diff --git a/cmake b/cmake
index 29c0eb4e..2dd858f5 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659
+Subproject commit 2dd858f5a71d8224f178fb3dc0bcd95256ba10e7
diff --git a/dependencies.cmake b/dependencies.cmake
index f2ee3cff..4c8603ab 100644
--- a/dependencies.cmake
+++ b/dependencies.cmake
@@ -2,7 +2,7 @@ find_package(example-robot-data 4.0.9 REQUIRED)
 ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
 ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
-ADD_PROJECT_DEPENDENCY(aligator REQUIRED)
+ADD_PROJECT_DEPENDENCY(aligator 0.13.0 REQUIRED)
 
 function(get_ndcurves)
   find_package(ndcurves QUIET)
diff --git a/pixi.lock b/pixi.lock
index 4ae659c8..bbbaf18f 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -8,47 +8,44 @@ environments:
       - 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/noarch/_x86_64-microarch-level-1-2_x86_64.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/aligator-0.10.0-py311h42abf9d_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.13-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aligator-0.13.0-py311h57c6026_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-asl-1.0.0-h5888daf_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
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-      - 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/benchmark-1.9.2-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_4.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.12.14-hbcca054_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.2-h3394656_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/casadi-3.6.7-py311hd13a426_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.10.1-h065aff2_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.4.2-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.31.2-h74e3db0_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/coal-3.0.0-hd8ed1ab_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-python-3.0.0-py311h48d4333_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.5-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.9.0-h2b85faf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2025.4.26-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/casadi-3.7.0-py311hc7537bf_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.11.3-h80c52d3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.5.0-h3f2d84a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.0.1-h74e3db0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-3.0.1-h38be061_1.conda
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       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.1-py311hd18a35c_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.8.0-h1a2810e_1.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/crocoddyl-3.0.1-py311h1d1b899_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.9.0-h1a2810e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.27-h54b06d7_7.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/noarch/decorator-5.1.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.16-pyhd8ed1ab_0.conda
-      - 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/double-conversion-3.3.1-h5888daf_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/eigenpy-3.10.1-np20py311h2672b3f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigenpy-3.10.3-np20py311h2672b3f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.192-h7f4e02f_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.2.0-pyh6b898a9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.3.0-pyh6b898a9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/executing-2.1.0-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.6.4-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.0.2-h434a139_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.7.0-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.1.4-h07f6e7f_1.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
@@ -56,39 +53,34 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.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/fonttools-4.55.3-py311h2dc5d0c_0.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/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_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.57.0-py311h2dc5d0c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.13.3-ha770c72_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-13.3.0-h9576a4e_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.3.0-h1e990d8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-hc28eda2_10.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gdbm-1.18-h0a1914f_2.tar.bz2
