diff --git a/pixi.lock b/pixi.lock
index d33eb447f..d8ae1d613 100644
--- a/pixi.lock
+++ b/pixi.lock
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-  - qhull >=2020.2,<2020.3.0a0
-  - qhull-static
-  license: BSD-3-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - libcoal >=3.0.3,<3.0.4.0a0
-  size: 1478893
-  timestamp: 1778585610829
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libcoal-3.0.4-h7645e68_0.conda
   sha256: 065bfc2f1b689f0db9894a2886c0df0070309527068ec2d9d20f47372787762d
   md5: 26155892351c63fb6667d5ef9f830e20
@@ -10774,6 +10711,23 @@ packages:
     - libgz-math >=9.1.0,<10.0a0
   size: 307899
   timestamp: 1774640582321
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libgz-math-9.2.0-hed47212_0.conda
+  sha256: 3ad4b8114e5e56a4b12626263750495c073105ad7a8c3f397d47ed1aa26fe8d5
+  md5: 4676e31cd791b1108297184061eaee9e
+  depends:
+  - eigen
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgz-utils >=4.0.0,<5.0a0
+  - libgz-cmake >=5.1.1,<6.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  run_exports:
+    weak:
+    - libgz-math >=9.2.0,<10.0a0
+  size: 310481
+  timestamp: 1783484269563
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libgz-math7-7.5.2-h54a6638_2.conda
   sha256: fce7eb4797a025c4c61f9502372801bba87ffddc39c68dfbd09f25f30e282c45
   md5: 27dd93bf04ea4699afedf5ec38758c55
@@ -11181,33 +11135,33 @@ packages:
     - libpinocchio >=3.9.0,<3.9.1.0a0
   size: 4575432
   timestamp: 1774948470928
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libpinocchio-4.0.0-hd3bca24_2.conda
-  sha256: 108c4373c5f7e822b190258d4fdc92a179d538e5da434a3feb54cc6921539299
-  md5: 7c5d87d67352adef63a3fdb624ba3840
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libpinocchio-4.1.0-h4bcdf98_1.conda
+  sha256: 5f8141d3730bd327dd01612913beeeeecb587eb2523469b25c221f07bdfb63a3
+  md5: fabbf7a51975e9045ae8311e04b46a75
   depends:
+  - libboost-devel
+  - qhull-static
+  - libstdcxx >=14
+  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
   - _openmp_mutex >=4.5
-  - casadi >=3.7.2,<3.8.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
+  - libsdformat >=16.1.0,<17.0a0
+  - qhull >=2020.2,<2020.3.0a0
   - console_bridge >=1.0.2,<1.1.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=6.0.0,<7.0a0
+  - libgz-math >=9.2.0,<10.0a0
   - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
+  - casadi >=3.7.2,<3.8.0a0
   - libboost >=1.90.0,<1.91.0a0
-  - libboost-devel
-  - libcoal >=3.0.3,<3.0.4.0a0
-  - libgcc >=14
-  - libgz-math >=9.1.0,<10.0a0
-  - libsdformat >=16.0.1,<17.0a0
-  - libstdcxx >=14
-  - qhull >=2020.2,<2020.3.0a0
-  - qhull-static
-  - urdfdom >=5.1.2,<5.2.0a0
-  - urdfdom_headers >=2.1.2,<3.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 5201269
-  timestamp: 1779093357362
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 5638291
+  timestamp: 1784113943994
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libpinocchio-4.1.0-hbd86b04_0.conda
   sha256: de7d34da3e3c6829da260d437544b21f146e54c44aaa87e2f45329a8cc59034b
   md5: 9964cec50659eeca02c748157476dd8e
@@ -11371,27 +11325,27 @@ packages:
     - libsdformat >=16.0.1,<17.0a0
   size: 1416276
   timestamp: 1781006430520
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libsdformat-16.0.1-py314h1d9b72e_1.conda
-  sha256: f27a0b44f0cbd74da5775abd373ad2194bbf285c4a7d0f68bf0f620d0b3127ed
-  md5: fff6cd0e0feb4e1b4fbeed0d12168902
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libsdformat-16.1.0-py310h4771614_0.conda
+  sha256: 53e6238a46790860191f3ef6133ad1979ce8993df517dcd36ad9cee496e3da51
+  md5: 2028e2da21c5b6d65819fdd2c56fc4e6
   depends:
-  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
   - libstdcxx >=14
   - tinyxml2 >=11.0.0,<11.1.0a0
-  - libgz-tools >=2.0.3,<3.0a0
-  - urdfdom_headers >=2.1.0,<3.0a0
-  - urdfdom >=5.1.0,<5.2.0a0
-  - libgz-math >=9.0.0,<10.0a0
-  - libgz-cmake >=5.0.2,<6.0a0
+  - libgz-math >=9.2.0,<10.0a0
   - libgz-utils >=4.0.0,<5.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=6.0.0,<7.0a0
+  - libgz-cmake >=5.1.1,<6.0a0
