diff --git a/pixi.lock b/pixi.lock
index e334fb7c4..d33eb447f 100644
--- a/pixi.lock
+++ b/pixi.lock
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+  timestamp: 1779093357362
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libpinocchio-4.1.0-hbd86b04_0.conda
+  sha256: de7d34da3e3c6829da260d437544b21f146e54c44aaa87e2f45329a8cc59034b
+  md5: 9964cec50659eeca02c748157476dd8e
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   - _openmp_mutex >=4.5
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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
   - 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
+  - urdfdom >=6.0.0,<7.0a0
+  - urdfdom_headers >=3.0.0,<4.0a0
   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: 5201150
+  timestamp: 1783452678689
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libpng-1.6.58-h421ea60_0.conda
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   md5: eba48a68a1a2b9d3c0d9511548db85db
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   size: 11237
   timestamp: 1779096385891
-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.0.0-h7d0a834_3.conda
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-  md5: 7859201d4ba834596f060b206e2b8150
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.1.0-h7d0a834_0.conda
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+  md5: 2ce075f3240d47b75b3ef24d8fdb58f3
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-  - pinocchio-python 4.0.0 py314h92653b4_3
+  - libpinocchio 4.1.0 hbd86b04_0
+  - pinocchio-python 4.1.0 py314h92653b4_0
   - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.0.0-h83d6740_3.conda
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-  - libpinocchio 4.0.0 hbd86b04_3
-  - pinocchio-python 4.0.0 py310h2834c07_3
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 9347
+  timestamp: 1783457295967
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-4.1.0-h83d6740_0.conda
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+  md5: 17babc65215b2509cc96e1e70c22a334
+  depends:
+  - libpinocchio 4.1.0 hbd86b04_0
+  - pinocchio-python 4.1.0 py310h2834c07_0
   - python_abi 3.10.* *_cp310
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 11318
-  timestamp: 1780677051799
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 9394
+  timestamp: 1783457492974
 - conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-3.9.0-py314h9d3bb99_3.conda
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.0.0-py310h2834c07_3.conda
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-  md5: cbe3a6987e7479cb442d8e5becb0d0d6
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.0.0-py314h92653b4_2.conda
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+  md5: 727df66a5037518a5599d4dd31d6e3ae
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   - coal-python
   - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.13.0,<3.13.1.0a0
+  - 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
   - libgcc >=14
-  - libpinocchio 4.0.0 hbd86b04_3
+  - libpinocchio 4.0.0 hd3bca24_2
   - libstdcxx >=14
-  - numpy >=1.21,<3
-  - python >=3.10,<3.11.0a0
-  - python_abi 3.10.* *_cp310
+  - numpy >=1.23,<3
+  - python >=3.14,<3.15.0a0
+  - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 12776155
-  timestamp: 1780676943217
-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.0.0-py314h92653b4_2.conda
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-  md5: 727df66a5037518a5599d4dd31d6e3ae
+  size: 12692072
+  timestamp: 1779096350896
+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.1.0-py310h2834c07_0.conda
+  sha256: e45c5d4aadfa8b4f6d166e2528546f8828eaff7cbcd6b6e7b0499f4e95f9d2bd
+  md5: 9d99ca993c5e2da84dba705a959e77ee
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   - 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
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
   - libgcc >=14
-  - libpinocchio 4.0.0 hd3bca24_2
+  - libpinocchio 4.1.0 hbd86b04_0
   - libstdcxx >=14
-  - numpy >=1.23,<3
-  - python >=3.14,<3.15.0a0
-  - python_abi 3.14.* *_cp314
+  - numpy >=1.21,<3
+  - python >=3.10,<3.11.0a0
+  - python_abi 3.10.* *_cp310
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 12692072
-  timestamp: 1779096350896
-- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.0.0-py314h92653b4_3.conda
