diff --git a/CMakeLists.txt b/CMakeLists.txt
index a6ae9f2702..024dfba04c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 13.1.0
+project(iDynTree VERSION 13.1.1
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index ab17972194..13b03fd8cf 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -20,6 +20,8 @@ target_link_libraries(${target_name} PUBLIC Python3::NumPy)
 set_target_properties(${target_name} PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/idyntree)
 
+# numpy.i is copied from
+# https://raw.githubusercontent.com/numpy/numpy/65d5b867cd1045bbc007cce8780e088142770b88/tools/swig/numpy.i
 set_property(
     TARGET ${target_name}
     PROPERTY SWIG_DEPENDS python.i numpy.i)
diff --git a/bindings/python/numpy.i b/bindings/python/numpy.i
index 8416e82f3a..747446648c 100644
--- a/bindings/python/numpy.i
+++ b/bindings/python/numpy.i
@@ -48,7 +48,7 @@
 
 %fragment("NumPy_Backward_Compatibility", "header")
 {
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
 %#define NPY_ARRAY_DEFAULT NPY_DEFAULT
 %#define NPY_ARRAY_FARRAY  NPY_FARRAY
 %#define NPY_FORTRANORDER  NPY_FORTRAN
@@ -69,7 +69,7 @@
 {
 /* Macros to extract array attributes.
  */
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
 %#define is_array(a)            ((a) && PyArray_Check((PyArrayObject*)a))
 %#define array_type(a)          (int)(PyArray_TYPE((PyArrayObject*)a))
 %#define array_numdims(a)       (((PyArrayObject*)a)->nd)
@@ -114,8 +114,8 @@
     if (py_obj == NULL          ) return "C NULL value";
     if (py_obj == Py_None       ) return "Python None" ;
     if (PyCallable_Check(py_obj)) return "callable"    ;
-    if (PyString_Check(  py_obj)) return "string"      ;
-    if (PyInt_Check(     py_obj)) return "int"         ;
+    if (PyBytes_Check(   py_obj)) return "string"      ;
+    if (PyLong_Check(    py_obj)) return "int"         ;
     if (PyFloat_Check(   py_obj)) return "float"       ;
     if (PyDict_Check(    py_obj)) return "dict"        ;
     if (PyList_Check(    py_obj)) return "list"        ;
@@ -165,13 +165,11 @@
     return PyArray_EquivTypenums(actual_type, desired_type);
   }
 
-%#ifdef SWIGPY_USE_CAPSULE
-  void free_cap(PyObject * cap)
+void free_cap(PyObject * cap)
   {
     void* array = (void*) PyCapsule_GetPointer(cap,SWIGPY_CAPSULE_NAME);
     if (array != NULL) free(array);
   }
-%#endif
 
 
 }
@@ -293,7 +291,7 @@
       Py_INCREF(array_descr(ary));
       result = (PyArrayObject*) PyArray_FromArray(ary,
                                                   array_descr(ary),
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
                                                   NPY_FORTRANORDER);
 %#else
                                                   NPY_ARRAY_F_CONTIGUOUS);
@@ -524,7 +522,7 @@
     return success;
   }
 
-  /* Require the given PyArrayObject to to be Fortran ordered.  If the
+  /* Require the given PyArrayObject to be Fortran ordered.  If the
    * the PyArrayObject is already Fortran ordered, do nothing.  Else,
    * set the Fortran ordering flag and recompute the strides.
    */
@@ -1991,7 +1989,7 @@
 %typemap(argout)
   (DATA_TYPE ARGOUT_ARRAY1[ANY])
 {
-  $result = SWIG_Python_AppendOutput($result,(PyObject*)array$argnum);
+  $result = SWIG_AppendOutput($result,(PyObject*)array$argnum);
 }
 
 /* Typemap suite for (DATA_TYPE* ARGOUT_ARRAY1, DIM_TYPE DIM1)
@@ -2002,7 +2000,7 @@
   (PyObject* array = NULL)
 {
   npy_intp dims[1];
-  if (!PyInt_Check($input))
+  if (!PyLong_Check($input))
   {
     const char* typestring = pytype_string($input);
     PyErr_Format(PyExc_TypeError,
@@ -2010,7 +2008,8 @@
                  typestring);
     SWIG_fail;
   }
-  $2 = (DIM_TYPE) PyInt_AsLong($input);
+  $2 = (DIM_TYPE) PyLong_AsSsize_t($input);
+  if ($2 == -1 && PyErr_Occurred()) SWIG_fail;
   dims[0] = (npy_intp) $2;
   array = PyArray_SimpleNew(1, dims, DATA_TYPECODE);
   if (!array) SWIG_fail;
@@ -2019,7 +2018,7 @@
 %typemap(argout)
   (DATA_TYPE* ARGOUT_ARRAY1, DIM_TYPE DIM1)
 {
-  $result = SWIG_Python_AppendOutput($result,(PyObject*)array$argnum);
+  $result = SWIG_AppendOutput($result,(PyObject*)array$argnum);
 }
 
 /* Typemap suite for (DIM_TYPE DIM1, DATA_TYPE* ARGOUT_ARRAY1)
@@ -2030,7 +2029,7 @@
   (PyObject* array = NULL)
 {
   npy_intp dims[1];
-  if (!PyInt_Check($input))
+  if (!PyLong_Check($input))
   {
     const char* typestring = pytype_string($input);
     PyErr_Format(PyExc_TypeError,
@@ -2038,7 +2037,8 @@
                  typestring);
     SWIG_fail;
   }
-  $1 = (DIM_TYPE) PyInt_AsLong($input);
+  $1 = (DIM_TYPE) PyLong_AsSsize_t($input);
+  if ($1 == -1 && PyErr_Occurred()) SWIG_fail;
   dims[0] = (npy_intp) $1;
   array = PyArray_SimpleNew(1, dims, DATA_TYPECODE);
   if (!array) SWIG_fail;
@@ -2047,7 +2047,7 @@
 %typemap(argout)
   (DIM_TYPE DIM1, DATA_TYPE* ARGOUT_ARRAY1)
 {
-  $result = SWIG_Python_AppendOutput($result,(PyObject*)array$argnum);
+  $result = SWIG_AppendOutput($result,(PyObject*)array$argnum);
 }
 
 /* Typemap suite for (DATA_TYPE ARGOUT_ARRAY2[ANY][ANY])
@@ -2065,7 +2065,7 @@
 %typemap(argout)
   (DATA_TYPE ARGOUT_ARRAY2[ANY][ANY])
 {
-  $result = SWIG_Python_AppendOutput($result,(PyObject*)array$argnum);
+  $result = SWIG_AppendOutput($result,(PyObject*)array$argnum);
 }
 
