diff --git a/.github/workflows/macos-linux-pixi.yml b/.github/workflows/macos-linux-pixi.yml
index 302c0562..82fdd66e 100644
--- a/.github/workflows/macos-linux-pixi.yml
+++ b/.github/workflows/macos-linux-pixi.yml
@@ -7,19 +7,14 @@ on:
       - '.gitignore'
       - '*.md'
       - 'CHANGELOG.md'
-  pull_request:
-    paths-ignore:
-      - 'doc/'
-      - '.gitignore'
-      - '*.md'
-      - 'CHANGELOG.md'
+
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
   simple-mpc-pixi:
-    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }}
+    name: ${{ matrix.os }} - ${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
     env:
       CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
@@ -31,7 +26,6 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest]
-        environment: [all]
         build_type: [Release, Debug]
 
     steps:
@@ -49,15 +43,13 @@ jobs:
       with:
         pixi-version: v0.56.0
         cache: true
-        environments: ${{ matrix.environment }}
 
     - name: Build simple-mpc
       shell: bash -l {0}
       env:
         CMAKE_BUILD_PARALLEL_LEVEL: 4
-        SIMPLE_MPC_BUILD_TYPE: ${{ matrix.build_type }}
       run: |
-        pixi run -e ${{ matrix.environment }} test
+        pixi run test ${{ matrix.build_type }}
 