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-  md5: 916eb69853852f1b671bf8bd46a1932d
+  size: 12623507
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-4.1.0-py314h92653b4_0.conda
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+  md5: f30706082c2eca6e2f28bc735583d5e6
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   - casadi >=3.7.2,<3.8.0a0
@@ -12247,18 +12247,18 @@ packages:
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   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
   - libgcc >=14
-  - libpinocchio 4.0.0 hbd86b04_3
+  - libpinocchio 4.1.0 hbd86b04_0
   - libstdcxx >=14
-  - numpy >=1.23,<3
+  - numpy >=1.25,<3
   - python >=3.14,<3.15.0a0
   - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 12742142
-  timestamp: 1780677111452
+  size: 12582651
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/pixman-0.46.4-h54a6638_1.conda
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   md5: c01af13bdc553d1a8fbfff6e8db075f0
@@ -14576,53 +14576,53 @@ packages:
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   timestamp: 1769118126952
-- conda: https://conda.anaconda.org/conda-forge/osx-64/coal-python-3.0.3-py310hcaea081_3.conda
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-  md5: 9245e4436410d285f58e721349669647
+- 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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   - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.13.0,<3.13.1.0a0
+  - 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_3
+  - libcoal 3.0.3 h896ea4e_1
   - libcxx >=19
-  - numpy >=1.21,<3
+  - numpy >=1.23,<3
   - octomap >=1.10.0,<1.11.0a0
-  - python >=3.10,<3.11.0a0
-  - python_abi 3.10.* *_cp310
+  - 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: 1059233
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-- 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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+- conda: https://conda.anaconda.org/conda-forge/osx-64/coal-python-3.0.4-py310hcaea081_0.conda
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+  md5: 1cb544a55537293852c541f586206973
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   - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal 3.0.3 h896ea4e_1
+  - libcoal 3.0.4 h896ea4e_0
   - libcxx >=19
-  - numpy >=1.23,<3
+  - numpy >=1.21,<3
   - octomap >=1.10.0,<1.11.0a0
-  - python >=3.14,<3.15.0a0
-  - python_abi 3.14.* *_cp314
+  - python >=3.10,<3.11.0a0
+  - python_abi 3.10.* *_cp310
   - qhull >=2020.2,<2020.3.0a0
   license: BSD-3-Clause
   license_family: BSD
   run_exports: {}
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-- conda: https://conda.anaconda.org/conda-forge/osx-64/coal-python-3.0.3-py314h5cbf2a9_3.conda
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-  md5: b3acdf3d746a3b73dd0962ebac2e8aea
+  size: 1059243
+  timestamp: 1782809072438
+- conda: https://conda.anaconda.org/conda-forge/osx-64/coal-python-3.0.4-py314h5cbf2a9_0.conda
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+  md5: a204ebd8727192a2d5f8f9701b82f7f4
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   - assimp >=6.0.5,<7.0a0
@@ -14630,9 +14630,9 @@ packages:
   - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal 3.0.3 h896ea4e_3
+  - libcoal 3.0.4 h896ea4e_0
   - libcxx >=19
-  - numpy >=1.23,<3
+  - numpy >=1.25,<3
   - octomap >=1.10.0,<1.11.0a0
   - python >=3.14,<3.15.0a0
   - python_abi 3.14.* *_cp314
@@ -14640,8 +14640,8 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   run_exports: {}
-  size: 1067863
-  timestamp: 1780569187398
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 - conda: https://conda.anaconda.org/conda-forge/osx-64/compiler-rt-19.1.7-he914875_1.conda
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   md5: e6b9e71e5cb08f9ed0185d31d33a074b
@@ -15614,9 +15614,9 @@ packages:
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   timestamp: 1778586221742
-- conda: https://conda.anaconda.org/conda-forge/osx-64/libcoal-3.0.3-h896ea4e_3.conda
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-  md5: 5c3ba6a0bc303d9cc9690f53b5ee8915
+- conda: https://conda.anaconda.org/conda-forge/osx-64/libcoal-3.0.4-h896ea4e_0.conda
+  sha256: a0b5372986207bb507030d3e94b5fc2d75641f6c5934ccdb395f78a690cbfc52
+  md5: a676f3c4e70a392809bc4e24971932b9
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   - assimp >=6.0.5,<7.0a0