-      - 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/gmp-6.3.0-hac33072_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.8.8-h2d3e045_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.8.9-h5746830_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.13-h59595ed_1003.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/hpp-fcl-3.0.0-pyhd3e5650_4.conda
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.7-py311hd18a35c_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarchive-3.7.7-h4585015_3.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libblasfeo-0.1.3-h544d10a_103.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.17-h717163a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.43-h712a8e2_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarchive-3.7.7-h75ea233_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libasprintf-0.24.1-h8e693c7_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-31_h59b9bed_openblas.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libblasfeo-0.1.4.2-h544d10a_100.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.86.0-h6c02f8c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.86.0-h1a2810e_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.86.0-ha770c72_3.conda
@@ -97,164 +89,145 @@ environments:
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcoal-3.0.0-ha55d5d9_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-31_he106b2a_openblas.conda
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+  - glib 2.84.1 *_0
   license: LGPL-2.1-or-later
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+  - libintl >=0.23.1,<1.0a0
   - libzlib >=1.3.1,<2.0a0
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+  - pcre2 >=10.45,<10.46.0a0
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-  arch: arm64
-  platform: osx
+  - glib 2.84.1 *_1
   license: LGPL-2.1-or-later
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   license: LicenseRef-libglvnd
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   timestamp: 1731330988898
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-  md5: cc3573974587f12dda90d96e3e55a702
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-  arch: x86_64
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+  - __glibc >=2.17,<3.0.a0
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   license_family: GPL
-  size: 460992
-  timestamp: 1729027639220
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   - ruby
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   license: Apache-2.0
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@@ -4526,41 +3958,35 @@ packages:
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   - ruby
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-  platform: osx
   license: Apache-2.0
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   size: 38487
   timestamp: 1724587338467
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-  md5: 041d0a75ff722f424ce24f47397a44f8
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+  - libstdcxx >=13
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-  platform: osx
   license: Apache-2.0
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-  - libxml2 >=2.13.4,<3.0a0
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   timestamp: 1731374922090
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-  md5: 7e8e17c44e7af62c77de7a0158afc35c
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   - fonts-conda-ecosystem
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   - libstdcxx >=13
-  - numpy <2.3
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   license_family: GPL
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   license: Zlib
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   - __osx >=11.0
-  arch: arm64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 18487
@@ -7420,8 +6273,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 50060
@@ -7433,8 +6284,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 19575
@@ -7448,8 +6297,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxfixes >=6.0.1,<7.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 47179
@@ -7463,8 +6310,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxrender >=0.9.11,<0.10.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 29599
@@ -7476,8 +6321,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 33005
@@ -7491,8 +6334,6 @@ packages:
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
   - xorg-libxi >=1.7.10,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 32808
@@ -7505,94 +6346,78 @@ packages:
   - libgcc >=13
   - xorg-libx11 >=1.8.10,<2.0a0
   - xorg-libxext >=1.3.6,<2.0a0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 17819
   timestamp: 1734214575628
-- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.6.3-hbcc6ac9_1.conda
