diff --git a/README.md b/README.md
index ab4dfb1..7053261 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,8 @@
 # CoMoDO
 
-## Control Motion Design Optimization
+**Control Motion Design Optimization**
 
-Suite of parametrized controller and simulator for codesign of robots.
+**CoMoDO** is a suite of parametrized controllers and simulators for codesign of robots.
 
 
 ---
@@ -14,7 +14,17 @@ Suite of parametrized controller and simulator for codesign of robots.
 
 ---
 
-## Installation
+## Table of contents
+
+- [⚙️ Dependencies](#-dependencies)
+- [💾 Installation](#-installation)
+  - [🐍 Installation with conda](#-installation-with-conda)
+  - [📦 Installation with pixi](#-installation-with-pixi)
+- [🚀 Usage](#-usage)
+- [:construction_worker: Maintainer](#construction_worker-maintainer)
+
+
+## ⚙️ Dependencies
 
 This library depends on
 
@@ -23,17 +33,24 @@ This library depends on
 - [``idyntree``](https://github.com/robotology/idyntree)
 - [``bipedal-locomotion-framework``](https://github.com/ami-iit/bipedal-locomotion-framework)
 - [``adam-robotics``](https://github.com/ami-iit/ADAM)
-- [``mujoco``](https://mujoco.org/)
-- [``mujoco-python-viewer``](https://github.com/rohanpsingh/mujoco-python-viewer)
 - [``matplotlib``](https://matplotlib.org/stable/)
 - [``urllib3``](https://urllib3.readthedocs.io/en/stable/)
 - [``urchin``](https://github.com/fishbotics/urchin)
+
+And, optionally, on:
+
+- [``mujoco``](https://mujoco.org/) and [``mujoco-python-viewer``](https://github.com/rohanpsingh/mujoco-python-viewer)
 - [``jaxsim``](https://github.com/ami-iit/jaxsim)
+- [`drake`](https://drake.mit.edu/)
+- [`hippopt`](https://github.com/ami-iit/hippopt.git)
 
-To install you can use the following commands
+## 💾 Installation
 
+### 🐍 Installation with conda
 
-```
+To install comodo in a conda environment, you can use the following commands
+
+```bash
 conda create -n comododev -c conda-forge adam-robotics bipedal-locomotion-framework=0.19.0 mujoco-python-viewer matplotlib urllib3 urchin notebook jaxsim
 
 conda activate comododev
@@ -42,31 +59,57 @@ pip install --no-deps -e .
 
 ```
 
-### With hippopt 
+#### With hippopt
 
-```
+To work in comodo with [`hippopt`](https://github.com/ami-iit/hippopt.git) requires to install also the following packages:
+
+```bash
 conda install -c conda-forge -c robotology casadi pytest liecasadi  meshcat-python ffmpeg-python
 pip install --no-deps git+https://github.com/ami-iit/hippopt.git
 ```
- 
 
-### With Drake 
-Working with drake as the simulator backend requires the following additional dependencies,
-```
+#### With Drake
+
+To use [`drake`](https://drake.mit.edu/) as the simulator backend requires the following additional dependencies:
+
+```bash
 conda install meshio tqdm
 pip install drake git+https://github.com/ami-iit/amo_urdf
 ```
 
-## Usage 
+### 📦 Installation with pixi
 
-Take a look at the [examples](./examples) folder! 
+An alternative and easy to use way to use comodo is with [`pixi`](https://pixi.sh/latest/) package manager. It automatically handles the creation and activation of virtual environments in which to use the different simulators that comodo supports.
 
-### Maintainer
+At the moment there are 4 environments available: one for each simulator backend, (called `mujoco`, `jaxsim`, `drake`) and the `all` environment in which all of them are installed.
 
-This repository is maintained by 
-|                                                              |                                                      |
-| :----------------------------------------------------------: | :--------------------------------------------------: |
-| <img src="https://user-images.githubusercontent.com/56030908/135461492-6d9a1174-19bd-46b3-bee6-c4dbaea9e210.jpeg" width="40"> | [@CarlottaSartore](https://github.com/CarlottaSartore) |
+To activate one of these environments in a terminal run:
+
+```bash
+pixi shell -e <environment-name>
+```
+
+It is also possible to run directly a command in one of these environments using:
+
+```bash
+pixi run -e <environment-name> python <script-filename.py>
+```
+
+For example, it is possible to run the Jupyter notebooks in the [examples](./examples) folder by just executing:
 
+```bash
+pixi run -e all jupyter notebook
+```
+
+and then running the examples you prefer in Jupyter.
+
+## 🚀 Usage
+
+Take a look at the [examples](./examples) folder!
 
+## :construction_worker: Maintainer
 
+This repository is maintained by
+|                                                              |                                                      |
+| :----------------------------------------------------------: | :--------------------------------------------------: |
+| <img src="https://user-images.githubusercontent.com/56030908/135461492-6d9a1174-19bd-46b3-bee6-c4dbaea9e210.jpeg" width="40"> | [@CarlottaSartore](https://github.com/CarlottaSartore) |