@@ -15631,9 +15631,9 @@ packages:
   license_family: BSD
   run_exports:
     weak:
-    - libcoal >=3.0.3,<3.0.4.0a0
-  size: 1135762
-  timestamp: 1780567911344
+    - libcoal >=3.0.4,<3.0.5.0a0
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 - conda: https://conda.anaconda.org/conda-forge/osx-64/libcurl-8.21.0-h8f0b9e4_1.conda
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@@ -16229,9 +16229,9 @@ packages:
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-- conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.0.0-h4103ed5_3.conda
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-  md5: e8650aaf8acada7a344cd13b51548406
+- conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.0.0-h45d972a_2.conda
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+  md5: f53f476b21bf9e80302ba88e9fc81603
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@@ -16244,21 +16244,21 @@ packages:
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   - libsdformat >=16.0.1,<17.0a0
   - llvm-openmp >=19.1.7
-  - llvm-openmp >=22.1.7
+  - llvm-openmp >=22.1.5
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   - qhull-static
-  - urdfdom >=6.0.0,<7.0a0
-  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=5.1.2,<5.2.0a0
+  - urdfdom_headers >=2.1.2,<3.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
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-- conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.0.0-h45d972a_2.conda
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-  md5: f53f476b21bf9e80302ba88e9fc81603
+  size: 4105692
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+- conda: https://conda.anaconda.org/conda-forge/osx-64/libpinocchio-4.1.0-h4103ed5_0.conda
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+  md5: a8f6db217b55572c89cf58538773ff51
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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
   - libcxx >=19
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   - 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:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
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-  timestamp: 1779094041832
+    - libpinocchio >=4.1.0,<4.1.1.0a0
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 - conda: https://conda.anaconda.org/conda-forge/osx-64/libpng-1.6.58-he930e7c_0.conda
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   md5: 9744d43d5200f284260637304a069ddd
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-  md5: bd68672f58f38661c5b9ac26b5cb274c
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-  - pinocchio-python 4.0.0 py314hc279727_3
+  - libpinocchio 4.1.0 h4103ed5_0
+  - pinocchio-python 4.1.0 py314hc279727_0
   - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
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-  - pinocchio-python 4.0.0 py310hccd52f4_3
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 9427
+  timestamp: 1783462088444
+- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-4.1.0-hfc87174_0.conda
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+  md5: d53eda434fe3cb4eefc453102e8cc68c
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+  - pinocchio-python 4.1.0 py310hccd52f4_0
   - python_abi 3.10.* *_cp310
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 11339
-  timestamp: 1780679192641
+    - libpinocchio >=4.1.0,<4.1.1.0a0
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+  timestamp: 1783460129583
 - conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-3.9.0-py314h8a6da7a_3.conda
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   timestamp: 1774954443724
-- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.0.0-py310hccd52f4_3.conda
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-  md5: 29ac739dd6f2a11f3e6b8bdd68602e5f
+- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.0.0-py314hc279727_2.conda
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+  md5: 627e57b3448d2d15291a15d9f23f7df4
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   - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.13.0,<3.13.1.0a0
+  - eigenpy >=3.12.0,<3.12.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
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   - libcxx >=19
-  - libpinocchio 4.0.0 h4103ed5_3
