From 15413288df1f90b81891a5ca2a407f2c894aee0d Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Fri, 15 Nov 2024 22:06:00 -0800
Subject: [PATCH] Require NLOPT 2.7.1

---
 cmake/DARTFindNLOPT.cmake           |   2 +-
 dart/optimizer/nlopt/CMakeLists.txt |   7 +-
 pixi.lock                           | 527 +++++++++++++++-------------
 pixi.toml                           |  22 +-
 4 files changed, 296 insertions(+), 262 deletions(-)

diff --git a/cmake/DARTFindNLOPT.cmake b/cmake/DARTFindNLOPT.cmake
index 4b3561408dcd6..26e2cf203fbb2 100644
--- a/cmake/DARTFindNLOPT.cmake
+++ b/cmake/DARTFindNLOPT.cmake
@@ -6,7 +6,7 @@
 #
 # This file is provided under the "BSD-style" License
 
-find_package(NLOPT 2.4.1 QUIET MODULE)
+find_package(NLOPT 2.7.1 QUIET MODULE)
 
 if(NLOPT_FOUND AND NOT TARGET NLOPT::nlopt)
   add_library(NLOPT::nlopt INTERFACE IMPORTED)
diff --git a/dart/optimizer/nlopt/CMakeLists.txt b/dart/optimizer/nlopt/CMakeLists.txt
index 16130f44aca5b..4722885c62aa0 100644
--- a/dart/optimizer/nlopt/CMakeLists.txt
+++ b/dart/optimizer/nlopt/CMakeLists.txt
@@ -1,9 +1,12 @@
 # Dependency checks
 dart_find_package(NLOPT)
-dart_check_optional_package(NLOPT "dart-optimizer-nlopt" "nlopt" "2.4.1")
+dart_check_optional_package(NLOPT "dart-optimizer-nlopt" "NLOPT" "2.7.1")
 
-if(NOT NLOPT_VERSION)
+if(NLOPT_VERSION)
+  message(STATUS "Found NLOPT: ${NLOPT_VERSION}")
+else()
   # If version is not found, we just assume 2.9.0
+  message(WARNING "NLOPT version is not found. Assuming 2.9.0.")
   set(NLOPT_VERSION "2.9.0")
 endif()
 
diff --git a/pixi.lock b/pixi.lock
index 702304e58b2c3..d4f2f5de22cdf 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -11,8 +11,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.10.0-py313h78bf25f_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-ha87cce1_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.10.0-py312h7900ff3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h25a0e75_3.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-1.34.3-heb4867d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
@@ -84,9 +84,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.0.0-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-25_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm14-14.0.6-hcd5def8_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-h4bc722e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.64.0-h161d5f1_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libode-0.16.5-h7469f36_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libode-0.16.5-h45cc771_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libogg-1.3.5-h4ab18f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.28-openmp_hd680484_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopus-1.3.1-h7f98852_1.tar.bz2
@@ -105,6 +105,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libvorbis-1.3.7-h9c3ff4c_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libwebp-base-1.4.0-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcb-1.17.0-h8a09558_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcrypt-4.4.36-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxkbcommon-1.7.0-h2c5496b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-2.13.5-hb346dea_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.1-hb9d3cd8_2.conda
@@ -117,8 +118,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-he02047a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.12.1-h297d8ca_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/nlopt-2.9.0-py313h438eccb_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-2.1.3-py313h4bf6692_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/nlopt-2.9.0-py312h1d0b465_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-1.26.4-py312heda63a1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/octomap-1.10.0-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openscenegraph-3.6.5-h6fe4003_20.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.4.0-hb9d3cd8_0.conda
@@ -127,7 +128,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-0.12.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pcre-8.45-h9c3ff4c_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pcre2-10.44-hba22ea6_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh145f28c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh8b19718_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pipx-1.7.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/platformdirs-4.3.6-pyhd8ed1ab_0.conda
