diff --git a/dart/optimizer/nlopt/CMakeLists.txt b/dart/optimizer/nlopt/CMakeLists.txt
index 27b93321d4be0..16130f44aca5b 100644
--- a/dart/optimizer/nlopt/CMakeLists.txt
+++ b/dart/optimizer/nlopt/CMakeLists.txt
@@ -2,6 +2,26 @@
 dart_find_package(NLOPT)
 dart_check_optional_package(NLOPT "dart-optimizer-nlopt" "nlopt" "2.4.1")
 
+if(NOT NLOPT_VERSION)
+  # If version is not found, we just assume 2.9.0
+  set(NLOPT_VERSION "2.9.0")
+endif()
+
+# Attempt to parse version components
+string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\1" NLOPT_MAJOR_VERSION "${NLOPT_VERSION}")
+string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\2" NLOPT_MINOR_VERSION "${NLOPT_VERSION}")
+string(REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)$" "\\3" NLOPT_PATCH_VERSION "${NLOPT_VERSION}")
+
+# Check if parsing succeeded
+if(NOT (NLOPT_MAJOR_VERSION MATCHES "^[0-9]+$" AND 
+        NLOPT_MINOR_VERSION MATCHES "^[0-9]+$" AND 
+        NLOPT_PATCH_VERSION MATCHES "^[0-9]+$"))
+  message(WARNING "Failed to parse NLOPT_VERSION '${NLOPT_VERSION}'. Using default values (2, 9, 0) for version components.")
+  set(NLOPT_MAJOR_VERSION "2")
+  set(NLOPT_MINOR_VERSION "9")
+  set(NLOPT_PATCH_VERSION "0")
+endif()
+
 # Search all header and source files
 file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
@@ -13,6 +33,12 @@ set(component_name optimizer-nlopt)
 # Add target
 dart_add_library(${target_name} ${hdrs} ${srcs})
 target_link_libraries(${target_name} PUBLIC dart NLOPT::nlopt)
+target_compile_definitions(${target_name}
+  PUBLIC
+    -DNLOPT_MAJOR_VERSION=${NLOPT_MAJOR_VERSION}
+    -DNLOPT_MINOR_VERSION=${NLOPT_MINOR_VERSION}
+    -DNLOPT_PATCH_VERSION=${NLOPT_PATCH_VERSION}
+)
 
 # Component
 add_component(${PROJECT_NAME} ${component_name})
diff --git a/dart/optimizer/nlopt/NloptSolver.cpp b/dart/optimizer/nlopt/NloptSolver.cpp
index 5e8d2dbce9b4c..0adb336fcda68 100644
--- a/dart/optimizer/nlopt/NloptSolver.cpp
+++ b/dart/optimizer/nlopt/NloptSolver.cpp
@@ -257,7 +257,9 @@ nlopt::algorithm NloptSolver::convertAlgorithm(NloptSolver::Algorithm algorithm)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(GN_ORIG_DIRECT_L)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(GD_STOGO)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(GD_STOGO_RAND)
+#if !NLOPT_VERSION_GE(2, 9, 0)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LD_LBFGS_NOCEDAL)
+#endif
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LD_LBFGS)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LN_PRAXIS)
     NLOPTSOLVER_ALGORITHM_DART_TO_NLOPT(LD_VAR1)
@@ -311,7 +313,9 @@ NloptSolver::Algorithm NloptSolver::convertAlgorithm(nlopt::algorithm algorithm)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(GN_ORIG_DIRECT_L)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(GD_STOGO)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(GD_STOGO_RAND)
+#if !NLOPT_VERSION_GE(2, 9, 0)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LD_LBFGS_NOCEDAL)
+#endif
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LD_LBFGS)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LN_PRAXIS)
     NLOPTSOLVER_ALGORITHM_NLOPT_TO_DART(LD_VAR1)
diff --git a/dart/optimizer/nlopt/NloptSolver.hpp b/dart/optimizer/nlopt/NloptSolver.hpp
index f8f2f9279f72e..29145f9e2e462 100644
--- a/dart/optimizer/nlopt/NloptSolver.hpp
+++ b/dart/optimizer/nlopt/NloptSolver.hpp
@@ -39,12 +39,18 @@
 
 #include <nlopt.hpp>
 
+#define NLOPT_VERSION_GE(x, y, z)                                              \
+  ((NLOPT_MAJOR_VERSION > (x))                                                 \
+   || (NLOPT_MAJOR_VERSION == (x) && NLOPT_MINOR_VERSION > (y))                \
+   || (NLOPT_MAJOR_VERSION == (x) && NLOPT_MINOR_VERSION == (y)                \
+       && NLOPT_PATCH_VERSION >= (z)))
+
 namespace dart {
 namespace optimizer {
 
 class Problem;
 
-/// NloptSolver is a nonlinear programming solver that provides many unlerlying
+/// NloptSolver is a nonlinear programming solver that provides many underlying
 /// algorithms through nlopt (an third-party library:
 /// https://nlopt.readthedocs.io/).
