diff --git a/.github/local-workflow-tech.md b/.github/local-workflow-tech.md
index 352a95685e..3f9b5c2b19 100644
--- a/.github/local-workflow-tech.md
+++ b/.github/local-workflow-tech.md
@@ -42,3 +42,54 @@ Technicalities underlying the fast-pace local workflow
   ```console
   git config --local core.hooksPath .githooks/
   ```
+
+# 🔘 Use an external robots-configuration separately from `robotology-superbuild`
+
+In some `ergoCubSN???` setups, the `robots-configuration` used by the robot is not the one downloaded by the `robotology-superbuild` (that would be found at `/usr/local/src/robot/robotology-superbuild/src/robots-configuration`),
+but rather a separate `robots-configuration` available at `/usr/local/src/robot/robots-configuration`. This is done for two reasons:
+- To permit to clone a fresh new `robotology-superbuild`, without the need to manually perform the local repository configuration as described in the previous section,
+- To permit to easily share the used `robots-configuration` to other `robotology-superbuild`, that for example are part of a different environment or a different container.
+
+The steps necessary to switch to use an external robots-configuration given an existing `robotology-superbuild` setup are the following:
+
+## 🔲 Disable robots-configuration from the superbuild
+
+First of all, pass the [`-ROBOTOLOGY_SKIP_ROBOTS_CONFIGURATION:BOOL=ON`](https://github.com/robotology/robotology-superbuild/pull/1775) CMake option to all the `robotology-superbuild` that should use the external `robots-configuration`.
+
+If the `robotology-superbuild` was already built once, remember to first uninstall and then delete the existing robots-configuration repository to avoid confusion.
+
+In particular uninstall with:
+
+```console
+cd /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration
+make uninstall
+```
+
+and delete any `robots-configuration` folder with:
+
+```console
+cd /usr/local/src/robot/robotology-superbuild
+rm -rf /usr/local/src/robot/robotology-superbuild/src/robots-configuration
+rm -rf /usr/local/src/robot/robotology-superbuild/build/src/robots-configuration
+```
+
+## 🔲 Clone, install and ensure that external robots-configuration is visible
+
+```console
+cd /usr/local/src/robot
+git clone  https://github.com/robots-configuration/robots-configuration.git
+cd robots-configuration
+```
+
+At this point, follow the configuration steps documented in the earlier section. Then, install the repo without dependencies, using the `nodeps` CMake preset:
+
+```console
+cmake --preset nodeps
+cmake --install build
+```
+
+After you did all of this, to ensure that the installed files are found by YARP, add the following line to the `.bashrc_iCub` of the robot:
+
+```console
+export YARP_DATA_DIRS=$YARP_DATA_DIRS:/usr/local/src/robot/robots-configuration/build/install/share/ICUBcontrib
+```
diff --git a/.github/workflows/ci-nodeps.yml b/.github/workflows/ci-nodeps.yml
new file mode 100644
index 0000000000..d29178fb1d
--- /dev/null
+++ b/.github/workflows/ci-nodeps.yml
@@ -0,0 +1,30 @@
+name: CI Workflow with nodeps CMake preset
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Install deps
+      run: |
+        sudo apt-get install -y cmake build-essential
+
+    - name: Configure
+      run: |
+        cmake --preset nodeps
+
+    - name: Build
+      run: |
+        cmake --build --preset nodeps
+
+    - name: Install
+      run: |
+        cd build
+        cmake --install .
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ce93e95d8..4db6e9acff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,20 +4,40 @@
 cmake_minimum_required(VERSION 3.12)
 project(robots-configuration VERSION 2.7.0)
 
-find_package(YCM REQUIRED)
-find_package(YARP REQUIRED)
-find_package(ICUBcontrib REQUIRED)
-
-list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
-include(ICUBcontribOptions)
-include(ICUBcontribHelpers)
-
+option(BUILD_WITHOUT_DEPENDENCIES "If enabled, permit to install robots-configuration without any dependency on YCM, YARP or ICUBcontrib" OFF)
 option(INSTALL_ALL_ROBOTS "Enable installation of all robots" OFF)
 set(ROBOT_NAME "$ENV{YARP_ROBOT_NAME}" CACHE PATH "Name of your robot")
 set(ROBOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${ROBOT_NAME}")
 option(BUILD_TESTING "If ON compile tests" OFF)
 
-icubcontrib_set_default_prefix()
+
+if(NOT BUILD_WITHOUT_DEPENDENCIES)
+    find_package(YCM REQUIRED)
+    find_package(YARP REQUIRED)
+    find_package(ICUBcontrib REQUIRED)
+
+    list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
+    include(ICUBcontribOptions)
+    include(ICUBcontribHelpers)
+    icubcontrib_set_default_prefix()
+else()
+    if(BUILD_TESTING)
+        message(FATAL_ERROR "BUILD_TESTING=ON requires BUILD_WITHOUT_DEPENDENCIES=OFF")
+    endif()
+
+    # If we do not have dependencies, we just need to define yarp_install as a simple redirect
+    # to CMake's builtin install
+    function(yarp_install)
+        install(${ARGN})
+    endfunction()
+
+    # The only use of ICUBContrib beside setting the default install prefix is to
+    # set ICUBCONTRIB_ROBOTS_INSTALL_DIR
+    include(GNUInstallDirs)
+    # CMAKE_INSTALL_DATAROOTDIR is just a fancy (and platform independent) way to refer to share,
+    # see https://cmake.org/cmake/help/latest/module/GNUInstallDirs.html
+    set(ICUBCONTRIB_ROBOTS_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ICUBcontrib/robots")
+endif()
 
 if(UNIX)
     find_program(BASH_PROGRAM bash)
@@ -111,4 +131,6 @@ else()
     endif()
 endif()
 
-icubcontrib_add_uninstall_target()
+if(NOT BUILD_WITHOUT_DEPENDENCIES)
+    icubcontrib_add_uninstall_target()
+endif()
diff --git a/CMakePresets.json b/CMakePresets.json
new file mode 100644
index 0000000000..00238e7b47
--- /dev/null
+++ b/CMakePresets.json
@@ -0,0 +1,38 @@
+{
+    "version": 3,
+    "cmakeMinimumRequired": {
+      "major": 3,
+      "minor": 22,
+      "patch": 1
+    },
+    "configurePresets": [
+      {
+        "name": "default",
+        "displayName": "Default Configuration",
+        "binaryDir": "${sourceDir}/build",
+        "cacheVariables": {
+          "CMAKE_BUILD_TYPE": "Release"
+        }
+      },
+      {
+        "name": "nodeps",
+        "inherits": "default",
+        "displayName": "Configuration that does not depend on YARP, ICUBContrib or YCM",
+        "installDir": "${sourceDir}/build/install",
+        "cacheVariables": {
+          "INSTALL_ALL_ROBOTS": "ON",
+          "BUILD_WITHOUT_DEPENDENCIES": "ON"
+        }
+      }
+    ],
+    "buildPresets": [
+      {
+        "name": "default",
+        "configurePreset": "default"
+      },
+      {
+        "name": "nodeps",
+        "configurePreset": "nodeps"
+      }
+    ]
+}