+  - libgz-tools >=2.0.3,<3.0a0
   license: Apache-2.0
   license_family: APACHE
   run_exports:
     weak:
-    - libsdformat >=16.0.1,<17.0a0
-  size: 1414564
-  timestamp: 1771129626747
+    - libsdformat >=16.1.0,<17.0a0
+  size: 1417893
+  timestamp: 1783952617592
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libsdformat14-14.8.0-py314h67520d3_3.conda
   sha256: 9151faa7e92936bb59c144cea12a4f3a5c302cb2f14e95ee8025be8fa95a86f2
   md5: f0395cdb3640774472ce97c8933a65cd
@@ -12126,20 +12080,6 @@ packages:
     - libpinocchio >=3.9.0,<3.9.1.0a0
   size: 9740
   timestamp: 1774951569789
-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.0.0-h7d0a834_2.conda
-  sha256: 66dca7f231d344668d60c99e0e6f890e8ffe8f9e7f2922d5f38f6443c0c50285
-  md5: acd963931ed636df10278fc9c3500399
-  depends:
-  - libpinocchio 4.0.0 hd3bca24_2
-  - pinocchio-python 4.0.0 py314h92653b4_2
-  - python_abi 3.14.* *_cp314
-  license: BSD-2-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 11237
-  timestamp: 1779096385891
 - conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.1.0-h7d0a834_0.conda
   sha256: c5ec9f24d7dfd255e29480d87023f9349136b601e06c8aae32d1651ae179125f
   md5: 2ce075f3240d47b75b3ef24d8fdb58f3
@@ -12168,6 +12108,20 @@ packages:
     - libpinocchio >=4.1.0,<4.1.1.0a0
   size: 9394
   timestamp: 1783457492974
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.1.0-py314h4fcf905_1.conda
+  sha256: 8693690468dd50ac8c71f95e596376309cda1f6762142b8e966b986f055c21f2
+  md5: 8bdeea7e87fe84e9294c5a799b849dc2
+  depends:
+  - libpinocchio ==4.1.0 h4bcdf98_1
+  - pinocchio-python ==4.1.0 np2py314h3d74583_1
+  - python_abi 3.14.* *_cp314
+  license: BSD-2-Clause
+  license_family: BSD
+  run_exports:
+    weak:
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 9342
+  timestamp: 1784113943994
 - conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-3.9.0-py314h9d3bb99_3.conda
   sha256: d4e43276dbeb9f001fca20f75555e1d663803b41b6e1453dca64ca360cba7be3
   md5: 6ab23dabbdf5921347007aafdc6d44e0
@@ -12190,29 +12144,29 @@ packages:
   run_exports: {}
   size: 10523112
   timestamp: 1774951463072
-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.0.0-py314h92653b4_2.conda
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-  md5: 727df66a5037518a5599d4dd31d6e3ae
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.1.0-np2py314h3d74583_1.conda
+  sha256: bf9202afbdd4e6722b396438e0509b361ca521e9b1c9912d29d8351180acef28
+  md5: a8c7771828deff7acfb480d464fb7ce2
   depends:
-  - __glibc >=2.17,<3.0.a0
-  - casadi >=3.7.2,<3.8.0a0
+  - python
   - coal-python
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
+  - libpinocchio ==4.1.0 h4bcdf98_1
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libpinocchio >=4.1.0,<4.1.1.0a0
   - libboost >=1.90.0,<1.91.0a0
+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
+  - casadi >=3.7.2,<3.8.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
-  - libgcc >=14
-  - libpinocchio 4.0.0 hd3bca24_2
-  - libstdcxx >=14
-  - numpy >=1.23,<3
-  - python >=3.14,<3.15.0a0
+  - numpy >=1.25,<3
   - python_abi 3.14.* *_cp314
+  - eigenpy >=3.13.0,<3.13.1.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 12692072
-  timestamp: 1779096350896
+  size: 14231440
+  timestamp: 1784113943994
 - conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.1.0-py310h2834c07_0.conda
   sha256: e45c5d4aadfa8b4f6d166e2528546f8828eaff7cbcd6b6e7b0499f4e95f9d2bd
   md5: 9d99ca993c5e2da84dba705a959e77ee
@@ -14576,28 +14530,6 @@ packages:
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   size: 1070860
   timestamp: 1769118126952
-- conda: https://conda.anaconda.org/conda-forge/osx-64/coal-python-3.0.3-py314h5cbf2a9_1.conda
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-  md5: 4d9c5da3bb8c22fb518c95f627f76782
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-  - __osx >=11.0
-  - assimp >=6.0.5,<7.0a0
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
-  - libboost >=1.90.0,<1.91.0a0
-  - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal 3.0.3 h896ea4e_1
