diff --git a/bindings/expose-fulldynamics.cpp b/bindings/expose-fulldynamics.cpp
index 24e20fb0..ec6f04a2 100644
--- a/bindings/expose-fulldynamics.cpp
+++ b/bindings/expose-fulldynamics.cpp
@@ -39,6 +39,7 @@ namespace simple_mpc::python
     conf.torque_limits = bp::extract<bool>(settings["torque_limits"]);
     conf.kinematics_limits = bp::extract<bool>(settings["kinematics_limits"]);
     conf.force_cone = bp::extract<bool>(settings["force_cone"]);
+    conf.land_cstr = bp::extract<bool>(settings["land_cstr"]);
 
     return new FullDynamicsOCP(conf, model_handler);
   }
@@ -126,6 +127,7 @@ namespace simple_mpc::python
     settings["torque_limits"] = conf.torque_limits;
     settings["kinematics_limits"] = conf.kinematics_limits;
     settings["force_cone"] = conf.force_cone;
+    settings["land_cstr"] = conf.land_cstr;
 
     return settings;
   }
diff --git a/bindings/expose-kinodynamics.cpp b/bindings/expose-kinodynamics.cpp
index cc5b5aab..b13ba0fd 100644
--- a/bindings/expose-kinodynamics.cpp
+++ b/bindings/expose-kinodynamics.cpp
@@ -28,6 +28,7 @@ namespace simple_mpc::python
 
     conf.kinematics_limits = bp::extract<bool>(settings["kinematics_limits"]);
     conf.force_cone = bp::extract<bool>(settings["force_cone"]);
+    conf.land_cstr = bp::extract<bool>(settings["land_cstr"]);
 
     return new KinodynamicsOCP(conf, model_handler);
   }
@@ -51,6 +52,7 @@ namespace simple_mpc::python
     settings["Wfoot"] = conf.Wfoot;
     settings["kinematics_limits"] = conf.kinematics_limits;
     settings["force_cone"] = conf.force_cone;
+    settings["land_cstr"] = conf.land_cstr;
 
     return settings;
   }
diff --git a/examples/go2_fulldynamics.py b/examples/go2_fulldynamics.py
index 2ce70547..c575cfd0 100644
--- a/examples/go2_fulldynamics.py
+++ b/examples/go2_fulldynamics.py
@@ -74,6 +74,7 @@
     torque_limits=True,
     kinematics_limits=True,
     force_cone=False,
+    land_cstr=False
 )
 T = 50
 
diff --git a/examples/go2_kinodynamics.py b/examples/go2_kinodynamics.py
index 1016791d..7d21feda 100644
--- a/examples/go2_kinodynamics.py
+++ b/examples/go2_kinodynamics.py
@@ -75,6 +75,7 @@
     Wfoot=0.01,
     kinematics_limits=True,
     force_cone=False,
+    land_cstr=False
 )
 T = 50
 
diff --git a/examples/talos_fulldynamics.py b/examples/talos_fulldynamics.py
index 88ee7227..41c8c69b 100644
--- a/examples/talos_fulldynamics.py
+++ b/examples/talos_fulldynamics.py
@@ -81,6 +81,7 @@
     torque_limits=True,
     kinematics_limits=True,
     force_cone=True,
+    land_cstr=False
 )
 
 T = 100
diff --git a/examples/talos_kinodynamics.py b/examples/talos_kinodynamics.py
index 59ee378e..9a6c27e0 100644
--- a/examples/talos_kinodynamics.py
+++ b/examples/talos_kinodynamics.py
@@ -89,6 +89,7 @@
     Wfoot=0.075,
     kinematics_limits=True,
     force_cone=False,
+    land_cstr=False
 )
 
 T = 100
diff --git a/include/simple-mpc/fulldynamics.hpp b/include/simple-mpc/fulldynamics.hpp
index f3137896..aabb9258 100644
--- a/include/simple-mpc/fulldynamics.hpp
+++ b/include/simple-mpc/fulldynamics.hpp
@@ -49,6 +49,7 @@ namespace simple_mpc
     bool torque_limits;
     bool kinematics_limits;
     bool force_cone;
+    bool land_cstr;
 