-  - numpy >=1.21,<3
-  - python >=3.10,<3.11.0a0
-  - python_abi 3.10.* *_cp310
+  - libpinocchio 4.0.0 h45d972a_2
+  - numpy >=1.23,<3
+  - python >=3.14,<3.15.0a0
+  - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
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-- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.0.0-py314hc279727_2.conda
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+- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.1.0-py310hccd52f4_0.conda
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   - coal-python
   - eigen-abi >=5.0.1.80,<5.0.1.81.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
   - 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 h4103ed5_0
+  - numpy >=1.21,<3
+  - python >=3.10,<3.11.0a0
+  - python_abi 3.10.* *_cp310
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 10878788
-  timestamp: 1779098496098
-- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.0.0-py314hc279727_3.conda
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-  md5: e8c369c6e71e15c085999575fef51274
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+- conda: https://conda.anaconda.org/conda-forge/osx-64/pinocchio-python-4.1.0-py314hc279727_0.conda
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+  md5: ad03596c3fdc5e0dca66510996126730
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@@ -17048,17 +17048,17 @@ packages:
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   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
   - libcxx >=19
-  - libpinocchio 4.0.0 h4103ed5_3
-  - numpy >=1.23,<3
+  - libpinocchio 4.1.0 h4103ed5_0
+  - numpy >=1.25,<3
   - python >=3.14,<3.15.0a0
   - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 10914439
-  timestamp: 1780682185552
+  size: 10912796
+  timestamp: 1783461997861
 - conda: https://conda.anaconda.org/conda-forge/osx-64/pixman-0.46.4-ha059160_1.conda
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   timestamp: 1769117611410
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.3-py310h7632705_3.conda
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-  md5: d90592fefc159e88d9eeb26bd09e6cf8
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.3-py314hcd7fe18_1.conda
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+  md5: 2554808287ca65f76ad818553ede4062
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   - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - eigenpy >=3.13.0,<3.13.1.0a0
+  - 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 h49f3d01_3
+  - libcoal 3.0.3 h49f3d01_1
   - libcxx >=19
-  - numpy >=1.21,<3
+  - numpy >=1.23,<3
   - octomap >=1.10.0,<1.11.0a0
-  - python >=3.10,<3.11.0a0
-  - python >=3.10,<3.11.0a0 *_cpython
-  - python_abi 3.10.* *_cp310
+  - 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: {}
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.3-py314hcd7fe18_1.conda
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-  md5: 2554808287ca65f76ad818553ede4062
+  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
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   - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - eigenpy >=3.12.0,<3.12.1.0a0
+  - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal 3.0.3 h49f3d01_1
+  - libcoal 3.0.4 h49f3d01_0
   - libcxx >=19
-  - numpy >=1.23,<3
+  - numpy >=1.21,<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
+  - python >=3.10,<3.11.0a0
+  - python >=3.10,<3.11.0a0 *_cpython
+  - python_abi 3.10.* *_cp310
   - 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-3.0.3-py314hcd7fe18_3.conda
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-  md5: 372d76908068e7913f7b29d315ed36e4
+  size: 1008307
+  timestamp: 1782808598566
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.4-py314hcd7fe18_0.conda
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+  md5: 27c81751dbfff230ba58b9ac644ff54d
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@@ -18169,9 +18169,9 @@ packages:
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   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal 3.0.3 h49f3d01_3
+  - libcoal 3.0.4 h49f3d01_0
   - libcxx >=19
-  - numpy >=1.23,<3
+  - numpy >=1.25,<3
   - octomap >=1.10.0,<1.11.0a0
   - python >=3.14,<3.15.0a0
   - python >=3.14,<3.15.0a0 *_cp314
@@ -18180,8 +18180,8 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   run_exports: {}