-  - libcxx >=19
-  - numpy >=1.23,<3
-  - octomap >=1.10.0,<1.11.0a0
-  - python >=3.14,<3.15.0a0
-  - python_abi 3.14.* *_cp314
-  - qhull >=2020.2,<2020.3.0a0
-  license: BSD-3-Clause
-  license_family: BSD
-  run_exports: {}
-  size: 1066851
-  timestamp: 1778586661868
 - conda: https://conda.anaconda.org/conda-forge/osx-64/coal-python-3.0.4-py310hcaea081_0.conda
   sha256: 21ed0834693cca8bba7bebe2bbb696fdf62ead99e44dde66726fe50ed43e744a
   md5: 1cb544a55537293852c541f586206973
@@ -14694,31 +14626,30 @@ packages:
   run_exports: {}
   size: 301747
   timestamp: 1769156235399
-- conda: https://conda.anaconda.org/conda-forge/osx-64/crocoddyl-3.2.1-np2py314h256f2d8_2.conda
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-  md5: bef109c5f1f9de1e1f3836cc24ca0d82
+- conda: https://conda.anaconda.org/conda-forge/osx-64/crocoddyl-3.2.1-np2py314h256f2d8_3.conda
+  sha256: 7c83957a5076b6b80acb71355a78718193debf39c1bfbe6a437ac36cae143904
+  md5: 423394be3da295b37bd70ff1f98ceffc
   depends:
   - eigen
   - eigenpy
   - pinocchio-python
   - python
   - example-robot-data
-  - libcxx >=19
   - __osx >=11.0
-  - python_abi 3.14.* *_cp314
-  - numpy >=1.23,<3
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
+  - libcxx >=19
+  - numpy >=1.25,<3
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
-  - libpinocchio >=4.0.0,<4.0.1.0a0
+  - python_abi 3.14.* *_cp314
+  - libpinocchio >=4.1.0,<4.1.1.0a0
   license: BSD-3-Clause
-  license_family: BSD
   run_exports:
     weak:
     - crocoddyl >=3.2.1,<3.2.2.0a0
-  size: 7217863
-  timestamp: 1779348858031
+  size: 7218543
+  timestamp: 1785237725813
 - conda: https://conda.anaconda.org/conda-forge/osx-64/cxx-compiler-1.11.0-h307afc9_0.conda
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   md5: 463bb03bb27f9edc167fb3be224efe96
@@ -14782,26 +14713,6 @@ packages:
   run_exports: {}
   size: 13290
   timestamp: 1773745053527
-- conda: https://conda.anaconda.org/conda-forge/osx-64/eigenpy-3.12.0-np2py314h8b91aeb_4.conda
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-  md5: e7ff03dc413929e29e1b4e852c0c6097
-  depends:
-  - libboost-python-devel
-  - python
-  - scipy
-  - libcxx >=19
-  - __osx >=11.0
-  - libboost-python >=1.90.0,<1.91.0a0
-  - numpy >=1.23,<3
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - python_abi 3.14.* *_cp314
-  license: BSD-2-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - eigenpy >=3.12.0,<3.12.1.0a0
-  size: 3784224
-  timestamp: 1777893928925
 - conda: https://conda.anaconda.org/conda-forge/osx-64/eigenpy-3.12.0-np2py314hf36f832_2.conda
   sha256: 848f647ae42ab552c779166936760cc60ee7754afe44ccc6e146c7938954ec35
   md5: 814f3ce3cf83bb5172126eea2c8ca722
@@ -15594,26 +15505,6 @@ packages:
     - libcoal >=3.0.2,<3.0.3.0a0
   size: 1127039
   timestamp: 1769117311542
-- conda: https://conda.anaconda.org/conda-forge/osx-64/libcoal-3.0.3-h896ea4e_1.conda
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-  md5: 0a5d8edaacf844f36b05e05c1ee05cbc
-  depends:
-  - __osx >=11.0
-  - assimp >=6.0.5,<7.0a0
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - libboost >=1.90.0,<1.91.0a0
-  - libboost-devel
-  - libcxx >=19
-  - octomap >=1.10.0,<1.11.0a0
-  - qhull >=2020.2,<2020.3.0a0
-  - qhull-static
-  license: BSD-3-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - libcoal >=3.0.3,<3.0.4.0a0
-  size: 1132592
-  timestamp: 1778586221742
 - conda: https://conda.anaconda.org/conda-forge/osx-64/libcoal-3.0.4-h896ea4e_0.conda
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   md5: a676f3c4e70a392809bc4e24971932b9
@@ -15932,6 +15823,22 @@ packages:
     - libgz-math >=9.1.0,<10.0a0
   size: 264624
   timestamp: 1774640712459
+- conda: https://conda.anaconda.org/conda-forge/osx-64/libgz-math-9.2.0-h30b08cf_0.conda
+  sha256: e4382ecc7094eb4821de70387705d41d59fe4ef3484bdabd7c4524fa225b2fdb
+  md5: 95a090c874b30d0dad0b65fe11d40b3f
+  depends:
+  - eigen
+  - __osx >=11.0
+  - libcxx >=19
+  - libgz-utils >=4.0.0,<5.0a0
+  - libgz-cmake >=5.1.1,<6.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  run_exports:
