diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
new file mode 100644
index 0000000..985139e
--- /dev/null
+++ b/.github/CODEOWNERS
@@ -0,0 +1 @@
+*       @S-Dafarra
diff --git a/.github/workflows/conda-forge-ci.yml b/.github/workflows/conda-forge-ci.yml
new file mode 100644
index 0000000..cd63c09
--- /dev/null
+++ b/.github/workflows/conda-forge-ci.yml
@@ -0,0 +1,67 @@
+name: C++ CI Workflow with conda-forge dependencies
+
+on:
+  push:
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-2019]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install glew glfw eigen yarp imgui
+
+    - name: OpenGL [Linux]
+      if: contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        # OpenGL is not found on Ubuntu when using conda. Related issue https://github.com/robotology/robotology-superbuild/issues/929
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        # See https://github.com/robotology/robotology-superbuild/pull/1606
+        mamba install expat freeglut libselinux-cos7-x86_64 xorg-libxau libxcb xorg-libxdamage xorg-libxext xorg-libxfixes xorg-libxxf86vm xorg-libxrandr mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64
+
+    - name: Configure [Linux]
+      if: contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -G"Visual Studio 16 2019" -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..6baefa4
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,14 @@
+# build folder
+build/*
+
+# emacs
+*~
+\#*\#
+
+# Qtcreator
+*.user*
+*.autosave
+
+# Visual Studio
+.vs/
+CmakeSettings.json
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..518f586
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,121 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+cmake_minimum_required(VERSION 3.12)
+
+project(yarp-device-keyboard-joypad
+        LANGUAGES C CXX
+        VERSION 0.0.1)
+
+# Defines the CMAKE_INSTALL_LIBDIR, CMAKE_INSTALL_BINDIR and many other useful macros.
+# See https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
+include(GNUInstallDirs)
+
+# Control where libraries and executables are placed during the build.
+# With the following settings executables are placed in <the top level of the
+# build tree>/bin and libraries/archives in <top level of the build tree>/lib.
+# This is particularly useful to run ctests on libraries built on Windows
+# machines: tests, which are executables, are placed in the same folders of
+# dlls, which are treated as executables as well, so that they can properly
+# find the libraries to run. This is a because of missing RPATH on Windows.
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+
+# To build shared libraries in Windows, we set CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS to TRUE.
+# See https://cmake.org/cmake/help/v3.4/variable/CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS.html
+# See https://blog.kitware.com/create-dlls-on-windows-without-declspec-using-new-cmake-export-all-feature/
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Under MSVC, we set CMAKE_DEBUG_POSTFIX to "d" to add a trailing "d" to library
+# built in debug mode. In this Windows user can compile, build and install the
+# library in both Release and Debug configuration avoiding naming clashes in the
+# installation directories.
+if(MSVC)
+    set(CMAKE_DEBUG_POSTFIX "d")
+    #_USE_MATH_DEFINES is to have constants like M_PI defined also on Windows
+    add_definitions(-D_USE_MATH_DEFINES)
+    #NOMINMAX is to avoid windows.h defining its own versions of min and max
+    add_definitions(-DNOMINMAX)
+endif()
+
+# Build position independent code.
+# Position Independent Code (PIC) is commonly used for shared libraries so that
+# the same shared library code can be loaded in each program address space in a
+# location where it will not overlap with any other uses of such memory.
+# In particular, this option avoids problems occurring when a process wants to
+# load more than one shared library at the same virtual address.
+# Since shared libraries cannot predict where other shared libraries could be
+# loaded, this is an unavoidable problem with the traditional shared library
+# concept.
+# Generating position-independent code is often the default behavior for most
+# modern compilers.
+# Moreover linking a static library that is not built with PIC from a shared
+# library will fail on some compiler/architecture combinations.
+# Further details on PIC can be found here:
+# https://eli.thegreenplace.net/2011/11/03/position-independent-code-pic-in-shared-libraries/
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Disable C and C++ compiler extensions.
+# C/CXX_EXTENSIONS are ON by default to allow the compilers to use extended
+# variants of the C/CXX language.
+# However, this could expose cross-platform bugs in user code or in the headers
+# of third-party dependencies and thus it is strongly suggested to turn
+# extensions off.