 /* Typemap suite for (DATA_TYPE ARGOUT_ARRAY3[ANY][ANY][ANY])
@@ -2083,7 +2083,7 @@
 %typemap(argout)
   (DATA_TYPE ARGOUT_ARRAY3[ANY][ANY][ANY])
 {
-  $result = SWIG_Python_AppendOutput($result,(PyObject*)array$argnum);
+  $result = SWIG_AppendOutput($result,(PyObject*)array$argnum);
 }
 
 /* Typemap suite for (DATA_TYPE ARGOUT_ARRAY4[ANY][ANY][ANY][ANY])
@@ -2101,7 +2101,7 @@
 %typemap(argout)
   (DATA_TYPE ARGOUT_ARRAY4[ANY][ANY][ANY][ANY])
 {
-  $result = SWIG_Python_AppendOutput($result,(PyObject*)array$argnum);
+  $result = SWIG_AppendOutput($result,(PyObject*)array$argnum);
 }
 
 /*****************************/
@@ -2126,7 +2126,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DATA_TYPE** ARGOUTVIEW_ARRAY1)
@@ -2147,7 +2147,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEW_ARRAY2, DIM_TYPE* DIM1, DIM_TYPE* DIM2)
@@ -2169,7 +2169,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DATA_TYPE** ARGOUTVIEW_ARRAY2)
@@ -2191,7 +2191,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEW_FARRAY2, DIM_TYPE* DIM1, DIM_TYPE* DIM2)
@@ -2213,7 +2213,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array || !require_fortran(array)) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DATA_TYPE** ARGOUTVIEW_FARRAY2)
@@ -2235,7 +2235,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array || !require_fortran(array)) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEW_ARRAY3, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2259,7 +2259,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3,
@@ -2283,7 +2283,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEW_FARRAY3, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2307,7 +2307,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array || !require_fortran(array)) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3,
@@ -2331,7 +2331,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array || !require_fortran(array)) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEW_ARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2356,7 +2356,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4,
@@ -2381,7 +2381,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEW_FARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2406,7 +2406,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array || !require_fortran(array)) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4,
@@ -2431,7 +2431,7 @@
   PyArrayObject* array = (PyArrayObject*) obj;
 
   if (!array || !require_fortran(array)) SWIG_fail;
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /*************************************/
@@ -2457,19 +2457,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DATA_TYPE** ARGOUTVIEWM_ARRAY1)
@@ -2491,19 +2487,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$2), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_ARRAY2, DIM_TYPE* DIM1, DIM_TYPE* DIM2)
@@ -2526,19 +2518,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DATA_TYPE** ARGOUTVIEWM_ARRAY2)
@@ -2561,19 +2549,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$3), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_FARRAY2, DIM_TYPE* DIM1, DIM_TYPE* DIM2)
@@ -2596,19 +2580,15 @@
 
   if (!array || !require_fortran(array)) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DATA_TYPE** ARGOUTVIEWM_FARRAY2)
@@ -2631,19 +2611,15 @@
 
   if (!array || !require_fortran(array)) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$3), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_ARRAY3, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2668,19 +2644,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3,
@@ -2705,19 +2677,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$4), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_FARRAY3, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2742,19 +2710,15 @@
 
   if (!array || !require_fortran(array)) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3,
@@ -2779,171 +2743,15 @@
 