   check:
     if: always()
diff --git a/pixi.lock b/pixi.lock
index 4daaa16f..089ac195 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,694 +1,5 @@
 version: 6
 environments:
-  all:
-    channels:
-    - url: https://conda.anaconda.org/conda-forge/
-    packages:
-      linux-64:
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/_x86_64-microarch-level-1-2_x86_64.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/aligator-0.16.0-py311h7d66977_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-asl-1.0.0-h5888daf_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-hecf2907_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h934bc7f_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.5-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.9.0-h2b85faf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2025.4.26-hbd8a1cb_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/casadi-3.7.0-py311h0b04af2_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.11.3-h80c52d3_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.5.0-h3f2d84a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.0.3-h74e3db0_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-3.0.1-h38be061_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-python-3.0.1-py311hc4a192e_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.2-py311hd18a35c_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/crocoddyl-3.1.0-py311h5fe6122_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.9.0-h1a2810e_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.27-h54b06d7_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-h3c4dab8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.16-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.1-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigenpy-3.12.0-np2py311hdfae693_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/eiquadprog-1.3.0-hb700be7_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.192-h7f4e02f_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.3.0-pyh6b898a9_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-12.0.0-h2b0788b_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.58.2-py311h2dc5d0c_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.13.3-ha770c72_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-13.3.0-h9576a4e_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.3.0-h1e990d8_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-h6f18a23_11.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gdbm-1.18-h0a1914f_2.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.8.9-h86084c0_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.13-h59595ed_1003.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-13.3.0-h9576a4e_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.3.0-hae580e1_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.3.0-hb14504d_11.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-11.2.1-h3beb420_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/hpp-fcl-3.0.1-pyhd3e5650_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.0.0-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.17-h7fd866c_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-3.10.0-he073ed8_18.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.1-h166bdaf_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.7-py311hd18a35c_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.17-h717163a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.43-h712a8e2_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarchive-3.7.7-h75ea233_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libasprintf-0.24.1-h8e693c7_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-31_h59b9bed_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libblasfeo-0.1.4.2-h544d10a_100.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.88.0-h6c02f8c_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.88.0-h1a2810e_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.88.0-ha770c72_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-1.88.0-py311h5b7b71f_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-devel-1.88.0-py311hbd00459_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hb9d3cd8_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hb9d3cd8_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hb9d3cd8_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-31_he106b2a_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp20.1-20.1.6-default_h1df26ce_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang13-20.1.6-default_he06ed0a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcoal-3.0.1-h969b668_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcups-2.3.3-h4637d8d_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.14.1-h332b0f4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.24-h86f0d12_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libdrm-2.4.124-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20250104-pl5321h7949ede_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libegl-1.7.0-ha4b6fd6_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.7.0-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libfatrop-0.0.4-h5888daf_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.4.6-h2dba641_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libfreetype-2.13.3-ha770c72_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libfreetype6-2.13.3-h48d6fc4_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.1.0-h767d61c_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-13.3.0-hc03c837_102.conda
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-  md5: 6837f3eff7dcea42ecd714ce1ac2b108
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+  sha256: 7ad5972882568b813a86d3504dbd93d2bba410a182d822e0e2d314d53489725f
+  md5: ae1a5e834fbca62ee88ab55fb276be63
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+  - editdistance-s
+  - python >=3.6
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+  - libgcc >=14
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-  - libspral >=2025.3.6,<2025.3.7.0a0
-  - libstdcxx >=13
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+  - mumps-seq >=5.8.1,<5.8.2.0a0
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-  license: LGPL-2.0-or-later AND LGPL-2.0-or-later WITH exceptions AND GPL-2.0-or-later AND MPL-2.0
+  - sysroot_linux-64 ==2.28
+  license: LGPL-2.0-or-later AND LGPL-2.0-or-later WITH exceptions AND GPL-2.0-or-later
   license_family: GPL
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.7-py311hd18a35c_0.conda
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   - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
-  - libstdcxx >=13
-  - python >=3.11,<3.12.0a0
-  - python_abi 3.11.* *_cp311
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.14.* *_cp314
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   license_family: BSD
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/kiwisolver-1.4.7-py311h2c37856_0.conda
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-  md5: ee572d19da1346db8e78cb8e7d5d2330
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/kiwisolver-1.4.9-py314hb140f16_1.conda
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+  md5: 9d3885bc7ae5dd21662060e879292e89
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+  - python
+  - python 3.14.* *_cp314
+  - libcxx >=19
   - __osx >=11.0
-  - libcxx >=17
-  - python >=3.11,<3.12.0a0
-  - python >=3.11,<3.12.0a0 *_cpython
-  - python_abi 3.11.* *_cp311
+  - python_abi 3.14.* *_cp314
   license: BSD-3-Clause
   license_family: BSD
-  size: 59357
-  timestamp: 1725459504453
+  size: 68629
+  timestamp: 1756467655536
 - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/ld64-951.9-h4c6efb1_6.conda
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-  md5: f756d0a0ffba157687a29077f3408016
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/ld64-955.13-he86490a_5.conda
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+  - ld64_osx-arm64 955.13 llvm19_1_h6922315_5
+  - libllvm19 >=19.1.7,<19.2.0a0
   constrains:
-  - cctools 1010.6.*
-  - cctools_osx-arm64 1010.6.*
+  - cctools 1024.3.*
+  - cctools_osx-arm64 1024.3.*
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/ld64_osx-arm64-951.9-hb6b49e2_6.conda
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+  - libllvm19 >=19.1.7,<19.2.0a0
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   - tapi >=1300.6.5,<1301.0a0
   constrains:
-  - ld 951.9.*
-  - clang >=18.1.8,<19.0a0
-  - cctools_osx-arm64 1010.6.*
-  - cctools 1010.6.*
+  - clang 19.1.*
+  - ld64 955.13.*
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+  - cctools_osx-arm64 1024.3.*
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   license_family: Other
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   depends:
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+  - zstd >=1.5.7,<1.6.0a0
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+  - binutils_impl_linux-64 2.44
   license: GPL-3.0-only
   license_family: GPL
-  size: 671240
-  timestamp: 1740155456116
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-31_h59b9bed_openblas.conda
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-37_h4a7cf45_openblas.conda
+  build_number: 37
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+  - libopenblas >=0.3.30,<1.0a0
   constrains:
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-  - liblapack =3.9.0=31*_openblas
-  - blas =2.131=openblas
+  - blas 2.137   openblas
+  - liblapacke 3.9.0   37*_openblas
+  - liblapack  3.9.0   37*_openblas
   - mkl <2025
-  - libcblas =3.9.0=31*_openblas
+  - libcblas   3.9.0   37*_openblas
   license: BSD-3-Clause
   license_family: BSD
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.9.0-31_h10e41b3_openblas.conda
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-  - libopenblas >=0.3.29,<1.0a0
+  size: 17477
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.9.0-37_h51639a9_openblas.conda
+  build_number: 37
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+  md5: 675aec03581d97a77f7bb47e99fed4b4
+  depends:
+  - libopenblas >=0.3.30,<0.3.31.0a0
+  - libopenblas >=0.3.30,<1.0a0
   constrains:
-  - liblapacke =3.9.0=31*_openblas
-  - libcblas =3.9.0=31*_openblas
-  - blas =2.131=openblas
+  - liblapacke 3.9.0   37*_openblas
+  - blas 2.137   openblas
   - mkl <2025
-  - liblapack =3.9.0=31*_openblas
+  - liblapack  3.9.0   37*_openblas
+  - libcblas   3.9.0   37*_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 17123
-  timestamp: 1740088119350
+  size: 17647
+  timestamp: 1760213578751
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libblasfeo-0.1.4.2-h544d10a_100.conda
   sha256: 4f64c244b1bda8f23deddf3c11f2b3402755a0433da716244a845a31403f329b
   md5: 4a1612c7202bf04f5ea7a18110739a14
@@ -3284,263 +2236,241 @@ packages:
   license_family: BSD
   size: 509787
   timestamp: 1740067975938
-- conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.88.0-h6c02f8c_0.conda
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-  md5: e0afbff39e5218b5ccdac40ad3cbc5cf
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.88.0-hed09d94_5.conda
+  sha256: b3815809af2439731caac4c373e3d7e41992ec6be5ad4627096fc438d82502dc
+  md5: f0cb6133ea736a8aa0feca310894caf0
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   - icu >=75.1,<76.0a0
-  - libgcc >=13
+  - libgcc >=14
   - liblzma >=5.8.1,<6.0a0
-  - libstdcxx >=13
+  - libstdcxx >=14
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+  - python_abi 3.14.* *_cp314
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-  - python >=3.11,<3.12.0a0 *_cpython
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+  - python_abi 3.14.* *_cp314
   - qhull >=2020.2,<2020.3.0a0
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   license_family: PSF
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   license: CECILL-C
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-  sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
-  md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
-  depends:
-  - libgcc-ng >=9.4.0
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   license: MIT
   license_family: MIT
-  size: 89141
-  timestamp: 1641346969816
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/yaml-0.2.5-h3422bc3_2.tar.bz2
-  sha256: 93181a04ba8cfecfdfb162fc958436d868cc37db504c58078eab4c1a3e57fbb7
-  md5: 4bb3f014845110883a3c5ee811fd84b4
+  size: 85189
+  timestamp: 1753484064210
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/yaml-0.2.5-h925e9cb_3.conda
+  sha256: b03433b13d89f5567e828ea9f1a7d5c5d697bf374c28a4168d71e9464f5dafac
+  md5: 78a0fe9e9c50d2c381e8ee47e3ea437d
+  depends:
+  - __osx >=11.0
   license: MIT
   license_family: MIT
-  size: 88016
-  timestamp: 1641347076660
+  size: 83386
+  timestamp: 1753484079473
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
   sha256: 5d7c0e5f0005f74112a34a7425179f4eb6e73c92f5d109e6af4ddeca407c92ab
   md5: c9f075ab2f33b3bbee9e62d4ad0a6cd8
diff --git a/pixi.toml b/pixi.toml
index e906fef7..a998619b 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -13,29 +13,23 @@ ccache = ">=4.9.1"
 cmake = ">=3.10"
 cxx-compiler = ">=1.7.0"
 ninja = ">=1.11"
-pkg-config = ">=0.29.2"
 