@@ -135,12 +136,12 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pthread-stubs-0.4-hb9d3cd8_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pulseaudio-client-17.0-hb77b528_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.3.3-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.13.0-h9ebbce0_100_cp313.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.13-5_cp313.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.7-hc5c86c4_0_cpython.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.12-5_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.2-h8228510_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.5-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl2-2.30.7-h3ed165c_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.5.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.15.0-h10c9db5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-2022.0.0-hceb3a55_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-10.0.0-h59595ed_0.conda
@@ -152,6 +153,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-1.1.2-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/userpath-1.7.0-pyhd8ed1ab_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.23.1-h3e06ad9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-0.4.1-hb711507_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-image-0.4.0-hb711507_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-keysyms-0.4.1-hb711507_0.conda
@@ -177,8 +179,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ampl-mp-3.1.0-h2beb688_1006.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/assimp-5.4.3-hf9fe5ce_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py313habf4b1d_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h38cdd20_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py312hb401068_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h81f2e74_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/bzip2-1.0.8-hfdf4475_7.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/c-ares-1.34.3-hf13058a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ca-certificates-2024.8.30-h8857fd0_0.conda
@@ -232,9 +234,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libjpeg-turbo-3.0.0-h0dc2134_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/liblapack-3.9.0-25_osx64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libllvm14-14.0.6-hc8e404f_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/libmpdec-4.0.0-hfdf4475_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libnghttp2-1.64.0-hc7306c3_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/libode-0.16.5-hb81edf0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libode-0.16.5-h7a4cdba_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libopenblas-0.3.28-openmp_hbf64a52_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libpng-1.6.44-h4b8f8c9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libscotch-7.0.5-h8e19eb7_2.conda
@@ -254,8 +255,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ncurses-6.5-hf036a51_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ninja-1.12.1-h3c5361c_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/nlopt-2.9.0-py313h026c49f_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/numpy-2.1.3-py313h7ca3f3b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/nlopt-2.9.0-py312hb87d94a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/numpy-1.26.4-py312he3a82b2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/octomap-1.10.0-h37c8870_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/openscenegraph-3.6.5-hdbe5f9d_20.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/openssl-3.4.0-hd471939_0.conda