   if (!array || !require_fortran(array)) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
-
-%#if NPY_API_VERSION < 0x00000007
-  PyArray_BASE(array) = cap;
-%#else
-  PyArray_SetBaseObject(array,cap);
-%#endif
-
-  $result = SWIG_Python_AppendOutput($result,obj);
-}
-
-/* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_ARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
-                      DIM_TYPE* DIM3, DIM_TYPE* DIM4)
- */
-%typemap(in,numinputs=0)
-  (DATA_TYPE** ARGOUTVIEWM_ARRAY4, DIM_TYPE* DIM1    , DIM_TYPE* DIM2    , DIM_TYPE* DIM3    , DIM_TYPE* DIM4    )
-  (DATA_TYPE* data_temp = NULL   , DIM_TYPE dim1_temp, DIM_TYPE dim2_temp, DIM_TYPE dim3_temp, DIM_TYPE dim4_temp)
-{
-  $1 = &data_temp;
-  $2 = &dim1_temp;
-  $3 = &dim2_temp;
-  $4 = &dim3_temp;
-  $5 = &dim4_temp;
-}
-%typemap(argout,
-         fragment="NumPy_Backward_Compatibility,NumPy_Utilities")
-  (DATA_TYPE** ARGOUTVIEWM_ARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4)
-{
-  npy_intp dims[4] = { *$2, *$3, *$4 , *$5 };
-  PyObject* obj = PyArray_SimpleNewFromData(4, dims, DATA_TYPECODE, (void*)(*$1));
-  PyArrayObject* array = (PyArrayObject*) obj;
-
-  if (!array) SWIG_fail;
-
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
-
-%#if NPY_API_VERSION < 0x00000007
-  PyArray_BASE(array) = cap;
-%#else
-  PyArray_SetBaseObject(array,cap);
-%#endif
-
-  $result = SWIG_Python_AppendOutput($result,obj);
-}
-
-/* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4,
-                      DATA_TYPE** ARGOUTVIEWM_ARRAY4)
- */
-%typemap(in,numinputs=0)
-  (DIM_TYPE* DIM1    , DIM_TYPE* DIM2    , DIM_TYPE* DIM3    , DIM_TYPE* DIM4    , DATA_TYPE** ARGOUTVIEWM_ARRAY4)
-  (DIM_TYPE dim1_temp, DIM_TYPE dim2_temp, DIM_TYPE dim3_temp, DIM_TYPE dim4_temp, DATA_TYPE* data_temp = NULL   )
-{
-  $1 = &dim1_temp;
-  $2 = &dim2_temp;
-  $3 = &dim3_temp;
-  $4 = &dim4_temp;
-  $5 = &data_temp;
-}
-%typemap(argout,
-         fragment="NumPy_Backward_Compatibility,NumPy_Utilities")
-  (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4, DATA_TYPE** ARGOUTVIEWM_ARRAY4)
-{
-  npy_intp dims[4] = { *$1, *$2, *$3 , *$4 };
-  PyObject* obj = PyArray_SimpleNewFromData(4, dims, DATA_TYPECODE, (void*)(*$5));
-  PyArrayObject* array = (PyArrayObject*) obj;
-
-  if (!array) SWIG_fail;
-
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
-
-%#if NPY_API_VERSION < 0x00000007
-  PyArray_BASE(array) = cap;
-%#else
-  PyArray_SetBaseObject(array,cap);
-%#endif
-
-  $result = SWIG_Python_AppendOutput($result,obj);
-}
-
-/* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_FARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
-                      DIM_TYPE* DIM3, DIM_TYPE* DIM4)
- */
-%typemap(in,numinputs=0)
-  (DATA_TYPE** ARGOUTVIEWM_FARRAY4, DIM_TYPE* DIM1    , DIM_TYPE* DIM2    , DIM_TYPE* DIM3    , DIM_TYPE* DIM4    )
-  (DATA_TYPE* data_temp = NULL    , DIM_TYPE dim1_temp, DIM_TYPE dim2_temp, DIM_TYPE dim3_temp, DIM_TYPE dim4_temp)
-{
-  $1 = &data_temp;
-  $2 = &dim1_temp;
-  $3 = &dim2_temp;
-  $4 = &dim3_temp;
-  $5 = &dim4_temp;
-}
-%typemap(argout,
-         fragment="NumPy_Backward_Compatibility,NumPy_Array_Requirements,NumPy_Utilities")
-  (DATA_TYPE** ARGOUTVIEWM_FARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3)
-{
-  npy_intp dims[4] = { *$2, *$3, *$4 , *$5 };
-  PyObject* obj = PyArray_SimpleNewFromData(4, dims, DATA_TYPECODE, (void*)(*$1));
-  PyArrayObject* array = (PyArrayObject*) obj;
-
-  if (!array || !require_fortran(array)) SWIG_fail;
-
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
-
-%#if NPY_API_VERSION < 0x00000007
-  PyArray_BASE(array) = cap;
-%#else
-  PyArray_SetBaseObject(array,cap);
-%#endif
-
-  $result = SWIG_Python_AppendOutput($result,obj);
-}
-
-/* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4,
-                      DATA_TYPE** ARGOUTVIEWM_FARRAY4)
- */
-%typemap(in,numinputs=0)
-  (DIM_TYPE* DIM1    , DIM_TYPE* DIM2    , DIM_TYPE* DIM3    , DIM_TYPE* DIM4    , DATA_TYPE** ARGOUTVIEWM_FARRAY4)
-  (DIM_TYPE dim1_temp, DIM_TYPE dim2_temp, DIM_TYPE dim3_temp, DIM_TYPE dim4_temp, DATA_TYPE* data_temp = NULL    )
-{
-  $1 = &dim1_temp;
-  $2 = &dim2_temp;
-  $3 = &dim3_temp;
-  $4 = &dim4_temp;
-  $5 = &data_temp;
-}
-%typemap(argout,
-         fragment="NumPy_Backward_Compatibility,NumPy_Array_Requirements,NumPy_Utilities")
-  (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4, DATA_TYPE** ARGOUTVIEWM_FARRAY4)
-{
-  npy_intp dims[4] = { *$1, *$2, *$3 , *$4 };
-  PyObject* obj = PyArray_SimpleNewFromData(4, dims, DATA_TYPECODE, (void*)(*$5));
-  PyArrayObject* array = (PyArrayObject*) obj;
-
-  if (!array || !require_fortran(array)) SWIG_fail;
-
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$4), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_ARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -2969,19 +2777,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4,
@@ -3007,19 +2811,15 @@
 
   if (!array) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$5), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DATA_TYPE** ARGOUTVIEWM_FARRAY4, DIM_TYPE* DIM1, DIM_TYPE* DIM2,
@@ -3045,19 +2845,15 @@
 
   if (!array || !require_fortran(array)) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /* Typemap suite for (DIM_TYPE* DIM1, DIM_TYPE* DIM2, DIM_TYPE* DIM3, DIM_TYPE* DIM4,
@@ -3083,19 +2879,15 @@
 
   if (!array || !require_fortran(array)) SWIG_fail;
 
-%#ifdef SWIGPY_USE_CAPSULE
-    PyObject* cap = PyCapsule_New((void*)(*$1), SWIGPY_CAPSULE_NAME, free_cap);
-%#else
-    PyObject* cap = PyCObject_FromVoidPtr((void*)(*$1), free);
-%#endif
+PyObject* cap = PyCapsule_New((void*)(*$5), SWIGPY_CAPSULE_NAME, free_cap);
 
-%#if NPY_API_VERSION < 0x00000007
+%#if NPY_API_VERSION < NPY_1_7_API_VERSION
   PyArray_BASE(array) = cap;
 %#else
   PyArray_SetBaseObject(array,cap);
 %#endif
 
-  $result = SWIG_Python_AppendOutput($result,obj);
+  $result = SWIG_AppendOutput($result,obj);
 }
 