+    weak:
+    - libgz-math >=9.2.0,<10.0a0
+  size: 267004
+  timestamp: 1783484410998
 - conda: https://conda.anaconda.org/conda-forge/osx-64/libgz-math7-7.5.2-h5733d70_2.conda
   sha256: b7b31066728b5f205af74f1962648e916866222ed9b4a806770d1d30af6dc1b0
   md5: ed71ef40206d3dc0cf22652a59860ee6
@@ -16229,33 +16136,32 @@ packages:
     - libpinocchio >=3.9.0,<3.9.1.0a0
   size: 3601948
   timestamp: 1774949093641
-- conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.0.0-h45d972a_2.conda
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-  md5: f53f476b21bf9e80302ba88e9fc81603
+- conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.1.0-h382d9ae_1.conda
+  sha256: 3ee42ecb270e9bcbc44e2d83748912f4ff25f73cd494abf66bb08979b4cc2eb3
+  md5: 731fbd8e41150ae44a0e4f9a112bf6fb
   depends:
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-  - casadi >=3.7.2,<3.8.0a0
-  - console_bridge >=1.0.2,<1.1.0a0
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - libboost >=1.90.0,<1.91.0a0
   - libboost-devel
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - qhull-static
+  - __osx >=11.0
   - libcxx >=19
-  - libgz-math >=9.1.0,<10.0a0
-  - libsdformat >=16.0.1,<17.0a0
   - llvm-openmp >=19.1.7
-  - llvm-openmp >=22.1.5
+  - console_bridge >=1.0.2,<1.1.0a0
+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
   - qhull >=2020.2,<2020.3.0a0
-  - qhull-static
-  - urdfdom >=5.1.2,<5.2.0a0
-  - urdfdom_headers >=2.1.2,<3.0a0
+  - libsdformat >=16.1.0,<17.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=6.0.0,<7.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
+  - casadi >=3.7.2,<3.8.0a0
+  - libgz-math >=9.2.0,<10.0a0
+  - libboost >=1.90.0,<1.91.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
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-  size: 4105692
-  timestamp: 1779094041832
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 4696542
+  timestamp: 1784113961110
 - conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.1.0-h4103ed5_0.conda
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   md5: a8f6db217b55572c89cf58538773ff51
@@ -16382,26 +16288,26 @@ packages:
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   size: 1122340
   timestamp: 1781006582737
-- conda: https://conda.anaconda.org/conda-forge/osx-64/libsdformat-16.0.1-py314h80bdb88_1.conda
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-  md5: 3d591c4e27a3e6bf35e04f5b77638853
+- conda: https://conda.anaconda.org/conda-forge/osx-64/libsdformat-16.1.0-py310h22e3934_0.conda
+  sha256: f6c46f168e92ba4a7ffa0ce46b727a693383fa29a5eee16559762ceced7fc61a
+  md5: 02fcae892f5dbe5a1993caf4ed13ed3f
   depends:
-  - __osx >=11.0
   - libcxx >=19
-  - libgz-cmake >=5.0.2,<6.0a0
+  - __osx >=11.0
+  - libgz-utils >=4.0.0,<5.0a0
+  - libgz-cmake >=5.1.1,<6.0a0
+  - libgz-math >=9.2.0,<10.0a0
   - tinyxml2 >=11.0.0,<11.1.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=6.0.0,<7.0a0
   - libgz-tools >=2.0.3,<3.0a0
-  - libgz-utils >=4.0.0,<5.0a0
-  - urdfdom_headers >=2.1.0,<3.0a0
-  - urdfdom >=5.1.0,<5.2.0a0
-  - libgz-math >=9.0.0,<10.0a0
   license: Apache-2.0
   license_family: APACHE
   run_exports:
     weak:
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-  size: 1122002
-  timestamp: 1771129661456
+    - libsdformat >=16.1.0,<17.0a0
+  size: 1124967
+  timestamp: 1783952711504
 - conda: https://conda.anaconda.org/conda-forge/osx-64/libsdformat14-14.8.0-py314hc52fe87_3.conda
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   md5: 8ead984a344fd7e3169419de58477175
@@ -16930,20 +16836,6 @@ packages:
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   size: 9749
   timestamp: 1774954533674
-- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-4.0.0-h218e2f2_2.conda
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-  md5: 04534e81fae12e6a68a2474d8edb2f89
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-  - pinocchio-python 4.0.0 py314hc279727_2
-  - python_abi 3.14.* *_cp314
-  license: BSD-2-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 11402