@@ -263,19 +264,19 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-0.12.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/pcre-8.45-he49afe7_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh145f28c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh8b19718_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pipx-1.7.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/pkg-config-0.29.2-hf7e621a_1009.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/platformdirs-4.3.6-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.5.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/pthread-stubs-0.4-h00291cd_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.3.3-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/python-3.13.0-h0608dab_100_cp313.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.13-5_cp313.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/python-3.12.7-h8f8b54e_0_cpython.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.12-5_cp312.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/readline-8.2-h9e318b2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/rhash-1.4.5-ha44c9a9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/sdl2-2.30.7-hac325c4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.5.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.15.0-h0ec5880_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tbb-2022.0.0-h0ec6371_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tinyxml2-10.0.0-h73e2aa4_0.conda
@@ -286,6 +287,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/urdfdom-4.0.1-h4fa87d2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/urdfdom_headers-1.1.2-h37c8870_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/userpath-1.7.0-pyhd8ed1ab_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/xorg-libx11-1.8.10-ha6c16c8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/xorg-libxau-1.0.11-h00291cd_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/xorg-libxdmcp-1.1.5-h00291cd_0.conda
@@ -399,7 +401,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/sdl2-2.30.7-hf9b8971_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.5.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.15.0-h096ffd4_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tinyxml2-10.0.0-hebf3989_0.conda
@@ -507,7 +509,7 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.5.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/spdlog-1.15.0-h81cc0e1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/tbb-2021.13.0-hc790b64_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/tinyxml2-10.0.0-h63175ca_0.conda
@@ -518,9 +520,9 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/userpath-1.7.0-pyhd8ed1ab_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.3-ha32ba9b_22.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.40.33810-hcc2c482_22.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/vs2015_runtime-14.40.33810-h3bf8584_22.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/vc-14.3-ha32ba9b_23.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.42.34433-he29a5d6_23.conda
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-  - python_abi 3.13.* *_cp313
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
   license: MIT
   license_family: MIT
-  size: 397990
-  timestamp: 1728503903590
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-  - python_abi 3.13.* *_cp313
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
   license: MIT
   license_family: MIT
-  size: 397986
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   - python_abi 3.13.* *_cp313
   license: MIT
   license_family: MIT
-  size: 400395
-  timestamp: 1728503832399
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   name: bullet-cpp
   version: '3.25'
-  build: h38cdd20_3
+  build: h25a0e75_3
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   license: Zlib
-  size: 39753899
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   license: Zlib
-  size: 42968855
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   name: bullet-cpp
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   timestamp: 1723817629767
-- kind: conda
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   size: 606663
   timestamp: 1729572019083
+- kind: conda
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   size: 323770
   timestamp: 1727278927545
+- kind: conda
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   size: 1241228
   timestamp: 1730203795175
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   - openssl >=3.3.2,<4.0a0
-  - python_abi 3.13.* *_cp313
   - readline >=8.2,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   - xz >=5.2.6,<6.0a0
+  constrains:
+  - python_abi 3.12.* *_cp312
   license: Python-2.0
-  size: 13933848
-  timestamp: 1729169951268
+  size: 13761315
+  timestamp: 1728058247482
 - kind: conda
   name: python