 /**************************************/
diff --git a/pixi.lock b/pixi.lock
index a68268233f..1516017d9c 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,4 +1,4 @@
-version: 4
+version: 5
 environments:
   default:
     channels:
@@ -6,957 +6,957 @@ environments:
     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/linux-64/ace-7.1.3-h59595ed_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.11-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_kmp_llvm.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ace-8.0.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.12-h4ab18f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.8.2-h59595ed_0.conda
-      - 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/aom-3.9.1-hac33072_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/binutils-2.40-hdd6e379_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.40-hf600244_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.40-hdade7a5_3.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
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.7.0-hd590300_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.2.2-hbcca054_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.0-h3faef2a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.2-hcfe8598_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.7.0-h00ab1b0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_2.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-1.34.2-heb4867d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.8.0-h2b85faf_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.0-hebfffa5_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.30.5-hf9cb763_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.8.0-h1a2810e_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.13.6-h5008d03_3.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.0-h59595ed_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/expat-2.6.2-h59595ed_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-6.1.1-gpl_h38e077a_106.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.3-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-7.1.0-gpl_he2fd91e_702.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_1.conda
+      - 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-2.14.2-h14ed4e7_0.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/freeglut-3.2.2-hac7e632_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freeglut-3.2.2-ha6d2627_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.12.1-h267a509_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.10-h36c2ea0_0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-12.3.0-h95e488c_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-12.3.0-he2b93b0_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-12.3.0-h6477408_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-0.21.1-h27087fc_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-13.3.0-h9576a4e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.3.0-hfea6d02_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-hc28eda2_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gdk-pixbuf-2.42.12-hb9ae30d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-0.22.5-he02047a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-tools-0.22.5-he02047a_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glfw-3.4-hd590300_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.80.0-hf2295e7_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.80.0-hde27a5a_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-h59595ed_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.7.9-hb077bed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.82.2-h44428e9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.82.2-h4833e2c_0.conda
+      - 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/graphite2-1.3.13-h59595ed_1003.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-base-1.22.9-hfa15dee_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gstreamer-1.22.9-h98fc4e7_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-12.3.0-h95e488c_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-12.3.0-he2b93b0_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-12.3.0-h4a1b8e8_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-8.3.0-h3d44ed6_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/hdf5-1.14.3-nompi_h4f84152_100.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-73.2-h59595ed_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/imath-3.1.11-hfc55251_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.14-h04b96a2_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/irrlicht-1.8.5-h2a6caf8_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.3-he6dfbbe_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-2.6.32-he073ed8_17.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-base-1.24.7-h0a52356_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gstreamer-1.24.7-hf3bb09a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-13.3.0-h9576a4e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.3.0-hdbfa832_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.3.0-h6834431_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-9.0.0-hda332d3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/hdf5-1.14.4-nompi_h2d575fe_101.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/imath-3.1.12-h7955e40_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.16-h122424a_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/irrlicht-1.8.5-hcce6d95_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.4-h536e39c_0.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/krb5-1.21.2-h659d440_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/lame-3.100-h166bdaf_1003.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-h41732ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.43-h712a8e2_2.conda
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   - fonts-conda-ecosystem
   - freetype >=2.12.1,<3.0a0
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-  - ucrt >=10.0.20348.0
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   - x264 >=1!164.3095,<1!165
   - x265 >=3.5,<3.6.0a0
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   - xz >=5.2.6,<6.0a0
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   version: '2.37'
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   name: font-ttf-ubuntu
   version: '0.83'
-  build: h77eed37_1
-  build_number: 1
+  build: h77eed37_3
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   noarch: generic
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   license: LicenseRef-Ubuntu-Font-Licence-Version-1.0
   license_family: Other
-  size: 1619820
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+  md5: b7a6171ecee244e2b2a19177ec3c34a9
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+  - __osx >=10.9
   - libjpeg-turbo >=3.0.0,<4.0a0
   license: JasPer-2.0
-  size: 584055
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   name: jasper
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-  url: https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.3-he6dfbbe_0.conda
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+  url: https://conda.anaconda.org/conda-forge/win-64/jasper-4.2.4-hcb1a123_0.conda
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-  - libgcc-ng >=12
-  - libglu >=9.0.0,<10.0a0
   - libjpeg-turbo >=3.0.0,<4.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
   license: JasPer-2.0
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   name: kernel-headers_linux-64
-  version: 2.6.32
-  build: he073ed8_17
-  build_number: 17
+  version: 3.10.0
+  build: he073ed8_18
+  build_number: 18
   subdir: noarch
   noarch: generic
-  url: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-2.6.32-he073ed8_17.conda
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+  url: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-3.10.0-he073ed8_18.conda
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+  md5: ad8527bf134a90e1c9ed35fa0b64318c
   constrains:
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+  - sysroot_linux-64 ==2.17
   license: LGPL-2.0-or-later AND LGPL-2.0-or-later WITH exceptions AND GPL-2.0-or-later AND MPL-2.0
   license_family: GPL
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   name: kernel-headers_linux-aarch64