-  timestamp: 1779098670269
 - conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-4.1.0-h218e2f2_0.conda
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   md5: 2e73ad5c315e09284d2188ea782bf838
@@ -16972,6 +16864,20 @@ packages:
     - libpinocchio >=4.1.0,<4.1.1.0a0
   size: 9408
   timestamp: 1783460129583
+- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-4.1.0-py314h37f5871_1.conda
+  sha256: 8ba9a2e9a1df07fe8510ff124b5d70e38c9724e07d4be89fdf00af2d0388fa9e
+  md5: 53b96936e16416d89ec346317c76595f
+  depends:
+  - libpinocchio ==4.1.0 h382d9ae_1
+  - pinocchio-python ==4.1.0 np2py314h618516a_1
+  - python_abi 3.14.* *_cp314
+  license: BSD-2-Clause
+  license_family: BSD
+  run_exports:
+    weak:
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 8769
+  timestamp: 1784113961110
 - conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-3.9.0-py314h8a6da7a_3.conda
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   md5: 072d908c0afb5aa3a18d1648c641ad35
@@ -16993,28 +16899,29 @@ packages:
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   size: 9150077
   timestamp: 1774954443724
-- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.0.0-py314hc279727_2.conda
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-  md5: 627e57b3448d2d15291a15d9f23f7df4
+- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.1.0-np2py314h618516a_1.conda
+  sha256: 1fb67a1bb2ecc2e9989efacf8af58af496daa0c7bbd77e75b960b3a62b378d2e
+  md5: 8e41c0ad7f7403fc10d4ddcb4fcf68f9
   depends:
+  - python
+  - coal-python
+  - libpinocchio ==4.1.0 h382d9ae_1
   - __osx >=11.0
+  - python 3.14.* *_cp314
+  - libcxx >=19
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - casadi >=3.7.2,<3.8.0a0
-  - coal-python
-  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
   - libboost >=1.90.0,<1.91.0a0
-  - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
-  - libcxx >=19
-  - libpinocchio 4.0.0 h45d972a_2
-  - numpy >=1.23,<3
-  - python >=3.14,<3.15.0a0
   - python_abi 3.14.* *_cp314
+  - libpinocchio >=4.1.0,<4.1.1.0a0
+  - numpy >=1.25,<3
+  - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
+  - libboost-python >=1.90.0,<1.91.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 10878788
-  timestamp: 1779098496098
+  size: 12983590
+  timestamp: 1784113961110
 - conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.1.0-py310hccd52f4_0.conda
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@@ -18113,29 +18020,6 @@ packages:
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   timestamp: 1769117611410
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.3-py314hcd7fe18_1.conda
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-  - eigenpy >=3.12.0,<3.12.1.0a0
-  - libboost >=1.90.0,<1.91.0a0
-  - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal 3.0.3 h49f3d01_1
-  - libcxx >=19
-  - numpy >=1.23,<3
-  - octomap >=1.10.0,<1.11.0a0
-  - python >=3.14,<3.15.0a0
-  - python >=3.14,<3.15.0a0 *_cp314
-  - python_abi 3.14.* *_cp314
-  - qhull >=2020.2,<2020.3.0a0
-  license: BSD-3-Clause
-  license_family: BSD
-  run_exports: {}
-  size: 1013493
-  timestamp: 1778587689366
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.4-py310h7632705_0.conda
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   md5: f027210e3789fcae4d8fd4f5b9f7487c
@@ -18236,9 +18120,9 @@ packages:
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   size: 290405
   timestamp: 1769156069514
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/crocoddyl-3.2.1-np2py314h2f9d96d_2.conda
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-  md5: b8c9072068de7f2a8ecd5ed36f0a5b3e
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/crocoddyl-3.2.1-np2py314h2f9d96d_3.conda
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+  md5: 91da8896e481c2f2ccd304bdba213e06
   depends:
   - eigen
   - eigenpy
@@ -18248,20 +18132,19 @@ packages:
   - __osx >=11.0
   - libcxx >=19
   - python 3.14.* *_cp314
+  - numpy >=1.25,<3
+  - libboost-python >=1.90.0,<1.91.0a0
   - libboost >=1.90.0,<1.91.0a0