-  version: 3.13.0
-  build: h75c3a9f_100_cp313
-  build_number: 100
-  subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.13.0-h75c3a9f_100_cp313.conda
-  sha256: be9464399b76ae1fef77853eed70267ef657a98a5f69f7df012b7c6a34792151
-  md5: 94ae22ea862d056ad1bc095443d02d73
+  version: 3.12.7
+  build: hc5c86c4_0_cpython
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.7-hc5c86c4_0_cpython.conda
+  sha256: 674be31ff152d9f0e0fe16959a45e3803a730fc4f54d87df6a9ac4e6a698c41d
+  md5: 0515111a9cdf69f83278f7c197db9807
   depends:
-  - __osx >=11.0
+  - __glibc >=2.17,<3.0.a0
   - bzip2 >=1.0.8,<2.0a0
+  - ld_impl_linux-64 >=2.36.1
   - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
-  - libmpdec >=4.0.0,<5.0a0
+  - libgcc >=13
+  - libnsl >=2.0.1,<2.1.0a0
   - libsqlite >=3.46.1,<4.0a0
+  - libuuid >=2.38.1,<3.0a0
+  - libxcrypt >=4.4.36
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - openssl >=3.3.2,<4.0a0
-  - python_abi 3.13.* *_cp313
   - readline >=8.2,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   - xz >=5.2.6,<6.0a0
+  constrains:
+  - python_abi 3.12.* *_cp312
   license: Python-2.0
-  size: 12804842
-  timestamp: 1729168680448
+  size: 31574780
+  timestamp: 1728059777603
 - kind: conda
   name: python
   version: 3.13.0
-  build: h9ebbce0_100_cp313
+  build: h75c3a9f_100_cp313
   build_number: 100
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/python-3.13.0-h9ebbce0_100_cp313.conda
-  sha256: 6ab5179679f0909db828d8316f3b8b379014a82404807310fe7df5a6cf303646
-  md5: 08e9aef080f33daeb192b2ddc7e4721f
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.13.0-h75c3a9f_100_cp313.conda
+  sha256: be9464399b76ae1fef77853eed70267ef657a98a5f69f7df012b7c6a34792151
+  md5: 94ae22ea862d056ad1bc095443d02d73
   depends:
-  - __glibc >=2.17,<3.0.a0
+  - __osx >=11.0
   - bzip2 >=1.0.8,<2.0a0
-  - ld_impl_linux-64 >=2.36.1
   - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
-  - libgcc >=13
   - libmpdec >=4.0.0,<5.0a0
   - libsqlite >=3.46.1,<4.0a0
-  - libuuid >=2.38.1,<3.0a0
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - openssl >=3.3.2,<4.0a0
@@ -6651,8 +6667,8 @@ packages:
   - tzdata
   - xz >=5.2.6,<6.0a0
   license: Python-2.0
-  size: 33112481
-  timestamp: 1728419573472
+  size: 12804842
+  timestamp: 1729168680448
 - kind: conda
   name: python
   version: 3.13.0
@@ -6682,34 +6698,34 @@ packages:
   timestamp: 1728417810202
 - kind: conda
   name: python_abi
-  version: '3.13'
-  build: 5_cp313
+  version: '3.12'
+  build: 5_cp312
   build_number: 5
   subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.13-5_cp313.conda
-  sha256: 438225b241c5f9bddae6f0178a97f5870a89ecf927dfca54753e689907331442
-  md5: 381bbd2a92c863f640a55b6ff3c35161
+  url: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.12-5_cp312.conda
+  sha256: d10e93d759931ffb6372b45d65ff34d95c6000c61a07e298d162a3bc2accebb0
+  md5: 0424ae29b104430108f5218a66db7260
   constrains:
-  - python 3.13.* *_cp313
+  - python 3.12.* *_cpython
   license: BSD-3-Clause
   license_family: BSD
-  size: 6217
-  timestamp: 1723823393322
+  size: 6238
+  timestamp: 1723823388266
 - kind: conda
   name: python_abi
-  version: '3.13'
-  build: 5_cp313
+  version: '3.12'
+  build: 5_cp312
   build_number: 5
   subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.13-5_cp313.conda
-  sha256: 075ad768648e88b78d2a94099563b43d3082e7c35979f457164f26d1079b7b5c
-  md5: 927a2186f1f997ac018d67c4eece90a6
+  url: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.12-5_cp312.conda
+  sha256: 4da26c7508d5bc5d8621e84dc510284402239df56aab3587a7d217de9d3c806d
+  md5: c34dd4920e0addf7cfcc725809f25d8e
   constrains:
-  - python 3.13.* *_cp313
+  - python 3.12.* *_cpython
   license: BSD-3-Clause
   license_family: BSD
-  size: 6291
-  timestamp: 1723823083064
+  size: 6312
+  timestamp: 1723823137004
 - kind: conda
   name: python_abi
   version: '3.13'
@@ -6892,19 +6908,19 @@ packages:
   timestamp: 1725254933792
 - kind: conda
   name: setuptools
-  version: 75.3.0
-  build: pyhd8ed1ab_0
+  version: 75.5.0
+  build: pyhff2d567_0
   subdir: noarch
   noarch: python
-  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_0.conda
-  sha256: a36d020b9f32fc3f1a6488a1c4a9c13988c6468faf6895bf30ca69521a61230e
-  md5: 2ce9825396daf72baabaade36cee16da
+  url: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.5.0-pyhff2d567_0.conda