   version: 4.18.0
-  build: h5b4a56d_14
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+  build: h05a177a_18
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   subdir: noarch
   noarch: generic
-  url: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-aarch64-4.18.0-h5b4a56d_14.conda
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-  md5: 9b0446ad203105e5bbdda273a78d1d0f
-  depends:
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+  url: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-aarch64-4.18.0-h05a177a_18.conda
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+  md5: 40ebaa9844bc99af99fc1beaed90b379
   constrains:
   - sysroot_linux-aarch64 ==2.17
   license: LGPL-2.0-or-later AND LGPL-2.0-or-later WITH exceptions AND GPL-2.0-or-later AND MPL-2.0
   license_family: GPL
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   name: keyutils
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   timestamp: 1646166857935
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   name: khronos-opencl-icd-loader
-  version: 2023.04.17
-  build: h64bf75a_0
+  version: 2024.05.08
+  build: hc70643c_0
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/khronos-opencl-icd-loader-2023.04.17-h64bf75a_0.conda
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-  md5: 8c51fee1005a058dc96b1da5eba9b308
+  url: https://conda.anaconda.org/conda-forge/win-64/khronos-opencl-icd-loader-2024.05.08-hc70643c_0.conda
+  sha256: 701357f02926bef5cb6d060a5471d50dc6528500fd045805ea785398fbb6d6d2
+  md5: 22b22ac3be757e10705caa3b5f321e0d
   depends:
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
-  - vs2015_runtime >=14.29.30139
+  - vc14_runtime >=14.29.30139
   license: Apache-2.0
   license_family: APACHE
-  size: 86302
-  timestamp: 1681919883423
+  size: 87736
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   name: krb5
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-  build: h659d440_0
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-  md5: cd95826dbd331ed1be26bdf401432844
+  version: 1.21.3
+  build: h237132a_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/krb5-1.21.3-h237132a_0.conda
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+  md5: c6dc8a0fdec13a0565936655c33069a1
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-  - keyutils >=1.6.1,<2.0a0
+  - __osx >=11.0
+  - libcxx >=16
   - libedit >=3.1.20191231,<3.2.0a0
   - libedit >=3.1.20191231,<4.0a0
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - openssl >=3.1.2,<4.0a0
+  - openssl >=3.3.1,<4.0a0
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   license_family: MIT
-  size: 1371181
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+  url: https://conda.anaconda.org/conda-forge/osx-64/krb5-1.21.3-h37d8d59_0.conda
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   - libedit >=3.1.20191231,<4.0a0
-  - openssl >=3.1.2,<4.0a0
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   license_family: MIT
-  size: 1195575
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/krb5-1.21.3-h50a48e9_0.conda
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   - libedit >=3.1.20191231,<4.0a0
-  - openssl >=3.1.2,<4.0a0
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+  - libstdcxx-ng >=12
+  - openssl >=3.3.1,<4.0a0
   license: MIT
   license_family: MIT
-  size: 1183568
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+  version: 1.21.3
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+  url: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
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   - libedit >=3.1.20191231,<4.0a0
   - libgcc-ng >=12
   - libstdcxx-ng >=12
-  - openssl >=3.1.2,<4.0a0
+  - openssl >=3.3.1,<4.0a0
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   license_family: MIT
-  size: 1473397
-  timestamp: 1692097651347
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-  version: 1.21.2
-  build: heb0366b_0
+  version: 1.21.3
+  build: hdf4eb48_0
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/krb5-1.21.2-heb0366b_0.conda
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-  md5: 6e8b0f22b4eef3b3cb3849bb4c3d47f9
+  url: https://conda.anaconda.org/conda-forge/win-64/krb5-1.21.3-hdf4eb48_0.conda
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+  - openssl >=3.3.1,<4.0a0
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   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
   license: MIT
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-  size: 710894
-  timestamp: 1692098129546
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   timestamp: 1664996421531
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   name: ld64
-  version: '711'
-  build: h634c8be_0
-  subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/ld64-711-h634c8be_0.conda
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+  version: '951.9'
+  build: h0a3eb4e_1
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+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/ld64-951.9-h0a3eb4e_1.conda
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+  - ld64_osx-64 951.9 h38c89e5_1
+  - libllvm17 >=17.0.6,<17.1.0a0
   constrains:
-  - cctools 986.*
-  - cctools_osx-arm64 986.*
+  - cctools_osx-64 1010.6.*
+  - cctools 1010.6.*
   license: APSL-2.0
   license_family: Other
-  size: 18884
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   name: ld64
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-  subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/ld64-711-ha02d983_0.conda
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+  version: '951.9'
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+  url: https://conda.anaconda.org/conda-forge/osx-arm64/ld64-951.9-h39a299f_1.conda
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+  - libllvm17 >=17.0.6,<17.1.0a0
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-  - cctools_osx-64 986.*
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   license: APSL-2.0
   license_family: Other
-  size: 18819
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-  build: ha20a434_0
+  version: '951.9'
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   subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/ld64_osx-64-711-ha20a434_0.conda
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+  url: https://conda.anaconda.org/conda-forge/osx-64/ld64_osx-64-951.9-h38c89e5_1.conda
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   license: APSL-2.0
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+  version: '951.9'
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   subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/ld64_osx-arm64-711-ha4bd21c_0.conda
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   constrains:
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-  - cctools 986.*
-  - cctools_osx-arm64 986.*
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 - kind: conda
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-  version: '2.40'
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   subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-h41732ed_0.conda
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+  depends:
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   constrains:
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+  - binutils_impl_linux-64 2.43
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   license_family: GPL
-  size: 704696
-  timestamp: 1674833944779
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   name: ld_impl_linux-aarch64
-  version: '2.40'
-  build: h2d8c526_0
+  version: '2.43'
+  build: h80caac9_2
+  build_number: 2
   subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/ld_impl_linux-aarch64-2.40-h2d8c526_0.conda
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   name: libabseil
-  version: '20240116.1'
-  build: cxx17_h2f0025b_2
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   license: Apache-2.0
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-  url: https://conda.anaconda.org/conda-forge/osx-arm64/libabseil-20240116.1-cxx17_hebf3989_2.conda
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+  - liblapack 3.9.0 25_linuxaarch64_openblas
+  - libcblas 3.9.0 25_linuxaarch64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14650
-  timestamp: 1705979384501