-  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
+  - libpinocchio >=4.1.0,<4.1.1.0a0
   - python_abi 3.14.* *_cp314
-  - libboost-python >=1.90.0,<1.91.0a0
-  - numpy >=1.23,<3
-  - libpinocchio >=4.0.0,<4.0.1.0a0
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - eigenpy >=3.13.0,<3.13.1.0a0
   license: BSD-3-Clause
-  license_family: BSD
   run_exports:
     weak:
     - crocoddyl >=3.2.1,<3.2.2.0a0
-  size: 40179341
-  timestamp: 1779348883629
+  size: 40426624
+  timestamp: 1785237684977
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cxx-compiler-1.11.0-h88570a1_0.conda
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   md5: 043afed05ca5a0f2c18252ae4378bdee
@@ -18346,27 +18229,6 @@ packages:
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   size: 2958663
   timestamp: 1771867059171
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigenpy-3.12.0-np2py314h91eadce_4.conda
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-  md5: 29cb3742c8f429b2a6b562da5ca9a5f5
-  depends:
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-  - python
-  - scipy
-  - libcxx >=19
-  - __osx >=11.0
-  - python 3.14.* *_cp314
-  - numpy >=1.23,<3
-  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - libboost-python >=1.90.0,<1.91.0a0
-  - python_abi 3.14.* *_cp314
-  license: BSD-2-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - eigenpy >=3.12.0,<3.12.1.0a0
-  size: 2957314
-  timestamp: 1777894067266
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/eigenpy-3.13.0-np2py310h2fc149e_0.conda
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   md5: 042509e42b597cc90ef412ad2f482e36
@@ -19146,26 +19008,6 @@ packages:
     - libcoal >=3.0.2,<3.0.3.0a0
   size: 1032521
   timestamp: 1769117225845
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcoal-3.0.3-h49f3d01_1.conda
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-  md5: 710f2e77c2c721a124f96c36187633df
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-  - assimp >=6.0.5,<7.0a0
-  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - libboost >=1.90.0,<1.91.0a0
-  - libboost-devel
-  - libcxx >=19
-  - octomap >=1.10.0,<1.11.0a0
-  - qhull >=2020.2,<2020.3.0a0
-  - qhull-static
-  license: BSD-3-Clause
-  license_family: BSD
-  run_exports:
-    weak:
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-  size: 1029115
-  timestamp: 1778586080856
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcoal-3.0.4-h49f3d01_0.conda
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   md5: 2ce853093057dcd769e9eefd53ed6b1d
@@ -19484,6 +19326,22 @@ packages:
     - libgz-math >=9.1.0,<10.0a0
   size: 252557
   timestamp: 1774640732464
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-math-9.2.0-h9326ef6_0.conda
+  sha256: 242a8773693cccb273f59f162dd75282ec20f7f1fdebbd161847eb6642cb8f0f
+  md5: 97720fa83e4fe487d0e04eab0fac04b9
+  depends:
+  - eigen
+  - libcxx >=19
+  - __osx >=11.0
+  - libgz-cmake >=5.1.1,<6.0a0
+  - libgz-utils >=4.0.0,<5.0a0
+  license: Apache-2.0
+  license_family: APACHE
+  run_exports:
+    weak:
+    - libgz-math >=9.2.0,<10.0a0
+  size: 254766
+  timestamp: 1783484324715
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-math7-7.5.2-h248ca61_2.conda
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   md5: 001b8ac27ae731a0c68f1419392e48db
@@ -19781,9 +19639,9 @@ packages:
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   size: 3168457
   timestamp: 1774949092423
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.0.0-he21e32d_2.conda
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-  md5: 924821249eb14fd29240f6b20d4a982a
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.1.0-h7091ee2_0.conda
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+  md5: 78afb971161a6c0cd485860789650dc1
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   - casadi >=3.7.2,<3.8.0a0
@@ -19791,50 +19649,49 @@ packages:
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   - libboost >=1.90.0,<1.91.0a0
   - libboost-devel
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