 [dependencies]
-libboost-python-devel = ">=1.80.0"
-python = "3.11"
-eigenpy = ">=3.10.1"
+python = ">=3"
+eigenpy = ">=3.9.0"
+pinocchio = ">=3,<4"
 aligator = ">=0.16"
-proxsuite = ">=0.7.2"
+proxsuite = ">=0.7"
 benchmark = ">=1.8.0"
-pytest = ">=8.3.0"
-matplotlib = ">=3.9"
 tsid = ">=1.9.0,<2"
-pybullet = ">=3.25,<4"
-
-[activation]
-scripts = ["build_scripts/pixi/activation.sh"]
+pybullet = ">=3"
 
 [tasks]
 clean = { cmd = "rm -rf build" }
 
 [tasks.configure]
 args = [{ "arg" = "buildtype", "default" = "Release" }, { "arg" = "buildtests", "default" = "OFF" }, { "arg" = "buildbenchmarks", "default" = "OFF" }]
-cmd = "CXXFLAGS=$ALIGATOR_CXX_FLAGS cmake -G Ninja -B build -S . -DCMAKE_BUILD_TYPE={{buildtype}} -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DBUILD_TESTING={{buildtests}} -DBUILD_BENCHMARK={{buildbenchmarks}} -DGENERATE_PYTHON_STUBS=ON -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
+cmd = "cmake -G Ninja -B build -S . -DCMAKE_BUILD_TYPE={{buildtype}} -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DBUILD_TESTING={{buildtests}} -DBUILD_BENCHMARK={{buildbenchmarks}} -DGENERATE_PYTHON_STUBS=ON -DCMAKE_CXX_COMPILER_LAUNCHER=ccache"
 
 [tasks.build]
 args = [{ "arg" = "buildtype", "default" = "Release" }, { "arg" = "buildtests", "default" = "OFF" }, { "arg" = "buildbenchmarks", "default" = "OFF" }]
@@ -48,8 +42,9 @@ cmd = "cmake --build build --target install"
 depends-on = [{"task" = "build", "args" = [{"buildtype" = "{{buildtype}}" }, {"buildtests" = "{{buildtests}}" }, {"buildbenchmarks" = "{{buildbenchmarks}}" }] }]
 
 [tasks.test]
+args = [{ "arg" = "buildtype", "default" = "Debug" }]
 cmd = "ctest --test-dir build --output-on-failure"
-depends-on = [{"task" = "build", "args" = [{ "buildtype" = "Debug" }, {"buildtests" = "ON"}] }]
+depends-on = [{"task" = "build", "args" = [{ "buildtype" = "{{buildtype}}" }, {"buildtests" = "ON"}] }]
 
 [tasks.benchmark]
 cmd = "cmake --build build --target run-benchmarks"
@@ -59,19 +54,5 @@ depends-on = [{"task" = "build", "args" = [{ "buildtype" = "Release" }, {"buildb
 dependencies = { pre-commit = ">=3.6.2" }
 tasks = { lint = { cmd = "pre-commit run --all" } }
 
-[feature.py311.dependencies]
-python = "3.11.*"
-
-# Use clang on GNU/Linux.
-# We must use scripts instead of env to setup CC and CXX
-# to avoid cxx-compiler to overwrite them.
-[feature.clang]
-platforms = ["linux-64"]
-activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] }
-dependencies = { clangxx = "*" }
-
 [environments]
-default = { features = ["py311"], solve-group = "py311" }
-clang = { features = ["clang", "py311"] }
-lint = { features = ["lint"], solve-group = "py311" }
-all = { features = [], solve-group = "py311" }
+lint = { features = ["lint"]}