+  size: 15808
+  timestamp: 1729643002627
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   name: libblas
   version: 3.9.0
-  build: 21_osx64_openblas
-  build_number: 21
+  build: 25_osx64_openblas
+  build_number: 25
   subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/libblas-3.9.0-21_osx64_openblas.conda
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-  md5: 23286066c595986aa0df6452a8416c08
+  url: https://conda.anaconda.org/conda-forge/osx-64/libblas-3.9.0-25_osx64_openblas.conda
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+  - libopenblas >=0.3.28,<1.0a0
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-  - liblapacke 3.9.0 21_osx64_openblas
+  - liblapack 3.9.0 25_osx64_openblas
+  - liblapacke 3.9.0 25_osx64_openblas
   - blas * openblas
-  - liblapack 3.9.0 21_osx64_openblas
+  - libcblas 3.9.0 25_osx64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14822
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+  size: 15952
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   name: libblas
   version: 3.9.0
-  build: 21_osxarm64_openblas
-  build_number: 21
+  build: 25_osxarm64_openblas
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   subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.9.0-21_osxarm64_openblas.conda
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-  md5: b3804f4af39eca9d77360b12811e6d1d
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.9.0-25_osxarm64_openblas.conda
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+  - libopenblas >=0.3.28,<1.0a0
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-  - liblapack 3.9.0 21_osxarm64_openblas
   - blas * openblas
-  - liblapacke 3.9.0 21_osxarm64_openblas
+  - liblapack 3.9.0 25_osxarm64_openblas
+  - liblapacke 3.9.0 25_osxarm64_openblas
+  - libcblas 3.9.0 25_osxarm64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14915
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   name: libblas
   version: 3.9.0
-  build: 21_win64_mkl
-  build_number: 21
+  build: 25_win64_mkl
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   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/libblas-3.9.0-21_win64_mkl.conda
-  sha256: ad47053cee17802df875203aba191b04d97a50d820dbf75a114a50972c517334
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+  url: https://conda.anaconda.org/conda-forge/win-64/libblas-3.9.0-25_win64_mkl.conda
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   - blas * mkl
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-  - liblapacke 3.9.0 21_win64_mkl
+  - libcblas 3.9.0 25_win64_mkl
+  - liblapack 3.9.0 25_win64_mkl
+  - liblapacke 3.9.0 25_win64_mkl
   license: BSD-3-Clause
   license_family: BSD
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-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-1.84.0-h1fed05a_2.conda
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+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-1.86.0-h29978a0_2.conda
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   license: BSL-1.0
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+  - boost-cpp <0.0a0
   license: BSL-1.0
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   name: libboost
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-  url: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.84.0-h8013b2b_2.conda
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+  - boost-cpp <0.0a0
   license: BSL-1.0
-  size: 2790076
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   name: libboost
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-  - zstd >=1.5.5,<1.6.0a0
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+  - boost-cpp <0.0a0
   license: BSL-1.0
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   name: libboost
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-  url: https://conda.anaconda.org/conda-forge/win-64/libboost-1.84.0-hcc118f5_2.conda
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+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-1.86.0-hcc9b45e_2.conda
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-  - ucrt >=10.0.20348.0
-  - vc >=14.2,<15
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+  - icu >=75.1,<76.0a0
+  - libgcc >=13
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-  - zstd >=1.5.5,<1.6.0a0
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+  - boost-cpp <0.0a0
   license: BSL-1.0
-  size: 2414055
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 - kind: conda
   name: libcap
   version: '2.69'
@@ -5850,315 +5975,255 @@ packages:
 - kind: conda
   name: libcblas
   version: 3.9.0
-  build: 21_linux64_openblas
-  build_number: 21
+  build: 25_linux64_openblas
+  build_number: 25
   subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-21_linux64_openblas.conda
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-  md5: 4a3816d06451c4946e2db26b86472cb6
+  url: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-25_linux64_openblas.conda
+  sha256: ab87b0477078837c91d9cda62a9faca18fba7c57cc77aa779ae24b3ac783b5dd
+  md5: 5dbd1b0fc0d01ec5e0e1fbe667281a11
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+  - libblas 3.9.0 25_linux64_openblas
   constrains:
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+  - liblapack 3.9.0 25_linux64_openblas
   - blas * openblas
-  - liblapack 3.9.0 21_linux64_openblas
+  - liblapacke 3.9.0 25_linux64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14614
-  timestamp: 1705979564122
+  size: 15613
+  timestamp: 1729642905619
 - kind: conda
   name: libcblas
   version: 3.9.0
-  build: 21_linuxaarch64_openblas
-  build_number: 21
+  build: 25_linuxaarch64_openblas
+  build_number: 25
   subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libcblas-3.9.0-21_linuxaarch64_openblas.conda
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-  md5: 7eb9aa7a90f067f8dbfede586cdc55cd
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libcblas-3.9.0-25_linuxaarch64_openblas.conda
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-  - liblapack 3.9.0 21_linuxaarch64_openblas
   - blas * openblas
+  - liblapacke 3.9.0 25_linuxaarch64_openblas
+  - liblapack 3.9.0 25_linuxaarch64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14575
-  timestamp: 1705979392590
+  size: 15700
+  timestamp: 1729643006729
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   name: libcblas
   version: 3.9.0
-  build: 21_osx64_openblas
-  build_number: 21
+  build: 25_osx64_openblas
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   subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/libcblas-3.9.0-21_osx64_openblas.conda
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-  md5: 7a1b54774bad723e8ba01ca48eb301b5
+  url: https://conda.anaconda.org/conda-forge/osx-64/libcblas-3.9.0-25_osx64_openblas.conda
+  sha256: b04ae297aa5396df3135514866db72845b111c92524570f923625473f11cfbe2
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+  - libblas 3.9.0 25_osx64_openblas
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+  - liblapack 3.9.0 25_osx64_openblas
+  - liblapacke 3.9.0 25_osx64_openblas
   - blas * openblas
-  - liblapack 3.9.0 21_osx64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14715
-  timestamp: 1705979715508
+  size: 15842
+  timestamp: 1729643166929
 - kind: conda
   name: libcblas
   version: 3.9.0
-  build: 21_osxarm64_openblas
-  build_number: 21
+  build: 25_osxarm64_openblas
+  build_number: 25
   subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.9.0-21_osxarm64_openblas.conda
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-  md5: 48e9d42c65ce664d8fccef2ac6af853c
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.9.0-25_osxarm64_openblas.conda
+  sha256: d9fa5b6b11252132a3383bbf87bd2f1b9d6248bef1b7e113c2a8ae41b0376218
+  md5: 4df0fae81f0b5bf47d48c882b086da11
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   - blas * openblas
-  - liblapacke 3.9.0 21_osxarm64_openblas
+  - liblapack 3.9.0 25_osxarm64_openblas
+  - liblapacke 3.9.0 25_osxarm64_openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14800
-  timestamp: 1705980195551
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+  timestamp: 1729643270793
 - kind: conda
   name: libcblas
   version: 3.9.0
-  build: 21_win64_mkl
-  build_number: 21
+  build: 25_win64_mkl
+  build_number: 25