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   - libgz-math >=9.1.0,<10.0a0
   - libsdformat >=16.0.1,<17.0a0
   - llvm-openmp >=19.1.7
-  - llvm-openmp >=22.1.5
+  - llvm-openmp >=22.1.8
   - qhull >=2020.2,<2020.3.0a0
   - qhull-static
-  - urdfdom >=5.1.2,<5.2.0a0
-  - urdfdom_headers >=2.1.2,<3.0a0
+  - urdfdom >=6.0.0,<7.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
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-  size: 3661637
-  timestamp: 1779094645260
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.1.0-h7091ee2_0.conda
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-  md5: 78afb971161a6c0cd485860789650dc1
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 3705845
+  timestamp: 1783453567855
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.1.0-h7399046_1.conda
+  sha256: bcdafa91ca4524c27c93bb93f6fc02ffc1c2f6b826b33a53fe3b48334633edfe
+  md5: f35c36933350adaa7cde49f73924b472
   depends:
+  - libboost-devel
+  - qhull-static
+  - libcxx >=19
+  - llvm-openmp >=19.1.7
   - __osx >=11.0
   - casadi >=3.7.2,<3.8.0a0
-  - console_bridge >=1.0.2,<1.1.0a0
   - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - libboost >=1.90.0,<1.91.0a0
-  - libboost-devel
   - libcoal >=3.0.4,<3.0.5.0a0
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-  - libgz-math >=9.1.0,<10.0a0
-  - libsdformat >=16.0.1,<17.0a0
-  - llvm-openmp >=19.1.7
-  - llvm-openmp >=22.1.8
+  - console_bridge >=1.0.2,<1.1.0a0
+  - libsdformat >=16.1.0,<17.0a0
   - qhull >=2020.2,<2020.3.0a0
-  - qhull-static
-  - urdfdom >=6.0.0,<7.0a0
   - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=6.0.0,<7.0a0
+  - libboost >=1.90.0,<1.91.0a0
+  - libgz-math >=9.2.0,<10.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
     - libpinocchio >=4.1.0,<4.1.1.0a0
-  size: 3705845
-  timestamp: 1783453567855
+  size: 4117231
+  timestamp: 1784113959622
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpng-1.6.58-h132b30e_0.conda
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   md5: 2259ae0949dbe20c0665850365109b27
@@ -19934,26 +19791,26 @@ packages:
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   size: 1054184
   timestamp: 1781006441674
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsdformat-16.0.1-py314hf95fc87_1.conda
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-  md5: 80f28a46cd838f351f07c9ae8337ae09
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsdformat-16.1.0-py310h2c8d84a_0.conda
+  sha256: f063515b2e9160a4deb138c460fbda31cfd2d719e638bb98ebb4540111f18412
+  md5: 072dc830aa2e7a6aa906eaa0b53b3771
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   - libcxx >=19
-  - libgz-utils >=4.0.0,<5.0a0
-  - libgz-cmake >=5.0.2,<6.0a0
+  - __osx >=11.0
+  - libgz-cmake >=5.1.1,<6.0a0
   - libgz-tools >=2.0.3,<3.0a0
-  - libgz-math >=9.0.0,<10.0a0
-  - urdfdom_headers >=2.1.0,<3.0a0
-  - urdfdom >=5.1.0,<5.2.0a0
+  - libgz-math >=9.2.0,<10.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=6.0.0,<7.0a0
   - tinyxml2 >=11.0.0,<11.1.0a0
+  - libgz-utils >=4.0.0,<5.0a0
   license: Apache-2.0
   license_family: APACHE
   run_exports:
     weak:
-    - libsdformat >=16.0.1,<17.0a0
-  size: 1053788
-  timestamp: 1771129728937
+    - libsdformat >=16.1.0,<17.0a0
+  size: 1055679
+  timestamp: 1783952659255
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libsdformat14-14.8.0-py314h23425eb_3.conda
   sha256: 59fe013385f6d55bd5a9d3ad427619c1d1e360d2592e3981102acc8135c7a93a
   md5: dd0f3b4ede8fce98595600d1bb236373
@@ -20484,20 +20341,6 @@ packages:
     - libpinocchio >=3.9.0,<3.9.1.0a0
   size: 9843
   timestamp: 1774953774620
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.0.0-h1725a08_2.conda
-  sha256: 07df6fe9cc2684cbcda801ef97e452722b67d2ac8aead56a308f9eac427acabb
-  md5: cd896abe3f1197a64ff1fc4d913f1bce
-  depends:
-  - libpinocchio 4.0.0 he21e32d_2
-  - pinocchio-python 4.0.0 py314hec5027b_2
-  - python_abi 3.14.* *_cp314
-  license: BSD-2-Clause
-  license_family: BSD
-  run_exports:
-    weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 11433