-  size: 1017951
-  timestamp: 1780568702133
+  size: 1018251
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 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/compiler-rt-19.1.7-h855ad52_1.conda
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@@ -19166,9 +19166,9 @@ packages:
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   size: 1029115
   timestamp: 1778586080856
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcoal-3.0.3-h49f3d01_3.conda
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-  md5: 88ebb4b41cc8622c96299423350925c0
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcoal-3.0.4-h49f3d01_0.conda
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+  md5: 2ce853093057dcd769e9eefd53ed6b1d
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   - assimp >=6.0.5,<7.0a0
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   license_family: BSD
   run_exports:
     weak:
-    - libcoal >=3.0.3,<3.0.4.0a0
-  size: 1030633
-  timestamp: 1780568415909
+    - libcoal >=3.0.4,<3.0.5.0a0
+  size: 1030900
+  timestamp: 1782808381443
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.21.0-hd5a2499_1.conda
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   md5: 27c5b464c5fbee7411aab3bc0195f9c2
@@ -19781,9 +19781,9 @@ packages:
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   size: 3168457
   timestamp: 1774949092423
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.0.0-h7091ee2_3.conda
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-  md5: b1940a1c9772130efdba498bb298cf76
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.0.0-he21e32d_2.conda
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+  md5: 924821249eb14fd29240f6b20d4a982a
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   - libsdformat >=16.0.1,<17.0a0
   - llvm-openmp >=19.1.7
-  - llvm-openmp >=22.1.7
+  - llvm-openmp >=22.1.5
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   - qhull-static
-  - urdfdom >=6.0.0,<7.0a0
-  - urdfdom_headers >=3.0.0,<4.0a0
+  - urdfdom >=5.1.2,<5.2.0a0
+  - urdfdom_headers >=2.1.2,<3.0a0
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpinocchio-4.0.0-he21e32d_2.conda
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-  md5: 924821249eb14fd29240f6b20d4a982a
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+  timestamp: 1779094645260
+- 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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   - 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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   - 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
+    - libpinocchio >=4.1.0,<4.1.1.0a0
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+  timestamp: 1783453567855
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libpng-1.6.58-h132b30e_0.conda
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   md5: 2259ae0949dbe20c0665850365109b27
@@ -20498,34 +20498,34 @@ packages:
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   timestamp: 1779099662190
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.0.0-h1725a08_3.conda
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-  md5: 4d126b9f99730b245afbcacadd38af53
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.1.0-h1725a08_0.conda
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+  md5: 9f89b93b879c64f5693bf9f0f215d9c1
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-  - pinocchio-python 4.0.0 py314hec5027b_3
+  - libpinocchio 4.1.0 h7091ee2_0
+  - pinocchio-python 4.1.0 py314hec5027b_0
   - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
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-  size: 11449
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.0.0-hd747c48_3.conda
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-  depends:
-  - libpinocchio 4.0.0 h7091ee2_3
-  - pinocchio-python 4.0.0 py310h5cf0305_3
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 9494
+  timestamp: 1783459037232
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-4.1.0-hd747c48_0.conda
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+  md5: 62a5fdd008a0072903b31268a1eb4d88
+  depends:
+  - libpinocchio 4.1.0 h7091ee2_0
+  - pinocchio-python 4.1.0 py310h5cf0305_0
   - python_abi 3.10.* *_cp310
   license: BSD-2-Clause
   license_family: BSD