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/libcblas-3.9.0-21_win64_mkl.conda
-  sha256: 886505d0a4a5b508b2255991395aadecdad140719ba0d413411fec86491a9283
-  md5: 38e5ec23bc2b62f9dd971143aa9dddb7
+  url: https://conda.anaconda.org/conda-forge/win-64/libcblas-3.9.0-25_win64_mkl.conda
+  sha256: 21528cdfe67dafdb2d21925515a167f13963e002c2b6d06d68984767f731850c
+  md5: 3ed189ba03a9888a8013aaee0d67c49d
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   - blas * mkl
-  - liblapacke 3.9.0 21_win64_mkl
+  - liblapack 3.9.0 25_win64_mkl
+  - liblapacke 3.9.0 25_win64_mkl
   license: BSD-3-Clause
   license_family: BSD
-  size: 5017024
-  timestamp: 1705980469944
-- kind: conda
-  name: libclang-cpp15
-  version: 15.0.7
-  build: default_h127d8a8_5
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-  url: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp15-15.0.7-default_h127d8a8_5.conda
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-  license: Apache-2.0 WITH LLVM-exception
-  license_family: Apache
-  size: 17206402
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   - blas * openblas
   license: BSD-3-Clause
   license_family: BSD
-  size: 14599
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   license: MIT
   license_family: MIT
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   - xorg-libxdmcp
   license: MIT
   license_family: MIT
-  size: 388526
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   - pthread-stubs
-  - xorg-libxau
+  - xorg-libxau >=1.0.11,<2.0a0
   - xorg-libxdmcp
   license: MIT
   license_family: MIT
-  size: 313793
-  timestamp: 1682083036825
+  size: 323658
+  timestamp: 1727278733917
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   name: libxcb
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+  url: https://conda.anaconda.org/conda-forge/osx-64/libxcb-1.17.0-hf1f96e2_0.conda
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+  md5: bbeca862892e2898bdb45792a61c4afc
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   - pthread-stubs
-  - xorg-libxau
+  - xorg-libxau >=1.0.11,<2.0a0
   - xorg-libxdmcp
   license: MIT
   license_family: MIT
-  size: 334770
-  timestamp: 1682082734262
+  size: 323770
+  timestamp: 1727278927545
 - kind: conda
   name: libxcrypt
   version: 4.4.36
@@ -10848,156 +11332,160 @@ packages:
 - kind: conda
   name: libxkbcommon
   version: 1.7.0
-  build: h2555907_0
-  subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libxkbcommon-1.7.0-h2555907_0.conda
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-  md5: 3663134cd650738ad46bd0d643246f51
+  build: h2c5496b_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/libxkbcommon-1.7.0-h2c5496b_1.conda
+  sha256: 6804c2a7062d10de6f159f7106dc45ebccc8d42bfb925f7919e26e567fa6da6b
+  md5: e2eaefa4de2b7237af7c907b8bbc760a
   depends:
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   - libstdcxx-ng >=12
-  - libxcb >=1.15,<1.16.0a0
-  - libxml2 >=2.12.6,<3.0a0
+  - libxcb >=1.16,<2.0.0a0
+  - libxml2 >=2.12.7,<3.0a0
   - xkeyboard-config
   - xorg-libxau >=1.0.11,<2.0a0
   license: MIT/X11 Derivative
   license_family: MIT
-  size: 595967
-  timestamp: 1711303495028
+  size: 593336
+  timestamp: 1718819935698
 - kind: conda
   name: libxkbcommon
   version: 1.7.0
-  build: h662e7e4_0
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/libxkbcommon-1.7.0-h662e7e4_0.conda
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-  md5: b32c0da42b1f24a98577bb3d7fc0b995
+  build: h46f2afe_1
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+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libxkbcommon-1.7.0-h46f2afe_1.conda
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+  md5: 78a24e611ab9c09c518f519be49c2e46
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   - libstdcxx-ng >=12
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-  - libxml2 >=2.12.6,<3.0a0
+  - libxcb >=1.16,<2.0.0a0
+  - libxml2 >=2.12.7,<3.0a0
   - xkeyboard-config
   - xorg-libxau >=1.0.11,<2.0a0
   license: MIT/X11 Derivative
   license_family: MIT
-  size: 593534
-  timestamp: 1711303445595
+  size: 596053
+  timestamp: 1718819931537
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   name: libxml2
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-  build: h0d0cfa8_1
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-  md5: c08526c957192192e1e7b4f622761144
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libxml2-2.12.7-h00a45b3_4.conda
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+  md5: d25c3e16ee77cd25342e4e235424c758
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+  - icu >=75.1,<76.0a0
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-  - libzlib >=1.2.13,<1.3.0a0
+  - libzlib >=1.3.1,<2.0a0
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   license: MIT
   license_family: MIT
-  size: 588539
-  timestamp: 1711318256840
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+  version: 2.12.7
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+  url: https://conda.anaconda.org/conda-forge/osx-arm64/libxml2-2.12.7-h01dff8b_4.conda
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-  - libzlib >=1.2.13,<1.3.0a0
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   license: MIT
   license_family: MIT
-  size: 705994
-  timestamp: 1711318087106
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+  version: 2.12.7
+  build: h0f24e4e_4
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+  url: https://conda.anaconda.org/conda-forge/win-64/libxml2-2.12.7-h0f24e4e_4.conda
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-  - xz >=5.2.6,<6.0a0
+  - libzlib >=1.3.1,<2.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
   license: MIT
   license_family: MIT
-  size: 750797
-  timestamp: 1711318216186
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+  version: 2.12.7
+  build: he7c6b58_4
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+  url: https://conda.anaconda.org/conda-forge/linux-64/libxml2-2.12.7-he7c6b58_4.conda
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-  - libzlib >=1.2.13,<1.3.0a0
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   - xz >=5.2.6,<6.0a0
   license: MIT
   license_family: MIT
-  size: 620164
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+  build: heaf3512_4
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+  url: https://conda.anaconda.org/conda-forge/osx-64/libxml2-2.12.7-heaf3512_4.conda
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-  - ucrt >=10.0.20348.0
-  - vc >=14.2,<15
-  - vc14_runtime >=14.29.30139
+  - libzlib >=1.3.1,<2.0a0
+  - xz >=5.2.6,<6.0a0
   license: MIT
   license_family: MIT
-  size: 1640801
-  timestamp: 1711318467301
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 - kind: conda
   name: libyarp
   version: 3.9.0
-  build: h6d2be9b_2
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-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libyarp-3.9.0-h6d2be9b_2.conda
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-  md5: 10784ba3d7d4d12722ba41148e494080
+  build: h0ed339e_6
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+  url: https://conda.anaconda.org/conda-forge/osx-64/libyarp-3.9.0-h0ed339e_6.conda
+  sha256: e3a7f487ab6c095d2a38360928291cb07da52eecd3ae07a4852a173ceb800aa5
+  md5: 9e128dd2c202031e51a8c09ed872e2bb
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+  - __osx >=10.13
+  - ace >=8.0.1,<8.0.2.0a0
   - eigen
-  - ffmpeg >=6.1.1,<7.0a0
+  - ffmpeg >=6.1.2,<7.0a0
+  - libcxx >=17
   - libedit >=3.1.20191231,<3.2.0a0
-  - libgcc-ng >=12
-  - libi2c >=4.3,<5.0a0
   - libjpeg-turbo >=3.0.0,<4.0a0
-  - libopencv >=4.9.0,<4.9.1.0a0
-  - libpng >=1.6.43,<1.7.0a0
-  - libsqlite >=3.45.2,<4.0a0
-  - libstdcxx-ng >=12
-  - libzlib >=1.2.13,<1.3.0a0
+  - libopencv >=4.10.0,<4.10.1.0a0
+  - libpng >=1.6.44,<1.7.0a0
+  - libsqlite >=3.46.1,<4.0a0
+  - libzlib >=1.3.1,<2.0a0
   - portaudio >=19.6.0,<19.7.0a0
   - qt-main >=5.15.8,<5.16.0a0
   - robot-testing-framework >=2.0.1,<2.0.2.0a0
@@ -11006,91 +11494,97 @@ packages:
   - tinyxml
   - ycm-cmake-modules
   license: BSD-3-Clause AND MIT AND GPL-3.0-or-later
-  size: 10728595
-  timestamp: 1711027867844
+  size: 7569001
+  timestamp: 1727889180670
 - kind: conda
   name: libyarp
   version: 3.9.0
-  build: h9c0c770_2
-  build_number: 2
