diff --git a/cmake/DARTFindIPOPT.cmake b/cmake/DARTFindIPOPT.cmake
index 96f879a7b3559..fc030958def38 100644
--- a/cmake/DARTFindIPOPT.cmake
+++ b/cmake/DARTFindIPOPT.cmake
@@ -8,6 +8,11 @@
 
 find_package(IPOPT 3.11.9 QUIET MODULE)
 
+message(STATUS "[DEBUG] IPOPT_FOUND: ${IPOPT_FOUND}")
+message(STATUS "[DEBUG] IPOPT_INCLUDE_DIRS: ${IPOPT_INCLUDE_DIRS}")
+message(STATUS "[DEBUG] IPOPT_LIBRARIES: ${IPOPT_LIBRARIES}")
+message(STATUS "[DEBUG] IPOPT_VERSION: ${IPOPT_VERSION}")
+
 # HAVE_CSTDDEF is necessary to workaround this bug:
 # https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=684062
 if(IPOPT_FOUND AND NOT TARGET IPOPT::ipopt)
diff --git a/cmake/FindIPOPT.cmake b/cmake/FindIPOPT.cmake
index 3500d836136db..01094bb95869d 100644
--- a/cmake/FindIPOPT.cmake
+++ b/cmake/FindIPOPT.cmake
@@ -34,7 +34,7 @@ find_path(IPOPT_INCLUDE_DIRS
 
