diff --git a/.ci/install_debian.sh b/.ci/install_debian.sh
index 5daa55e66..438070a79 100644
--- a/.ci/install_debian.sh
+++ b/.ci/install_debian.sh
@@ -16,7 +16,7 @@ apt-get install -y bash-completion build-essential cmake cmake-curses-gui coinor
 apt-get install -y libmatio-dev libirrlicht-dev
 
 # Python
-apt-get install -y python3-dev python3-numpy
+apt-get install -y python3-dev python3-numpy python3-pybind11 pybind11-dev
 
 # Octave
 apt-get install -y liboctave-dev
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 05212c178..f1b46c512 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -83,7 +83,7 @@ jobs:
         # Actual dependencies
         mamba install ace asio boost eigen gazebo glew glfw gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json opencv pkg-config portaudio qt sdl sdl2 sqlite tinyxml spdlog
         # Python 
-        mamba install numpy swig
+        mamba install numpy swig pybind11
 
     # Additional dependencies useful only on Linux
     - name: Dependencies [Conda/Linux]
diff --git a/.github/workflows/generate-conda-packages.yaml b/.github/workflows/generate-conda-packages.yaml
index 2ae4823c7..fa8dcbe4d 100644
--- a/.github/workflows/generate-conda-packages.yaml
+++ b/.github/workflows/generate-conda-packages.yaml
@@ -116,7 +116,10 @@ jobs:
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml yarp-matlab-bindings
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wb-toolbox
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml unicycle-footstep-planner
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml bipedal-locomotion-framework
+            # blf is currently disabled, see https://github.com/robotology/robotology-superbuild/issues/806
+            # When re-enabled, remember to use conda build and not conda mambabuild for https://github.com/robotology/robotology-superbuild/pull/800#issuecomment-866679447
+            # conda build -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml bipedal-locomotion-framework
+            rm -rf bipedal-locomotion-framework
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml wearables
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-models
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml blocktest
diff --git a/CHANGELOG.md b/CHANGELOG.md
index f2ae55584..08df71ea4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,8 +6,9 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 ## [Unreleased]
 
 ### Added
-- Add `nlohmann-json` dependency to the superbuild (https://github.com/robotology/robotology-superbuild/pull/776)
+- Add `nlohmann-json` dependency to the superbuild (https://github.com/robotology/robotology-superbuild/pull/776).
 - In `YARP`, all the `fake***` YARP devices are now enabled (https://github.com/robotology/robotology-superbuild/pull/797).
+- `pybind11` has been added as dependency for the `ROBOTOLOGY_USES_PYTHON` option (https://github.com/robotology/robotology-superbuild/pull/800), to enable compilation of Python bindings of `manif` and `bipedal-locomotion-framework`.
 
 ## [2021.05] - 2021-05-31
 
diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
index 9feaa7d8c..ff24b5646 100644
--- a/cmake/Buildbipedal-locomotion-framework.cmake
+++ b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -40,6 +40,13 @@ if(ROBOTOLOGY_USES_PYTHON AND ROBOTOLOGY_GENERATE_CONDA_RECIPES)
   list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON")
 endif()
 
+# Workaround for https://github.com/robotology/robotology-superbuild/issues/802
+if(ROBOTOLOGY_USES_PYTHON AND NOT WIN32)
+  set(BUILD_PYTHON_BINDINGS ON)
+else()
+  set(BUILD_PYTHON_BINDINGS OFF)
+endif()
+
 ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
               STYLE GITHUB
               REPOSITORY dic-iit/bipedal-locomotion-framework.git
@@ -54,11 +61,13 @@ ycm_ep_helper(bipedal-locomotion-framework TYPE GIT
                          -DFRAMEWORK_USE_cppad:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_casadi:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
                          -DFRAMEWORK_USE_LieGroupControllers:BOOL=${ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS}
+                         -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=${BUILD_PYTHON_BINDINGS}
                          ${bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS}
               DEPENDS ${bipedal-locomotion-framework_DEPENDS})
 
 set(bipedal-locomotion-framework_CONDA_DEPENDENCIES eigen)
 list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES nlohmann_json)
+list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES spdlog)
 
 if(ROBOTOLOGY_USES_PYTHON)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES pybind11)
@@ -66,4 +75,8 @@ if(ROBOTOLOGY_USES_PYTHON)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES pybind11-abi)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES python)
   list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES numpy)
+  # manifpy is not available on Windows on conda-forge, see https://github.com/conda-forge/manif-feedstock/issues/7
+  if(NOT WIN32)
+    list(APPEND bipedal-locomotion-framework_CONDA_DEPENDENCIES manifpy)
+  endif()
 endif()
diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
index 1c85a2073..515900a2e 100644
--- a/cmake/Buildmanif.cmake
+++ b/cmake/Buildmanif.cmake
@@ -4,13 +4,20 @@
 
 include(YCMEPHelper)
 
+# Workaround for https://github.com/robotology/robotology-superbuild/issues/802
+if(ROBOTOLOGY_USES_PYTHON AND NOT WIN32)
+  set(BUILD_PYTHON_BINDINGS ON)
+else()
+  set(BUILD_PYTHON_BINDINGS OFF)
+endif()
+
 ycm_ep_helper(manif TYPE GIT
               STYLE GITHUB
               REPOSITORY artivis/manif.git
               TAG master
               COMPONENT external
               FOLDER src
-              CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF)
+              CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF -DBUILD_PYTHON_BINDINGS:BOOL=${BUILD_PYTHON_BINDINGS})
 
 set(manif_CONDA_PKG_NAME manif)
 set(manif_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index 619406bff..f07ac8c0a 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -6,7 +6,8 @@ endmacro()
 
 # External projects
 set_tag(osqp_TAG v0.6.2)
-set_tag(manif_TAG 0.0.4)
+set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
+set_tag(manif_TAG 0.0.4.1)
 set_tag(qhull_TAG v8.0.2)
 set_tag(CppAD_TAG 20210000.4)
 set_tag(casadi 3.5.5.3)
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index e9156a7e8..d5d81d885 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -6,7 +6,8 @@ endmacro()
 
 # External projects
 set_tag(osqp_TAG v0.6.2)
-set_tag(manif_TAG 0.0.4)
+set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
+set_tag(manif_TAG 0.0.4.1)
 set_tag(qhull_TAG v8.0.2)
 set_tag(CppAD_TAG 20210000.4)
 set_tag(casadi 3.5.5.3)
diff --git a/doc/cmake-options.md b/doc/cmake-options.md
index 1c57a8147..096137c6f 100644
--- a/doc/cmake-options.md
+++ b/doc/cmake-options.md
@@ -379,13 +379,13 @@ Support for this dependency is enabled by the `ROBOTOLOGY_USES_PYTHON` CMake opt
 #### Ubuntu using apt
 Install Python and the necessary development files using the following command:
 ~~~
-sudo apt-get install python3-dev python3-numpy
+sudo apt-get install python3-dev python3-numpy python3-pybind11 pybind11-dev
 ~~~
 
 #### Conda
 To install python and the other required dependencies when using `conda-forge` provided dependencies, use:
 ~~~
-conda install -c conda-forge python numpy swig
+conda install -c conda-forge python numpy swig pybind11
 ~~~
 
 ### Check the installation
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 5090b75a3..c3136f945 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -9,8 +9,8 @@ repositories:
     version: v0.6.2
   manif:
     type: git
-    url: https://github.com/artivis/manif.git
-    version: 0.0.4
+    url: https://github.com/robotology-dependencies/manif.git
+    version: 0.0.4.1
   qhull:
     type: git
     url: https://github.com/qhull/qhull.git