+set(CMAKE_C_EXTENSIONS OFF)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+
+### Dependencies
+find_package(YCM REQUIRED)
+find_package(YARP 3.4 COMPONENTS os sig dev math idl_tools REQUIRED)
+find_package(Threads REQUIRED)
+find_package(glfw3 REQUIRED NO_MODULE)
+find_package(GLEW REQUIRED) #Helps with the OpenGL configuration on Windows
+
+find_package(imgui QUIET)
+if(NOT imgui_FOUND)
+    message(STATUS "imgui not found, using vendored version")
+    set(USE_VENDORED_IMGUI ON)
+endif()
+
+## This is to select the newest version of OpenGL
+if (POLICY CMP0072)
+  cmake_policy (SET CMP0072 NEW)
+endif(POLICY CMP0072)
+
+find_package(OpenGL REQUIRED)
+
+if (NOT WIN32)
+    find_package(X11 REQUIRED)
+endif()
+
+# Encourage user to specify a build type (e.g. Release, Debug, etc.), otherwise set it to Release.
+if(NOT CMAKE_CONFIGURATION_TYPES)
+    if(NOT CMAKE_BUILD_TYPE)
+        message(STATUS "Setting build type to 'Release' as none was specified.")
+        set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE "Release")
+    endif()
+endif()
+
+if (NOT "${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
+    message( FATAL_ERROR "Only 64 bit builds supported." )
+endif()
+
+set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "yarp-device-keyboard-joypad is always built with dynamic plugins")
+set(BUILD_SHARED_LIBS OFF CACHE INTERNAL "Build libraries as shared as opposed to static")
+
+include(AddInstallRPATHSupport)
+add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_FULL_BINDIR}"
+                          LIB_DIRS "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          INSTALL_NAME_DIR "${CMAKE_INSTALL_FULL_LIBDIR}"
+                          USE_LINK_PATH)
+
+include(AddUninstallTarget)
+
+yarp_configure_plugins_installation(yarp-device-keyboard-joypad)
+
+add_subdirectory(src)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 0000000..124d714
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,8 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+add_subdirectory(vendor)
+add_subdirectory(devices)
diff --git a/src/devices/CMakeLists.txt b/src/devices/CMakeLists.txt
new file mode 100644
index 0000000..507367f
--- /dev/null
+++ b/src/devices/CMakeLists.txt
@@ -0,0 +1,7 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+add_subdirectory(keyboard-joypad)
diff --git a/src/devices/keyboard-joypad/CMakeLists.txt b/src/devices/keyboard-joypad/CMakeLists.txt
new file mode 100644
index 0000000..afeb353
--- /dev/null
+++ b/src/devices/keyboard-joypad/CMakeLists.txt
@@ -0,0 +1,72 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+set(DEPENDS_STRING "glfw3_FOUND;GLEW_FOUND;OpenGL_FOUND")
+
+if (NOT WIN32)
+    string(APPEND DEPENDS_STRING ";X11_FOUND")
+endif()
+
+yarp_prepare_plugin(keyboardJoypad
+  CATEGORY device
+  TYPE yarp::dev::KeyboardJoypad
+  INCLUDE KeyboardJoypad.h
+  DEPENDS ${DEPENDS_STRING}
+  INTERNAL
+  QUIET
+)
+
+if(NOT ENABLE_keyboard-joypad)
+  return()
+endif()
+
+set(yarp_keyboard-joypad_SRCS
+  KeyboardJoypad.cpp
+)
+
+set(yarp_keyboard-joypad_HDRS
+  KeyboardJoypad.h
+  KeyboardJoypadLogComponent.h
+)
+
+
+yarp_add_plugin(yarp_keyboard-joypad)
+
+
+target_sources(yarp_keyboard-joypad
+  PRIVATE
+    ${yarp_keyboard-joypad_SRCS}
+    ${yarp_keyboard-joypad_HDRS}
+)
+
+target_link_libraries(yarp_keyboard-joypad
+  PRIVATE
+    YARP::YARP_os
+    YARP::YARP_sig
+    YARP::YARP_dev
+    YARP::YARP_math
+    glfw
+    GLEW::GLEW
+    OpenGL::GL
+    imgui::imgui
+)
+
+if (NOT WIN32)
+    target_link_libraries(yarp_keyboard-joypad PRIVATE ${X11_LIBRARIES})
+endif()
+
+target_include_directories(yarp_keyboard-joypad PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+
+target_compile_features(yarp_keyboard-joypad PUBLIC cxx_std_20) #C++20 is used for the designated initialization of structs
+
+yarp_install(
+  TARGETS yarp_keyboard-joypad
+  EXPORT yarp-device-keyboard-joypad