-  sha256: 9cef529dcff25222427c9d90b9fc376888a59e138794b4336bbcd3331a5eea22
-  md5: 62aae173382a8aae284726353c6a6a24
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_0.conda
+  sha256: 65f32402dc69fb20dc9b6307793405f45b6fd979a55534e1a4f2d39bcabea303
+  md5: c9880133bf4750a4c848f8d2c78d498c
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.6.3 hb9d3cd8_1
-  - liblzma-devel 5.6.3 hb9d3cd8_1
-  - xz-gpl-tools 5.6.3 hbcc6ac9_1
-  - xz-tools 5.6.3 hb9d3cd8_1
-  arch: x86_64
-  platform: linux
+  - liblzma 5.8.1 hb9d3cd8_0
+  - liblzma-devel 5.8.1 hb9d3cd8_0
+  - xz-gpl-tools 5.8.1 hbcc6ac9_0
+  - xz-tools 5.8.1 hb9d3cd8_0
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 23477
-  timestamp: 1733407455801
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-5.6.3-h9a6d368_1.conda
-  sha256: 84f9405312032638a7c6249573c8f50423c314c8a4d149b34b720caecc0dc83c
-  md5: 1d79c34d99f1e839a06b4631df091b64
+  size: 23859
+  timestamp: 1743771157444
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-5.8.1-h9a6d368_0.conda
+  sha256: 339d096f9a08e08ddcedc65dd28635610f629cdb1b57d6851308605f6776d013
+  md5: 6cbb460021a53fc29db69a51846e9b36
   depends:
   - __osx >=11.0
-  - liblzma 5.6.3 h39f12f2_1
-  - liblzma-devel 5.6.3 h39f12f2_1
-  - xz-gpl-tools 5.6.3 h9a6d368_1
-  - xz-tools 5.6.3 h39f12f2_1
-  arch: arm64
-  platform: osx
+  - liblzma 5.8.1 h39f12f2_0
+  - liblzma-devel 5.8.1 h39f12f2_0
+  - xz-gpl-tools 5.8.1 h9a6d368_0
+  - xz-tools 5.8.1 h39f12f2_0
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 23692
-  timestamp: 1733407556613
-- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.6.3-hbcc6ac9_1.conda
-  sha256: 4e104b7c75c2f26a96032a1c6cda51430da1dea318c74f9e3568902b2f5030e1
-  md5: f529917bab7862aaad6867bf2ea47a99
+  size: 23807
+  timestamp: 1743771462074
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.1-hbcc6ac9_0.conda
+  sha256: f48787ef798a44d7ef5618427af7881ae0229a930810963c43acc5444abe2437
+  md5: 9177ea2e6886b8070012e1d68531ab2f
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.6.3 hb9d3cd8_1
-  arch: x86_64
-  platform: linux
+  - liblzma 5.8.1 hb9d3cd8_0
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 33354
-  timestamp: 1733407444641
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.6.3-h9a6d368_1.conda
-  sha256: 98f71ea5d19c9cf4daed3b26a5102862baf8c63210f039e305f283fe399554b0
-  md5: cf05cc17aa7eb2ff843ca5c45d63a324
+  size: 33622
+  timestamp: 1743771139491
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.1-h9a6d368_0.conda
+  sha256: f4ae1e580f46b00c8cc66fbcff0f8ba612e6cb4551f0699b112f6bdbd9472a85
+  md5: af7ff1efa304098c6aa59fabafaab964
   depends:
   - __osx >=11.0
-  - liblzma 5.6.3 h39f12f2_1
-  arch: arm64
-  platform: osx
+  - liblzma 5.8.1 h39f12f2_0
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 33402
-  timestamp: 1733407540403
-- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.6.3-hb9d3cd8_1.conda
-  sha256: 6e80f838096345c35e8755b827814c083dd0274594006d6f76bff71bc969c3b8
-  md5: de3f31a6eed01bc2b8c7dcad07ad9034
+  size: 33649
+  timestamp: 1743771446208
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_0.conda
+  sha256: ec01d8c97f77c80a2bf42050b761e199663a4a35d22fc194c950802589e15e59
+  md5: 908d29a6cfd9e9a78d07012f5d1a8707
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.6.3 hb9d3cd8_1
-  arch: x86_64
-  platform: linux
+  - liblzma 5.8.1 hb9d3cd8_0
   license: 0BSD AND LGPL-2.1-or-later
-  size: 90354
-  timestamp: 1733407433418
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.6.3-h39f12f2_1.conda
-  sha256: b785955dd3d5eb1b00e3f1b1fbc3a9bf14276b2c0a950d0735a503d9abea7b5d
-  md5: 0fea5aff7b3a33856288c26326d937f7
+  size: 96051
+  timestamp: 1743771123306
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.8.1-h39f12f2_0.conda
+  sha256: cad2b7856f3d3c35e9e86a08e40aa95d2b385f352bb34e35961749f8b1570439
+  md5: f9092635d51d9cdebee1864047ceb1f6
   depends:
   - __osx >=11.0
-  - liblzma 5.6.3 h39f12f2_1
-  arch: arm64
-  platform: osx
+  - liblzma 5.8.1 h39f12f2_0
   license: 0BSD AND LGPL-2.1-or-later
-  size: 81028
-  timestamp: 1733407527563
+  size: 85779
+  timestamp: 1743771431091
 - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
   sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
   md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
   depends:
   - libgcc-ng >=9.4.0
-  arch: x86_64
-  platform: linux
   license: MIT
   license_family: MIT
   size: 89141
@@ -7600,41 +6425,10 @@ packages:
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/yaml-0.2.5-h3422bc3_2.tar.bz2
   sha256: 93181a04ba8cfecfdfb162fc958436d868cc37db504c58078eab4c1a3e57fbb7
   md5: 4bb3f014845110883a3c5ee811fd84b4