+  sha256: 54dcf5f09f74f69641e0063bc695b38340d0349fa8371b1f2ed0c45c5b2fd224
+  md5: ade63405adb52eeff89d506cd55908c0
   depends:
-  - python >=3.8
+  - python >=3.9
   license: MIT
   license_family: MIT
-  size: 779561
-  timestamp: 1730382173961
+  size: 772480
+  timestamp: 1731707561164
 - kind: conda
   name: spdlog
   version: 1.15.0
@@ -7397,52 +7413,52 @@ packages:
 - kind: conda
   name: vc
   version: '14.3'
-  build: ha32ba9b_22
-  build_number: 22
+  build: ha32ba9b_23
+  build_number: 23
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/vc-14.3-ha32ba9b_22.conda
-  sha256: 2a47c5bd8bec045959afada7063feacd074ad66b170c1ea92dd139b389fcf8fd
-  md5: 311c9ba1dfdd2895a8cb08346ff26259
+  url: https://conda.anaconda.org/conda-forge/win-64/vc-14.3-ha32ba9b_23.conda
+  sha256: 986ddaf8feec2904eac9535a7ddb7acda1a1dfb9482088fdb8129f1595181663
+  md5: 7c10ec3158d1eb4ddff7007c9101adb0
   depends:
   - vc14_runtime >=14.38.33135
   track_features:
   - vc14
   license: BSD-3-Clause
   license_family: BSD
-  size: 17447
-  timestamp: 1728400826998
+  size: 17479
+  timestamp: 1731710827215
 - kind: conda
   name: vc14_runtime
-  version: 14.40.33810
-  build: hcc2c482_22
-  build_number: 22
+  version: 14.42.34433
+  build: he29a5d6_23
+  build_number: 23
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.40.33810-hcc2c482_22.conda
-  sha256: 4c669c65007f88a7cdd560192f7e6d5679d191ac71610db724e18b2410964d64
-  md5: ce23a4b980ee0556a118ed96550ff3f3
+  url: https://conda.anaconda.org/conda-forge/win-64/vc14_runtime-14.42.34433-he29a5d6_23.conda
+  sha256: c483b090c4251a260aba6ff3e83a307bcfb5fb24ad7ced872ab5d02971bd3a49
+  md5: 32b37d0cfa80da34548501cdc913a832
   depends:
   - ucrt >=10.0.20348.0
   constrains:
-  - vs2015_runtime 14.40.33810.* *_22
+  - vs2015_runtime 14.42.34433.* *_23
   license: LicenseRef-MicrosoftVisualCpp2015-2022Runtime
   license_family: Proprietary
-  size: 750719
-  timestamp: 1728401055788
+  size: 754247
+  timestamp: 1731710681163
 - kind: conda
   name: vs2015_runtime
-  version: 14.40.33810
-  build: h3bf8584_22
-  build_number: 22
+  version: 14.42.34433
+  build: hdffcdeb_23
+  build_number: 23
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/vs2015_runtime-14.40.33810-h3bf8584_22.conda
-  sha256: 80aa9932203d65a96f817b8be4fafc176fb2b3fe6cf6899ede678b8f0317fbff
-  md5: 8c6b061d44cafdfc8e8c6eb5f100caf0
+  url: https://conda.anaconda.org/conda-forge/win-64/vs2015_runtime-14.42.34433-hdffcdeb_23.conda
+  sha256: 568ce8151eaae256f1cef752fc78651ad7a86ff05153cc7a4740b52ae6536118
+  md5: 5c176975ca2b8366abad3c97b3cd1e83
   depends:
-  - vc14_runtime >=14.40.33810
+  - vc14_runtime >=14.42.34433
   license: BSD-3-Clause
   license_family: BSD
-  size: 17453
-  timestamp: 1728400827536
+  size: 17572
+  timestamp: 1731710685291
 - kind: conda
   name: wayland
   version: 1.23.1
@@ -7461,6 +7477,21 @@ packages:
   license_family: MIT
   size: 321561
   timestamp: 1724530461598
+- kind: conda
+  name: wheel
+  version: 0.45.0
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda
+  sha256: 8a51067f8e1a2cb0b5e89672dbcc0369e344a92e869c38b2946584aa09ab7088
+  md5: f9751d7c71df27b2d29f5cab3378982e
+  depends:
+  - python >=3.8
+  license: MIT
+  license_family: MIT
+  size: 62755
+  timestamp: 1731120002488
 - kind: conda
   name: xcb-util
   version: 0.4.1
diff --git a/pixi.toml b/pixi.toml
index cbb96987226f2..37e95cb2c8f80 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -7,16 +7,16 @@ channels = ["conda-forge"]
 platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]
 
 [build-dependencies]
-black = ">=24.2.0"
-cmake = ">=3.22"
-doxygen = ">=1.10.0"
-isort = ">=5.13.2"
-ninja = ">=1.11.1"
-pip = ">=24.0"
-pipx = ">=1.4.3"
-pkg-config = ">=0.29.2"
-pytest = ">=8.1.1"
-setuptools = ">=69.1.1"
+black = ">=24.10.0,<25"
+cmake = ">=3.30.5,<4"
+doxygen = ">=1.11.0,<2"
+isort = ">=5.13.2,<6"
+ninja = ">=1.12.1,<2"
+pip = ">=24.3.1,<25"
+pipx = ">=1.7.1,<2"
+pkg-config = ">=0.29.2,<0.30"
+pytest = ">=8.3.3,<9"
+setuptools = ">=75.5.0,<76"
 
 [dependencies]
 assimp = ">=5.4.3,<6"
@@ -30,7 +30,7 @@ imgui = ">=1.91.5,<2"
 ipopt = ">=3.14.16,<4"
 libode = ">=0.16.5,<0.17"
 nlopt = ">=2.9.0,<3"
-numpy = ">=2.1.3,<3"
+numpy = ">=1.26.4,<3"
 octomap = ">=1.10.0,<2"
 openscenegraph = ">=3.6.5,<4"
 pagmo = ">=2.19.1,<3"