 ///
@@ -73,7 +79,9 @@ class NloptSolver : public Solver
     GN_ORIG_DIRECT_L,
     GD_STOGO,
     GD_STOGO_RAND,
+#if !NLOPT_VERSION_GE(2, 9, 0)
     LD_LBFGS_NOCEDAL,
+#endif
     LD_LBFGS,
     LN_PRAXIS,
     LD_VAR1,
diff --git a/pixi.lock b/pixi.lock
index 1ee38d06924a7..f015ba7d817da 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -58,6 +58,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libasprintf-devel-0.22.5-he8f35ee_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-25_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.86.0-hb8260a3_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.86.0-h1a2810e_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.86.0-ha770c72_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcap-2.69-h0f662aa_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-25_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libccd-double-2.1-h59595ed_3.conda
@@ -124,6 +126,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.3.2-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-24.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pagmo-2.19.1-h4fefe70_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/pagmo-devel-2.19.1-hf85cbb2_3.conda
       - 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
@@ -143,6 +146,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_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/tbb-devel-2022.0.0-h1f99690_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-10.0.0-h59595ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.0.2-pyhd8ed1ab_0.conda
@@ -215,6 +219,8 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-64/libblas-3.9.0-25_osx64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-1.86.0-hbe88bda_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-devel-1.86.0-h6a1c779_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-headers-1.86.0-h694c41f_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libcblas-3.9.0-25_osx64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libccd-double-2.1-he965462_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libclang-cpp14-14.0.6-default_hdb78580_1.conda
@@ -261,6 +267,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/openssl-3.3.2-hd23fc13_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-24.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/pagmo-2.19.1-h0f09f18_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/pagmo-devel-2.19.1-h1b0323b_3.conda
       - 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
@@ -278,6 +285,7 @@ environments:
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       - 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/tbb-devel-2022.0.0-h80d89ef_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tinyxml2-10.0.0-h73e2aa4_0.conda
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@@ -336,6 +344,8 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.9.0-25_osxarm64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-1.86.0-h29978a0_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-devel-1.86.0-hf450f58_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-headers-1.86.0-hce30654_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.9.0-25_osxarm64_openblas.conda
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libclang-cpp14-14.0.6-default_h5dc8d65_1.conda
@@ -384,6 +394,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-24.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pagmo-2.19.1-h95c0c50_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pagmo-devel-2.19.1-h952eb2b_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-0.12.1-pyhd8ed1ab_0.conda