+  COMPONENT yarp-device-keyboard-joypad
+  LIBRARY DESTINATION ${YARP_DYNAMIC_PLUGINS_INSTALL_DIR}
+  ARCHIVE DESTINATION ${YARP_STATIC_PLUGINS_INSTALL_DIR}
+  YARP_INI DESTINATION ${YARP_PLUGIN_MANIFESTS_INSTALL_DIR}
+)
diff --git a/src/devices/keyboard-joypad/KeyboardJoypad.cpp b/src/devices/keyboard-joypad/KeyboardJoypad.cpp
new file mode 100644
index 0000000..187716e
--- /dev/null
+++ b/src/devices/keyboard-joypad/KeyboardJoypad.cpp
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-2-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#include <yarp/os/LogStream.h>
+
+#include <KeyboardJoypad.h>
+#include <KeyboardJoypadLogComponent.h>
+
+yarp::dev::KeyboardJoypad::KeyboardJoypad()
+    : yarp::dev::DeviceDriver(),
+    yarp::os::PeriodicThread(0.01, yarp::os::ShouldUseSystemClock::Yes)
+{
+}
+
+yarp::dev::KeyboardJoypad::~KeyboardJoypad()
+{
+}
+
+bool yarp::dev::KeyboardJoypad::open(yarp::os::Searchable& cfg)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::close()
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::threadInit()
+{
+    return false;
+}
+
+void yarp::dev::KeyboardJoypad::threadRelease()
+{
+}
+
+void yarp::dev::KeyboardJoypad::run()
+{
+}
+
+bool yarp::dev::KeyboardJoypad::startService()
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::updateService()
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::stopService()
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getAxisCount(unsigned int& axis_count)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getButtonCount(unsigned int& button_count)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getTrackballCount(unsigned int& trackball_count)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getHatCount(unsigned int& hat_count)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getTouchSurfaceCount(unsigned int& touch_count)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getStickCount(unsigned int& stick_count)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getStickDoF(unsigned int stick_id, unsigned int& dof)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getButton(unsigned int button_id, float& value)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getTrackball(unsigned int trackball_id, yarp::sig::Vector& value)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getHat(unsigned int hat_id, unsigned char& value)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getAxis(unsigned int axis_id, double& value)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getStick(unsigned int stick_id, yarp::sig::Vector& value, JoypadCtrl_coordinateMode coordinate_mode)
+{
+    return false;
+}
+
+bool yarp::dev::KeyboardJoypad::getTouch(unsigned int touch_id, yarp::sig::Vector& value)
+{
+    return false;
+}
diff --git a/src/devices/keyboard-joypad/KeyboardJoypad.h b/src/devices/keyboard-joypad/KeyboardJoypad.h
new file mode 100644
index 0000000..df0bc68
--- /dev/null
+++ b/src/devices/keyboard-joypad/KeyboardJoypad.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-2-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#ifndef YARP_DEV_KEYBOARDJOYPAD_H
+#define YARP_DEV_KEYBOARDJOYPAD_H
+
+#include <atomic>
+#include <mutex>
+
+#include <yarp/dev/DeviceDriver.h>
+#include <yarp/dev/IJoypadController.h>
+#include <yarp/os/PeriodicThread.h>
+#include <yarp/dev/ServiceInterfaces.h>
+
+namespace yarp {
+    namespace dev {
+        class KeyboardJoypad;
+    }
+}
+
+class yarp::dev::KeyboardJoypad : public yarp::dev::DeviceDriver,
+    public yarp::os::PeriodicThread,
+    public yarp::dev::IService,
+    public yarp::dev::IJoypadController
+{
+public:
+    KeyboardJoypad();
+
+    virtual ~KeyboardJoypad();
+
+    // yarp::dev::DeviceDriver methods
+    virtual bool open(yarp::os::Searchable& cfg) override;
+    virtual bool close() override;
+
+    // yarp::os::RateThread methods
+    virtual bool threadInit() override;
+    virtual void threadRelease() override;