-  subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/libyarp-3.9.0-h9c0c770_2.conda
-  sha256: 4650c1f3d6df8aa9fddb7bb68386690ee344bddb829c215b60ad4ce08b6c14f3
-  md5: 540a665d37a2ef57ae2d73b761b2f26c
+  build: h31b8c72_6
+  build_number: 6
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libyarp-3.9.0-h31b8c72_6.conda
+  sha256: 0844802b019fdac7c21ea2a58270925fe8a8edc08b24d93a850980ad9e7021e3
+  md5: 95e4c446bc9d4ad75f17f20eaa4c7c9b
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+  - ace >=8.0.1,<8.0.2.0a0
   - eigen
-  - ffmpeg >=6.1.1,<7.0a0
-  - libcxx >=16
+  - ffmpeg >=6.1.2,<7.0a0
   - libedit >=3.1.20191231,<3.2.0a0
+  - libgcc >=13
+  - libgl >=1.7.0,<2.0a0
+  - libi2c >=4.3,<5.0a0
   - libjpeg-turbo >=3.0.0,<4.0a0
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-  - libsqlite >=3.45.2,<4.0a0
-  - libzlib >=1.2.13,<1.3.0a0
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+  - libpng >=1.6.44,<1.7.0a0
+  - libsqlite >=3.46.1,<4.0a0
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   - qt-main >=5.15.8,<5.16.0a0
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   - sdl >=1.2.68,<1.3.0a0
   - soxr >=0.1.3,<0.1.4.0a0
   - tinyxml
+  - xorg-libxfixes >=6.0.1,<7.0a0
   - ycm-cmake-modules
   license: BSD-3-Clause AND MIT AND GPL-3.0-or-later
-  size: 7633482
-  timestamp: 1711028877959
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   name: libyarp
   version: 3.9.0
-  build: ha0ae21b_2
-  build_number: 2
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+  - python
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   license: BSD-3-Clause
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+  - python
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+  - python_abi 3.11.* *_cp311
   license: Python-2.0
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+  - libzlib >=1.3.1,<2.0a0
+  - ncurses >=6.5,<7.0a0
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   - tzdata
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+  - python_abi 3.11.* *_cp311
   license: Python-2.0
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/python-3.12.7-h5d932e8_0_cpython.conda
+  sha256: 25570873d92d4d9490c6db780cc85e6c28bd3ff61dc1ece79f602cf82bc73bc1
+  md5: e6cab21bb5787270388939cf41cc5f43
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+  - ld_impl_linux-aarch64 >=2.36.1
+  - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
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-  - libzlib >=1.2.13,<1.3.0a0
-  - ncurses >=6.4,<7.0a0
-  - openssl >=3.2.1,<4.0a0
+  - libgcc >=13
+  - libnsl >=2.0.1,<2.1.0a0
+  - libsqlite >=3.46.1,<4.0a0
+  - libuuid >=2.38.1,<3.0a0
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   - readline >=8.2,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
@@ -13369,29 +13717,25 @@ packages:
   constrains:
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   license: Python-2.0
-  size: 14596811
-  timestamp: 1708118065292
+  size: 13762126
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-  md5: ad7b68400f3a6ebe72b00be093c7f301
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+  url: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.12.7-h739c21a_0_cpython.conda
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+  md5: e0d82e57ebb456077565e6d82cd4a323
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   - bzip2 >=1.0.8,<2.0a0
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-  - libexpat >=2.5.0,<3.0a0
+  - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
-  - libgcc-ng >=12
-  - libnsl >=2.0.1,<2.1.0a0
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-  - libzlib >=1.2.13,<1.3.0a0
-  - ncurses >=6.4,<7.0a0
-  - openssl >=3.2.1,<4.0a0
+  - libsqlite >=3.46.1,<4.0a0
+  - libzlib >=1.3.1,<2.0a0
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+  - openssl >=3.3.2,<4.0a0
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   - tk >=8.6.13,<8.7.0a0
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@@ -13399,481 +13743,429 @@ packages:
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   license: Python-2.0
-  size: 32312631
-  timestamp: 1708118077305
+  size: 12975439
+  timestamp: 1728057819519
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   license: Python-2.0
-  size: 13085901
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   license: LGPL-3.0-only
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   name: ycm-cmake-modules
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   name: ycm-cmake-modules
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+  version: 0.16.9
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-  url: https://conda.anaconda.org/conda-forge/win-64/ycm-cmake-modules-0.16.2-h63175ca_0.conda
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+  timestamp: 1725628982924
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   name: ycm-cmake-modules
-  version: 0.16.2
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+  version: 0.16.9
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   subdir: osx-arm64
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+  build: h2466b09_2
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+  url: https://conda.anaconda.org/conda-forge/win-64/zlib-1.3.1-h2466b09_2.conda
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+  - libzlib 1.3.1 h2466b09_2
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
   license: Zlib
   license_family: Other
-  size: 95842
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   name: zlib
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+  version: 1.3.1
+  build: h8359307_2
+  build_number: 2
   subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/zlib-1.2.13-h53f4e23_5.conda
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+  url: https://conda.anaconda.org/conda-forge/osx-arm64/zlib-1.3.1-h8359307_2.conda
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   license_family: Other
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+  version: 1.3.1
+  build: h86ecc28_2
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+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/zlib-1.3.1-h86ecc28_2.conda
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+  - libzlib 1.3.1 h86ecc28_2
   license: Zlib
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   name: zlib
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+  build: hb9d3cd8_2
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+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
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-  - ucrt >=10.0.20348.0
-  - vc >=14.2,<15
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+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libzlib 1.3.1 hb9d3cd8_2
   license: Zlib
   license_family: Other
-  size: 107711
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+  url: https://conda.anaconda.org/conda-forge/osx-64/zlib-1.3.1-hd23fc13_2.conda
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-  - libzlib 1.2.13 hd590300_5
+  - __osx >=10.13
+  - libzlib 1.3.1 hd23fc13_2
   license: Zlib
   license_family: Other
-  size: 92825
-  timestamp: 1686575231103
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-  name: zstd
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-  license: BSD-3-Clause
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   name: zstd
-  version: 1.5.5
-  build: h4c53e97_0
+  version: 1.5.6
+  build: h02f22dd_0
   subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.5-h4c53e97_0.conda
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+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/zstd-1.5.6-h02f22dd_0.conda
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+  build: hb46c0d2_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda
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diff --git a/pixi.toml b/pixi.toml
index 44d859b520..c9d36f06fb 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -24,6 +24,9 @@ configure = { cmd = [
     "-DCMAKE_BUILD_TYPE=Release",
     "-DCMAKE_INSTALL_PREFIX=$CMAKE_INSTALL_PREFIX",
     "-DBUILD_TESTING:BOOL=ON",
+    "-DIDYNTREE_USES_PYTHON:BOOL=ON",
+    "-DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON",
+    "-DIDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES:BOOL=ON",
     # Use the cross-platform Ninja generator
     "-G",
     "Ninja",