diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ab59777dd..a93a20f91 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -77,7 +77,7 @@ jobs:
         # Compilation related dependencies 
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install ace asio assimp boost eigen gazebo glew glfw graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json opencv pkg-config portaudio qt=5.12.9=*_4 sdl sdl2 sqlite tinyxml spdlog lua
+        mamba install ace asio assimp boost eigen gazebo glew glfw graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json opencv pkg-config portaudio qt=5.12.9=*_4 sdl sdl2 sqlite tinyxml spdlog lua soxr
         # Python 
         mamba install numpy swig pybind11
 
diff --git a/apt.txt b/apt.txt
index 5789bfd61..4e8533634 100644
--- a/apt.txt
+++ b/apt.txt
@@ -42,3 +42,4 @@ libspdlog-dev
 libblas-dev
 liblapack-dev
 libgraphviz-dev
+libsoxr-dev
diff --git a/doc/conda-forge.md b/doc/conda-forge.md
index edfc08f0e..0ac85761a 100644
--- a/doc/conda-forge.md
+++ b/doc/conda-forge.md
@@ -112,7 +112,7 @@ of the robotology-superbuild.**
 Once you activated it, you can install packages in it. In particular the dependencies for the robotology-superbuild can be installed as:
 ~~~
 mamba install -c conda-forge cmake compilers make ninja pkg-config
-mamba install -c conda-forge ace asio assimp boost eigen gazebo glew glfw graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json opencv pkg-config portaudio qt=5.12.9=*_4 sdl sdl2 sqlite tinyxml spdlog lua
+mamba install -c conda-forge ace asio assimp boost eigen gazebo glew glfw graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json opencv pkg-config portaudio qt=5.12.9=*_4 sdl sdl2 sqlite tinyxml spdlog lua soxr
 ~~~
 
 If you are on **Linux**, you also need to install also the following packages: