenAI Gym environments simulated with Ignition Gazebo.
+  dev_url: https://github.com/robotology/gym-ignition
+  license: LGPL-2.1-or-later
+  license_file: LICENSE
+
+extra:
+  recipe-maintainers:
+    - diegoferigo
diff --git a/recipes/gym-ignition/yum_requirements.txt b/recipes/gym-ignition/yum_requirements.txt
new file mode 100644
index 0000000000000..651811b765d80
--- /dev/null
+++ b/recipes/gym-ignition/yum_requirements.txt
@@ -0,0 +1,6 @@
+mesa-libGL
+mesa-dri-drivers
+libselinux
+libXdamage
+libXxf86vm
+libXext