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pcre2-10.44-h297a79d_2.conda
@@ -402,6 +413,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-2022.0.0-h0cbf7ec_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-devel-2022.0.0-h6e261d1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tinyxml2-10.0.0-hebf3989_0.conda
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@@ -458,6 +470,8 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-1.86.0-h444863b_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-devel-1.86.0-h91493d7_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-headers-1.86.0-h57928b3_2.conda
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@@ -2922,6 +2938,130 @@ packages:
   license: BSL-1.0
   size: 2138336
   timestamp: 1725333992879
+- kind: conda
+  name: libboost-devel
+  version: 1.86.0
+  build: h1a2810e_2
+  build_number: 2
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.86.0-h1a2810e_2.conda
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+  md5: 6858333ddbd5e682876bff881852bd23
+  depends:
+  - libboost 1.86.0 hb8260a3_2
+  - libboost-headers 1.86.0 ha770c72_2
+  constrains:
+  - boost-cpp <0.0a0
+  license: BSL-1.0
+  size: 37814
+  timestamp: 1725333927243
+- kind: conda
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+  version: 1.86.0
+  build: h6a1c779_2
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+  subdir: osx-64
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+  subdir: win-64
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+  build: h694c41f_2
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+  md5: 71c65a3b7692ad969ef238cb8dd1bfb0
+  constrains:
+  - boost-cpp <0.0a0
+  license: BSL-1.0
+  size: 14067511
+  timestamp: 1725333818163
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+  name: libboost-headers
+  version: 1.86.0
+  build: hce30654_2
+  build_number: 2
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-headers-1.86.0-hce30654_2.conda
+  sha256: bd72291aa2b404805ff047fd3f65c57103f37897e6466cdf617c284211f78ab6
+  md5: 9193ab8d8f8b5518ebeef4a3eab39498
+  constrains:
+  - boost-cpp <0.0a0
+  license: BSL-1.0
+  size: 14098728
+  timestamp: 1725334304659
 - kind: conda
   name: libcap
   version: '2.69'
@@ -6211,6 +6351,86 @@ packages:
   license: GPL-3.0-or-later OR LGPL-3.0-or-later
   size: 4461017
   timestamp: 1725653996496
+- kind: conda
+  name: pagmo-devel
+  version: 2.19.1
+  build: h1b0323b_3
+  build_number: 3
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/pagmo-devel-2.19.1-h1b0323b_3.conda
+  sha256: 8f9d711fb330f4aff8cda233595e3c8b6d2fe24e24ee8e3f944e6dac185ede0a
+  md5: e117c7f8605a348dcd1ebb7f2e679cd5
+  depends:
+  - eigen
+  - ipopt >=3.14.16,<3.14.17.0a0
+  - libboost-devel
+  - nlopt >=2.8.0,<2.9.0a0
+  - pagmo 2.19.1 h0f09f18_3
+  - tbb >=2021.13.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 119106
+  timestamp: 1725654039847
+- kind: conda
+  name: pagmo-devel
+  version: 2.19.1
+  build: h952eb2b_3
+  build_number: 3
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/pagmo-devel-2.19.1-h952eb2b_3.conda
+  sha256: f2412d213c5229bb729218191f7de9ec5a7974e10e8fcf9cc49ba2efc01f1423
+  md5: e6180e0c762ffaa671df4cf5bed1b066
+  depends:
+  - eigen
+  - ipopt >=3.14.16,<3.14.17.0a0
+  - libboost-devel
+  - nlopt >=2.8.0,<2.9.0a0
+  - pagmo 2.19.1 h95c0c50_3
+  - tbb >=2021.13.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 119546
+  timestamp: 1725654025695
+- kind: conda
+  name: pagmo-devel
+  version: 2.19.1
+  build: hd9e91ab_3
+  build_number: 3
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/pagmo-devel-2.19.1-hd9e91ab_3.conda