   run_exports:
     weak:
-    - libpinocchio >=4.0.0,<4.0.1.0a0
-  size: 11380
-  timestamp: 1780680680333
+    - libpinocchio >=4.1.0,<4.1.1.0a0
+  size: 9409
+  timestamp: 1783461063630
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-3.9.0-py314h0c80980_3.conda
   sha256: 97eeaee4f5b692166fc605bf2b814994f0cb1a8dbda2ec52a99198faf88e81d1
   md5: 79ac3b60bf022fa5a70d91cc6b5f7c6b
@@ -20548,29 +20548,6 @@ packages:
   run_exports: {}
   size: 8935656
   timestamp: 1774953561668
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.0.0-py310h5cf0305_3.conda
-  sha256: 169375b94e0bccf71f07e15278446e57fdeda16c988e2f410d3228c73653bfb7
-  md5: 82f4b06ba681ece3a0077f46b89d47cc
-  depends:
-  - __osx >=11.0
-  - casadi >=3.7.2,<3.8.0a0
-  - coal-python
-  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
-  - eigenpy >=3.13.0,<3.13.1.0a0
-  - 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 h7091ee2_3
-  - numpy >=1.21,<3
-  - python >=3.10,<3.11.0a0
-  - python >=3.10,<3.11.0a0 *_cpython
-  - python_abi 3.10.* *_cp310
-  license: BSD-2-Clause
-  license_family: BSD
-  run_exports: {}
-  size: 10620691
-  timestamp: 1780680432204
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.0.0-py314hec5027b_2.conda
   sha256: a9a0f03ab73f7f44191cfd3fbd869f0ed30db5a503c5de248f725e6300af8bc7
   md5: 831ab509c08a99d5b9c802f1a2428647
@@ -20594,9 +20571,9 @@ packages:
   run_exports: {}
   size: 10661962
   timestamp: 1779099596622
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.0.0-py314hec5027b_3.conda
-  sha256: 795cb0d8eeaced57f7282c8524eafd65d5fd489895580a272e486370cee136d4
-  md5: 6d805222be03de55b5c0885391967ce8
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.1.0-py310h5cf0305_0.conda
+  sha256: 5b046355951b0d80ef3dffbbd7dcf7dc10d40cca950928e9685fd2a7ddd59685
+  md5: 3fe1e0dec583de01c1272fc0b26a15be
   depends:
   - __osx >=11.0
   - casadi >=3.7.2,<3.8.0a0
@@ -20605,18 +20582,41 @@ packages:
   - eigenpy >=3.13.0,<3.13.1.0a0
   - libboost >=1.90.0,<1.91.0a0
   - libboost-python >=1.90.0,<1.91.0a0
-  - libcoal >=3.0.3,<3.0.4.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
   - libcxx >=19
-  - libpinocchio 4.0.0 h7091ee2_3
-  - numpy >=1.23,<3
+  - libpinocchio 4.1.0 h7091ee2_0
+  - numpy >=1.21,<3
+  - python >=3.10,<3.11.0a0
+  - python >=3.10,<3.11.0a0 *_cpython
+  - python_abi 3.10.* *_cp310
+  license: BSD-2-Clause
+  license_family: BSD
+  run_exports: {}
+  size: 10631490
+  timestamp: 1783460954207
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-python-4.1.0-py314hec5027b_0.conda
+  sha256: 56df7fd1c18e5baa763d9aa28e92a1b294b6b4abc48d697ed4223111afa46993
+  md5: d51737b61e4760d9a66e63bdd59f1266
+  depends:
+  - __osx >=11.0
+  - casadi >=3.7.2,<3.8.0a0
+  - coal-python
+  - eigen-abi >=5.0.1.100,<5.0.1.101.0a0
+  - eigenpy >=3.13.0,<3.13.1.0a0
+  - libboost >=1.90.0,<1.91.0a0
+  - libboost-python >=1.90.0,<1.91.0a0
+  - libcoal >=3.0.4,<3.0.5.0a0
+  - libcxx >=19
+  - libpinocchio 4.1.0 h7091ee2_0
+  - numpy >=1.25,<3
   - python >=3.14,<3.15.0a0
   - python >=3.14,<3.15.0a0 *_cp314
   - python_abi 3.14.* *_cp314
   license: BSD-2-Clause
   license_family: BSD
   run_exports: {}
-  size: 10725284
-  timestamp: 1780680385419
+  size: 10723343
+  timestamp: 1783458968057
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pixman-0.46.4-h81086ad_1.conda
   sha256: 29c9b08a9b8b7810f9d4f159aecfd205fce051633169040005c0b7efad4bc718
   md5: 17c3d745db6ea72ae2fce17e7338547f
diff --git a/pixi.toml b/pixi.toml
index 0462bf65c..b34048486 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -45,10 +45,10 @@ typed-argument-parser = ">=1.10.1,<2"
 mimalloc = ">=3.1.5,<4"
 pinocchio = ">=3.9.0,<5"
 
-[package.target.linux.host-dependencies]
+[package.host-dependencies."if(linux)"]
 libgomp = ">=14.2"
 
-[package.target.osx.host-dependencies]
+[package.host-dependencies."if(osx)"]
 llvm-openmp = ">=19.1"
 
 [package.run-dependencies]
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index ef5d7caa8..24f748235 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -58,14 +58,7 @@ set(
 )
 
 if(BUILD_WITH_PINOCCHIO_SUPPORT)
-  list(
-    APPEND
-    TEST_NAMES
-    forces
-    cycling
-    #mpc-cycle -> Decomment when issue # 410 is fixed
-    continuous
-  )
+  list(APPEND TEST_NAMES forces cycling mpc-cycle continuous)
 endif()
 
 if(CHECK_RUNTIME_MALLOC)