 # Libraries
 find_library(IPOPT_LIBRARIES
-    NAMES ipopt
+    NAMES ipopt ipopt-3
     HINTS ${PC_IPOPT_LIBDIR})
 
 # Version
diff --git a/pixi.lock b/pixi.lock
index 50bb64b8ac491..07e158cdf1010 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -13,6 +13,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.3.1-h8343317_3.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-24.2.0-py312h7900ff3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/boost-1.84.0-h9cebb41_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hfb8ada1_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hd590300_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.28.1-hd590300_0.conda
@@ -62,6 +63,10 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-22_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.84.0-hba137d9_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.84.0-h00ab1b0_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.84.0-ha770c72_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-1.84.0-py312h389efb2_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-devel-1.84.0-py312h9cebb41_3.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-3.9.0-22_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libccd-double-2.1-h59595ed_3.conda
@@ -201,6 +206,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-64/assimp-5.3.1-h3e74f17_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.2.0-py312hb401068_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/boost-1.84.0-h0be7463_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h28a66ae_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/bzip2-1.0.8-h10d778d_5.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/c-ares-1.28.1-h10d778d_0.conda
@@ -246,6 +252,10 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-64/libblas-3.9.0-22_osx64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-1.84.0-h739af76_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-devel-1.84.0-h2b186f8_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-headers-1.84.0-h694c41f_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-python-1.84.0-py312h44e70fa_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libboost-python-devel-1.84.0-py312h0be7463_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libcblas-3.9.0-22_osx64_openblas.conda
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       - conda: https://conda.anaconda.org/conda-forge/osx-64/libclang-cpp14-14.0.6-default_hdb78580_1.conda
@@ -349,6 +359,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/black-24.2.0-py312h81bd7bf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/boost-1.84.0-ha814d7c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/bullet-cpp-3.25-py312h9e53831_2.conda
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/c-ares-1.28.1-h93a5062_0.conda
@@ -394,6 +405,10 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-1.84.0-h17eb2be_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-devel-1.84.0-hf450f58_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-headers-1.84.0-hce30654_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-python-1.84.0-py312hffe1f2a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-python-devel-1.84.0-py312ha814d7c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.9.0-22_osxarm64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libccd-double-2.1-h9a09cb3_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libclang-cpp14-14.0.6-default_h5dc8d65_1.conda
@@ -498,6 +513,7 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/win-64/assimp-5.3.1-h0dbab56_3.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/black-24.2.0-py312h2e8e312_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/boost-1.84.0-h7e22eef_3.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/bullet-cpp-3.25-h2ab9e98_2.conda
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@@ -533,6 +549,10 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-1.84.0-h9a677ad_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-devel-1.84.0-h91493d7_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-headers-1.84.0-h57928b3_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-python-1.84.0-py312hbaa7e33_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-python-devel-1.84.0-py312h7e22eef_3.conda
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       - conda: https://conda.anaconda.org/conda-forge/win-64/libcurl-8.8.0-hd5e4a3a_0.conda
@@ -935,6 +955,70 @@ packages:
   license_family: MIT
   size: 379530
   timestamp: 1708248469387
+- kind: conda
+  name: boost
+  version: 1.84.0
+  build: h0be7463_3
+  build_number: 3
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/boost-1.84.0-h0be7463_3.conda
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+  md5: dd3f02033b71977b64e904b102287026
+  depends:
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+  - numpy >=1.19,<3
+  - python_abi 3.12.* *_cp312
+  license: BSL-1.0
+  size: 16870
+  timestamp: 1715810172837
+- kind: conda
+  name: boost
+  version: 1.84.0
+  build: h7e22eef_3
+  build_number: 3
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/boost-1.84.0-h7e22eef_3.conda
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+  - numpy >=1.19,<3
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+  license: BSL-1.0
+  size: 17177
+  timestamp: 1715813394613
+- kind: conda
+  name: boost
+  version: 1.84.0
+  build: h9cebb41_3
+  build_number: 3
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/boost-1.84.0-h9cebb41_3.conda
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+  license: BSL-1.0
+  size: 16567
+  timestamp: 1715808476049
+- kind: conda
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+  version: 1.84.0
+  build: ha814d7c_3
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+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/boost-1.84.0-ha814d7c_3.conda
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 - kind: conda
   name: bullet-cpp
   version: '3.25'
@@ -3359,6 +3443,300 @@ packages:
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   size: 2846684
   timestamp: 1715807756203
+- kind: conda
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+  version: 1.84.0
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+  name: libboost-python
+  version: 1.84.0
+  build: py312hffe1f2a_3
+  build_number: 3
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-python-1.84.0-py312hffe1f2a_3.conda
+  sha256: 76e9ca638880abc425233597fc4c7c47ae63eb35cd5496b7b8b54a276637ce0d
+  md5: 0612e4d6a619d7a3e5b4fa3e7258a74e
+  depends:
+  - __osx >=11.0
+  - libcxx >=16
+  - numpy >=1.19,<3
+  - python >=3.12,<3.13.0a0
+  - python >=3.12,<3.13.0a0 *_cpython
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - py-boost <0.0a0
+  - boost =1.84.0
+  license: BSL-1.0
+  size: 107933
+  timestamp: 1715811895637
+- kind: conda
+  name: libboost-python-devel
+  version: 1.84.0
+  build: py312h0be7463_3
+  build_number: 3
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/libboost-python-devel-1.84.0-py312h0be7463_3.conda
+  sha256: 1f6b0df37d2570c194c5f1350a271fd822bc571185e7fa12ca14fb460a121ae0
+  md5: c5302f6481b42ea63dd9da617fd15b22
+  depends:
+  - libboost-devel 1.84.0 h2b186f8_3
+  - libboost-python 1.84.0 py312h44e70fa_3
+  - numpy >=1.19,<3
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - boost =1.84.0
+  - py-boost <0.0a0
+  license: BSL-1.0
+  size: 20275
+  timestamp: 1715809947793
+- kind: conda
+  name: libboost-python-devel
+  version: 1.84.0
+  build: py312h7e22eef_3
+  build_number: 3
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/libboost-python-devel-1.84.0-py312h7e22eef_3.conda
+  sha256: 9d3d79e1d1e9c33c65363e5b06c7b2187c5ec948b8fd8fd22b1927c523d4faff
+  md5: a923e4da2b3b488bfc674421df9f9f3e
+  depends:
+  - libboost-devel 1.84.0 h91493d7_3
+  - libboost-python 1.84.0 py312hbaa7e33_3
+  - numpy >=1.19,<3
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - boost =1.84.0
+  - py-boost <0.0a0
+  license: BSL-1.0
+  size: 20549
+  timestamp: 1715812752611
+- kind: conda
+  name: libboost-python-devel
+  version: 1.84.0
+  build: py312h9cebb41_3
+  build_number: 3
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-devel-1.84.0-py312h9cebb41_3.conda
+  sha256: 314f24791c172079f5a03906ac8b74e090262540e502ebad548042cbb5cb863c
+  md5: a103aa85d8490e082fafa6d0903e985d
+  depends:
+  - libboost-devel 1.84.0 h00ab1b0_3
+  - libboost-python 1.84.0 py312h389efb2_3
+  - numpy >=1.19,<3
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - boost =1.84.0
+  - py-boost <0.0a0
+  license: BSL-1.0
+  size: 20016
+  timestamp: 1715808399274
+- kind: conda
+  name: libboost-python-devel
+  version: 1.84.0
+  build: py312ha814d7c_3
+  build_number: 3
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-python-devel-1.84.0-py312ha814d7c_3.conda
+  sha256: ac95c49e963a6c3a40c7cc4f1effacaae4009f24ac54c2e9e4e62f98b209f984
+  md5: ccf309a3178695fcadf8dcee52598cf5
+  depends:
+  - libboost-devel 1.84.0 hf450f58_3
+  - libboost-python 1.84.0 py312hffe1f2a_3
+  - numpy >=1.19,<3
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - py-boost <0.0a0
+  - boost =1.84.0
+  license: BSL-1.0
+  size: 20343
+  timestamp: 1715812457125
 - kind: conda
   name: libcap
   version: '2.69'
diff --git a/pixi.toml b/pixi.toml
index 9b59911be5226..955fc1c6222ff 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -20,6 +20,7 @@ pipx = ">=1.4.3,<1.5"
 
 [dependencies]
 assimp = ">=5.3.1,<5.4"
+boost = ">=1.84.0,<1.85"
 bullet-cpp = ">=3.25,<4"
 console_bridge = ">=1.0.2,<1.1"
 eigen = ">=3.4.0,<3.5"
@@ -31,6 +32,7 @@ nlopt = ">=2.7.1,<2.8"
 numpy = ">=1.26.4,<1.27"
 octomap = ">=1.9.8,<1.10"
 openscenegraph = ">=3.6.5,<3.7"
+pagmo = ">=2.19.0,<2.20"
 pagmo-devel = ">=2.19.0,<2.20"
 spdlog = ">=1.12.0,<1.13"
 tinyxml2 = ">=10.0.0,<10.1"