+  sha256: db25593637bee53a525f4714e8ef19fc39f05e681a299721ef10f94518185ae8
+  md5: d7deffa3a930e2cb2469e9c6bd3e803e
+  depends:
+  - eigen
+  - ipopt >=3.14.16,<3.14.17.0a0
+  - libboost-devel
+  - nlopt >=2.8.0,<2.9.0a0
+  - pagmo 2.19.1 h0951c81_3
+  - tbb >=2021.13.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 307086
+  timestamp: 1725655192947
+- kind: conda
+  name: pagmo-devel
+  version: 2.19.1
+  build: hf85cbb2_3
+  build_number: 3
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/pagmo-devel-2.19.1-hf85cbb2_3.conda
+  sha256: ed8c78f3a994658c382737809ecd4ef03e500690394851de5333448acda7328a
+  md5: c4d98eff8f6d054b5ddfcc1c69fb0512
+  depends:
+  - eigen
+  - ipopt >=3.14.16,<3.14.17.0a0
+  - libboost-devel
+  - nlopt >=2.8.0,<2.9.0a0
+  - pagmo 2.19.1 h4fefe70_3
+  - tbb >=2021.13.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 119217
+  timestamp: 1725654063408
 - kind: conda
   name: pathspec
   version: 0.12.1
@@ -7044,6 +7264,64 @@ packages:
   license_family: APACHE
   size: 178584
   timestamp: 1730477634943
+- kind: conda
+  name: tbb-devel
+  version: 2021.13.0
+  build: h053bfa6_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/tbb-devel-2021.13.0-h053bfa6_0.conda
+  sha256: 5c564de8d3355814ccb6213c3e1eeee473cb7975e82dd9415dfd1766e2f44a2f
+  md5: ae3893a7b463769d7372d2335297abb8
+  depends:
+  - tbb 2021.13.0 hc790b64_0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  size: 1062534
+  timestamp: 1725533022774
+- kind: conda
+  name: tbb-devel
+  version: 2022.0.0
+  build: h1f99690_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/tbb-devel-2022.0.0-h1f99690_0.conda
+  sha256: 67a58fa88d4c8d353a72c8ab2130b4e2a96afbfeca6e8438b07b9fc76e551090
+  md5: 52317967d0c3dc2ef6f73c2e6a60e005
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libstdcxx >=13
+  - tbb 2022.0.0 hceb3a55_0
+  size: 1075564
+  timestamp: 1730477658219
+- kind: conda
+  name: tbb-devel
+  version: 2022.0.0
+  build: h6e261d1_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-devel-2022.0.0-h6e261d1_0.conda
+  sha256: 50d10fd8d6be3deaf7fabbd40d61c82cf13b70e2e09603e67c0a41161214b279
+  md5: f0ab986bef824b8045c44737d7e6464e
+  depends:
+  - __osx >=11.0
+  - libcxx >=17
+  - tbb 2022.0.0 h0cbf7ec_0
+  size: 1075822
+  timestamp: 1730477778601
+- kind: conda
+  name: tbb-devel
+  version: 2022.0.0
+  build: h80d89ef_0
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/tbb-devel-2022.0.0-h80d89ef_0.conda
+  sha256: 057720aeed52e84f5620025d736e8d1be265387e3632b7ccc2725be9ab7b430a
+  md5: b5f7717fe68aed91bda2366a18035dfb
+  depends:
+  - __osx >=10.13
+  - libcxx >=17
+  - tbb 2022.0.0 h0ec6371_0
+  size: 1074771
+  timestamp: 1730477812192
 - kind: conda
   name: tinyxml2
   version: 10.0.0
diff --git a/pixi.toml b/pixi.toml
index 67bf879e15c20..c62aaf5c23461 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -33,7 +33,7 @@ nlopt = ">=2.7.1"
 numpy = ">=1.26.4"
 octomap = ">=1.9.8"
 openscenegraph = ">=3.6.5"
-pagmo = ">=2.19.1"
+pagmo-devel = ">=2.19.1"
 spdlog = ">=1.12.0"
 tinyxml2 = ">=10.0.0"
 urdfdom = ">=4.0.0"
@@ -52,8 +52,9 @@ config = { cmd = """
         -G Ninja \
         -S . \
         -B build \
-        -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
         -DCMAKE_BUILD_TYPE=Release \
+        -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
         -DDART_VERBOSE=ON \
         -DDART_USE_SYSTEM_IMGUI=ON
 """ }
@@ -192,6 +193,7 @@ config = { cmd = """
         -B build \
         -G 'Visual Studio 17 2022' \
         -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
         -DDART_VERBOSE=ON \
         -DDART_MSVC_DEFAULT_OPTIONS=ON \
         -DBUILD_SHARED_LIBS=OFF \