-  arch: arm64
-  platform: osx
   license: MIT
   license_family: MIT
   size: 88016
   timestamp: 1641347076660
-- conda: https://conda.anaconda.org/conda-forge/linux-64/zeromq-4.3.5-h3b0a872_7.conda
-  sha256: a4dc72c96848f764bb5a5176aa93dd1e9b9e52804137b99daeebba277b31ea10
-  md5: 3947a35e916fcc6b9825449affbf4214
-  depends:
-  - __glibc >=2.17,<3.0.a0
-  - krb5 >=1.21.3,<1.22.0a0
-  - libgcc >=13
-  - libsodium >=1.0.20,<1.0.21.0a0
-  - libstdcxx >=13
-  arch: x86_64
-  platform: linux
-  license: MPL-2.0
-  license_family: MOZILLA
-  size: 335400
-  timestamp: 1731585026517
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zeromq-4.3.5-hc1bb282_7.conda
-  sha256: 9e585569fe2e7d3bea71972cd4b9f06b1a7ab8fa7c5139f92a31cbceecf25a8a
-  md5: f7e6b65943cb73bce0143737fded08f1
-  depends:
-  - __osx >=11.0
-  - krb5 >=1.21.3,<1.22.0a0
-  - libcxx >=18
-  - libsodium >=1.0.20,<1.0.21.0a0
-  arch: arm64
-  platform: osx
-  license: MPL-2.0
-  license_family: MOZILLA
-  size: 281565
-  timestamp: 1731585108039
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
   sha256: 5d7c0e5f0005f74112a34a7425179f4eb6e73c92f5d109e6af4ddeca407c92ab
   md5: c9f075ab2f33b3bbee9e62d4ad0a6cd8
@@ -7642,8 +6436,6 @@ packages:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - libzlib 1.3.1 hb9d3cd8_2
-  arch: x86_64
-  platform: linux
   license: Zlib
   license_family: Other
   size: 92286
@@ -7654,34 +6446,29 @@ packages:
   depends:
   - __osx >=11.0
   - libzlib 1.3.1 h8359307_2
-  arch: arm64
-  platform: osx
   license: Zlib
   license_family: Other
   size: 77606
   timestamp: 1727963209370
-- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
-  sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b
-  md5: 4d056880988120e29d75bfff282e0f45
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
+  sha256: a4166e3d8ff4e35932510aaff7aa90772f84b4d07e9f6f83c614cba7ceefe0eb
+  md5: 6432cb5d4ac0046c3ac0a8a0f95842f9
   depends:
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - libzlib >=1.2.13,<2.0.0a0
-  arch: x86_64
-  platform: linux
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libstdcxx >=13
+  - libzlib >=1.3.1,<2.0a0
   license: BSD-3-Clause
   license_family: BSD
-  size: 554846
-  timestamp: 1714722996770
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda
-  sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09
-  md5: d96942c06c3e84bfcc5efb038724a7fd
+  size: 567578
+  timestamp: 1742433379869
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-h6491c7d_2.conda
+  sha256: 0d02046f57f7a1a3feae3e9d1aa2113788311f3cf37a3244c71e61a93177ba67
+  md5: e6f69c7bcccdefa417f056fa593b40f0
   depends:
   - __osx >=11.0
-  - libzlib >=1.2.13,<2.0.0a0
-  arch: arm64
-  platform: osx
+  - libzlib >=1.3.1,<2.0a0
   license: BSD-3-Clause
   license_family: BSD
-  size: 405089
-  timestamp: 1714723101397
+  size: 399979
+  timestamp: 1742433432699
diff --git a/pixi.toml b/pixi.toml
index 2caa64d4..3dac9228 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -19,7 +19,7 @@ pkg-config = ">=0.29.2"
 libboost-python-devel = ">=1.80.0"
 python = "3.11"
 eigenpy = ">=3.10.1"
-aligator = ">=0.10"
+aligator = ">=0.13"
 benchmark = ">=1.8.0"
 pytest = ">=8.3.0"
 matplotlib = ">=3.9"
@@ -44,9 +44,9 @@ configure = { cmd = [
   "-DBUILD_TESTING=ON",
   "-DGENERATE_PYTHON_STUBS=ON",
 ] }
-build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
+build = { cmd = "cmake --build build --target all", depends-on = ["configure"] }
 clean = { cmd = "rm -rf build" }
-test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
+test = { cmd = "ctest --test-dir build --output-on-failure", depends-on = [
   "build",
 ] }
 
diff --git a/src/fulldynamics.cpp b/src/fulldynamics.cpp
index 1befd900..011a9438 100644
--- a/src/fulldynamics.cpp
+++ b/src/fulldynamics.cpp
@@ -156,7 +156,7 @@ namespace simple_mpc
         state_id.push_back(i);
       }
       FunctionSliceXpr state_slice = FunctionSliceXpr(state_fn, state_id);
-      stm.addConstraint(state_slice, BoxConstraint(-settings_.qmax, -settings_.qmin));
+      stm.addConstraint(state_slice, BoxConstraint(settings_.qmin, settings_.qmax));
     }
 
     for (auto const & name : model_handler_.getFeetNames())
diff --git a/src/kinodynamics.cpp b/src/kinodynamics.cpp
index 7d3044a5..c9d8c182 100644
--- a/src/kinodynamics.cpp
+++ b/src/kinodynamics.cpp
@@ -96,7 +96,7 @@ namespace simple_mpc
         state_id.push_back(i);
       }
       FunctionSliceXpr state_slice = FunctionSliceXpr(state_fn, state_id);
-      stm.addConstraint(state_slice, BoxConstraint(-settings_.qmax, -settings_.qmin));
+      stm.addConstraint(state_slice, BoxConstraint(settings_.qmin, settings_.qmax));
     }
 
     Motion v_ref = Motion::Zero();