-  timestamp: 1779099662190
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.1.0-h1725a08_0.conda
   sha256: f8bca3d1d0e2a795318f39b51fa97b1055221dde0806478225c30a099883e5ab
   md5: 9f89b93b879c64f5693bf9f0f215d9c1
@@ -20526,6 +20369,20 @@ packages:
     - libpinocchio >=4.1.0,<4.1.1.0a0
   size: 9409
   timestamp: 1783461063630
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.1.0-py314h999e5f5_1.conda
+  sha256: da4dc6a1feb1b1f87d3de93ff6dff10f9949356a2adf672432a2ed40a67023cb
+  md5: a526d6793c0c4ab307f247eff50ba83c
+  depends:
+  - libpinocchio ==4.1.0 h7399046_1
+  - pinocchio-python ==4.1.0 np2py314h8299c0a_1
+  - python_abi 3.14.* *_cp314
+  license: BSD-2-Clause
+  license_family: BSD
+  run_exports:
+    weak:
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 8619
+  timestamp: 1784113959622
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-3.9.0-py314h0c80980_3.conda
   sha256: 97eeaee4f5b692166fc605bf2b814994f0cb1a8dbda2ec52a99198faf88e81d1
   md5: 79ac3b60bf022fa5a70d91cc6b5f7c6b
@@ -20548,29 +20405,28 @@ packages:
   run_exports: {}
   size: 8935656
   timestamp: 1774953561668
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.0.0-py314hec5027b_2.conda
-  sha256: a9a0f03ab73f7f44191cfd3fbd869f0ed30db5a503c5de248f725e6300af8bc7
-  md5: 831ab509c08a99d5b9c802f1a2428647
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.1.0-np2py314h8299c0a_1.conda
+  sha256: a6aee24fe6afb8844874c5bad82531bd5e3f06bd5952a4dec99884e2c778b7af
+  md5: 5a10d1d38ba99019572fabba26ce6a05
   depends:
-  - __osx >=11.0
-  - casadi >=3.7.2,<3.8.0a0
+  - python
   - coal-python
-  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
-  - libboost >=1.90.0,<1.91.0a0
-  - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libpinocchio ==4.1.0 h7399046_1
+  - __osx >=11.0
   - libcxx >=19
-  - libpinocchio 4.0.0 he21e32d_2
-  - numpy >=1.23,<3
-  - python >=3.14,<3.15.0a0
-  - python >=3.14,<3.15.0a0 *_cp314
+  - libboost-python >=1.90.0,<1.91.0a0
+  - libboost >=1.90.0,<1.91.0a0
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - python_abi 3.14.* *_cp314
+  - libpinocchio >=4.1.0,<4.1.1.0a0
+  - numpy >=1.25,<3
+  - casadi >=3.7.2,<3.8.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 10661962
-  timestamp: 1779099596622
+  size: 12244009
+  timestamp: 1784113959622
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.1.0-py310h5cf0305_0.conda
   sha256: 5b046355951b0d80ef3dffbbd7dcf7dc10d40cca950928e9685fd2a7ddd59685
   md5: 3fe1e0dec583de01c1272fc0b26a15be
diff --git a/pixi.toml b/pixi.toml
index 3d4b104bd..c899b6239 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -129,7 +129,7 @@ configure-new-version = { cmd = [
   "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
   "-DCMAKE_BUILD_TYPE=$ALIGATOR_BUILD_TYPE",
   "-DBUILD_WITH_PINOCCHIO_SUPPORT=ON",
-  "-DBUILD_CROCODDYL_COMPAT=OFF",
+  "-DBUILD_CROCODDYL_COMPAT=ON",
   "-DBUILD_WITH_OPENMP_SUPPORT=ON",
   "-DBUILD_BENCHMARKS=ON",
   "-DBUILD_EXAMPLES=ON",
@@ -164,11 +164,9 @@ activation = { env = { ALIGATOR_PINOCCHIO_SUPPORT = "ON" } }
 dependencies = { pinocchio = ">=4.0.0,<5", example-robot-data-loaders = ">=5" }
 activation = { env = { ALIGATOR_PINOCCHIO_SUPPORT = "ON" } }
 
-# crocoddyl 3.2 requires pinocchio 3.8.x, so this feature is pinned to Pinocchio 3
 [feature.crocoddyl]
-dependencies = { crocoddyl = ">=3.2.0,<4", example-robot-data-loaders = ">=4" }
+dependencies = { crocoddyl = ">=3.2.0", example-robot-data-loaders = ">=4" }
 activation = { env = { ALIGATOR_CROCODDYL_COMPAT = "ON", ALIGATOR_PINOCCHIO_SUPPORT = "ON" } }
-constraints = { pinocchio = ">=3.8.0" }
 
 # Not supported by Windows (because of conda-forge issue)
 [feature.openmp]
@@ -242,8 +240,9 @@ all-python-oldest = { features = [
 new-version = { features = [
   "new-version",
   "pin4",
+  "crocoddyl",
   "openmp",
   "python-latest",
-], solve-group = "python-latest" }
+] }
 all-pin39 = { features = ["doc", "pin39", "openmp", "python-latest"] }
 # test-pixi-build = { features = ["test-pixi-build"], no-default-feature = true }