+    virtual void run() override;
+
+    //  yarp::dev::IService methods
+    virtual bool startService() override;
+    virtual bool updateService() override;
+    virtual bool stopService() override;
+
+    // yarp::dev::IJoypadController methods
+    virtual bool getAxisCount(unsigned int& axis_count) override;
+    virtual bool getButtonCount(unsigned int& button_count) override;
+    virtual bool getTrackballCount(unsigned int& trackball_count) override;
+    virtual bool getHatCount(unsigned int& hat_count) override;
+    virtual bool getTouchSurfaceCount(unsigned int& touch_count) override;
+    virtual bool getStickCount(unsigned int& stick_count) override;
+    virtual bool getStickDoF(unsigned int stick_id, unsigned int& dof) override;
+    virtual bool getButton(unsigned int button_id, float& value) override;
+    virtual bool getTrackball(unsigned int trackball_id, yarp::sig::Vector& value) override;
+    virtual bool getHat(unsigned int hat_id, unsigned char& value) override;
+    virtual bool getAxis(unsigned int axis_id, double& value) override;
+    virtual bool getStick(unsigned int stick_id, yarp::sig::Vector& value, JoypadCtrl_coordinateMode coordinate_mode) override;
+    virtual bool getTouch(unsigned int touch_id, yarp::sig::Vector& value) override;
+
+private:
+
+    std::atomic_bool m_closed{ false };
+
+    std::mutex m_mutex;
+
+};
+
+
+#endif // YARP_DEV_KEYBOARDJOYPAD_H
diff --git a/src/devices/keyboard-joypad/KeyboardJoypadLogComponent.h b/src/devices/keyboard-joypad/KeyboardJoypadLogComponent.h
new file mode 100644
index 0000000..7fde099
--- /dev/null
+++ b/src/devices/keyboard-joypad/KeyboardJoypadLogComponent.h
@@ -0,0 +1,16 @@
+/*
+ * Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms of the
+ * BSD-2-Clause license. See the accompanying LICENSE file for details.
+ */
+
+#ifndef YARP_DEV_KEYBOARDJOYPADLOGCOMPONENT_H
+#define YARP_DEV_KEYBOARDJOYPADLOGCOMPONENT_H
+
+#include <yarp/os/LogComponent.h>
+
+YARP_DECLARE_LOG_COMPONENT(KEYBOARDJOYPAD)
+
+#endif // YARP_DEV_KEYBOARDJOYPADLOGCOMPONENT_H
\ No newline at end of file
diff --git a/src/vendor/CMakeLists.txt b/src/vendor/CMakeLists.txt
new file mode 100644
index 0000000..77b5d61
--- /dev/null
+++ b/src/vendor/CMakeLists.txt
@@ -0,0 +1,7 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+add_subdirectory(dearimgui)
diff --git a/src/vendor/dearimgui/CMakeLists.txt b/src/vendor/dearimgui/CMakeLists.txt
new file mode 100644
index 0000000..a4970cd
--- /dev/null
+++ b/src/vendor/dearimgui/CMakeLists.txt
@@ -0,0 +1,34 @@
+# Copyright (C) 2024 Istituto Italiano di Tecnologia (IIT)
+# All rights reserved.
+#
+# This software may be modified and distributed under the terms of the
+# BSD-2-Clause license. See the accompanying LICENSE file for details.
+
+if (NOT USE_VENDORED_IMGUI)
+    return()
+endif()
+
+include(FetchContent)
+
+set(imgui_TAG v1.90.4)
+set(IMGUI_BUILD_GLFW_BINDING ON)
+set(imgui-feedstock_TAG 7f402e0ac895620420310a7e4791860a2dc6e79d)
+
+FetchContent_Declare(
+    imgui
+    GIT_REPOSITORY https://github.com/ocornut/imgui
+    GIT_TAG        ${imgui_TAG}
+    GIT_SHALLOW 1
+)
+
+FetchContent_GetProperties(imgui)
+if(NOT imgui_POPULATED)
+    message(STATUS "Fetching imgui(${imgui_TAG})...")
+    FetchContent_Populate(imgui)
+    set(CMAKELIST_URL "https://raw.githubusercontent.com/conda-forge/imgui-feedstock/${imgui-feedstock_TAG}/recipe")
+    message (STATUS "Downloading ${CMAKELIST_URL}/CMakeLists.txt to ${imgui_SOURCE_DIR}/CMakeLists.txt")
+    file(DOWNLOAD "${CMAKELIST_URL}/CMakeLists.txt" "${imgui_SOURCE_DIR}/CMakeLists.txt")
+    message (STATUS "Downloading ${CMAKELIST_URL}/imgui-config.cmake.in to ${imgui_SOURCE_DIR}/imgui-config.cmake.in")
+    file(DOWNLOAD "${CMAKELIST_URL}/imgui-config.cmake.in" "${imgui_SOURCE_DIR}/imgui-config.cmake.in")
+    add_subdirectory(${imgui_SOURCE_DIR} ${imgui_BINARY_DIR})
+endif()
\ No newline at end of file