     // Control limits
     Eigen::VectorXd umin;
diff --git a/include/simple-mpc/kinodynamics.hpp b/include/simple-mpc/kinodynamics.hpp
index 9dad3e4d..fa5c67e1 100644
--- a/include/simple-mpc/kinodynamics.hpp
+++ b/include/simple-mpc/kinodynamics.hpp
@@ -47,6 +47,7 @@ namespace simple_mpc
     // Constraint
     bool kinematics_limits;
     bool force_cone;
+    bool land_cstr;
   };
 
   class KinodynamicsOCP : public OCPHandler
diff --git a/package.xml b/package.xml
index b26c5b07..4d847c66 100644
--- a/package.xml
+++ b/package.xml
@@ -14,6 +14,7 @@
   <depend>boost</depend>
   <depend>pinocchio</depend>
   <depend>proxsuite-nlp</depend>
+  <depend>proxsuite</depend>
   <depend>aligator</depend>
   <depend>std_msgs</depend>
 
diff --git a/pixi.lock b/pixi.lock
index bbbaf18f..e2de71a8 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -26,7 +26,7 @@ environments:
       - 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/cmake-4.0.2-h74e3db0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-3.0.1-h38be061_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-python-3.0.1-py311h48d4333_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
@@ -128,8 +128,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.1.0-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-31_h7ac8fdf_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm20-20.1.4-he9d0ab4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libmicrohttpd-1.0.1-hbc5bc17_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.64.0-h161d5f1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
@@ -189,6 +189,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pixman-0.46.0-h29eaf8c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.5.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/proxsuite-0.7.2-py311hd18a35c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/proxsuite-nlp-0.11.0-py311h57c6026_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pthread-stubs-0.4-hb9d3cd8_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.2.3-pyhd8ed1ab_1.conda
@@ -204,6 +205,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.5-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ruby-3.4.2-he7af4c9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/scipy-1.15.2-py311h8f841c2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/simde-0.8.2-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.17-h0157908_18.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-11.0.0-h3f2d84a_0.conda
@@ -240,9 +242,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxrender-0.9.12-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxtst-1.2.5-hb9d3cd8_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxxf86vm-1.1.6-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.1-hbcc6ac9_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.1-hbcc6ac9_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
@@ -269,7 +271,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clangxx_impl_osx-arm64-18.1.8-h555f467_24.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clangxx_osx-arm64-18.1.8-h07b0088_24.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cli11-2.5.0-ha1acc90_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.0.1-ha25475f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cmake-4.0.2-ha25475f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-3.0.1-ha1ab1f8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/coal-python-3.0.1-py311h9848c70_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
@@ -329,8 +331,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libfreetype6-2.13.3-h1d14073_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgettextpo-0.24.1-h493aca8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgettextpo-devel-0.24.1-h493aca8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgfortran-5.0.0-14_2_0_h6c33f7e_103.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgfortran5-14.2.0-h6c33f7e_103.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgfortran-14.2.0-heb5dd2a_105.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgfortran5-14.2.0-h2c44a93_105.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libglib-2.84.1-hbec27ea_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-cmake3-3.5.3-h00cdb27_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libgz-math7-7.5.1-h5833ebf_2.conda
@@ -343,8 +345,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libjpeg-turbo-3.1.0-h5505292_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblapack-3.9.0-31_hc9a63f6_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libllvm18-18.1.8-default_hb458b26_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.1-h39f12f2_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-devel-5.8.1-h39f12f2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.1-h39f12f2_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-devel-5.8.1-h39f12f2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libnghttp2-1.64.0-h6d7220d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libopenblas-0.3.29-openmp_hf332438_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libosqp-0.6.3-h5833ebf_1.conda
@@ -366,8 +368,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/matplotlib-3.10.1-py311ha1ab1f8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/matplotlib-base-3.10.1-py311h031da69_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/metis-5.1.0-h15f6cfe_1007.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-include-5.7.3-h8c5b6c6_10.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.7.3-h390d176_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-include-5.7.3-h8c5b6c6_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.7.3-h29d90bc_9.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/munkres-1.1.4-pyh9f0ad1d_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.1.0-pyha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.5-h5e97a16_3.conda
@@ -382,6 +384,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pinocchio-3.6.0-py311ha4cee0f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pkg-config-0.29.2-hde07d2e_1009.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.5.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/proxsuite-0.7.2-py311h5e3411b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/proxsuite-nlp-0.11.0-py311hb38bd0a_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/pthread-stubs-0.4-hd74edd7_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.2.3-pyhd8ed1ab_1.conda
@@ -396,6 +399,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ruby-3.4.2-he7d92ad_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/scipy-1.15.2-py311h0675101_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/sigtool-0.1.3-h44b9a77_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/simde-0.8.2-h7b3277c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tapi-1300.6.5-h03f4b80_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tinyxml2-11.0.0-ha1acc90_0.conda
@@ -411,9 +415,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/urdfdom_headers-1.1.2-h7b3277c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xorg-libxau-1.0.12-h5505292_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xorg-libxdmcp-1.1.5-hd74edd7_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-5.8.1-h9a6d368_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.1-h9a6d368_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.8.1-h39f12f2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-5.8.1-h9a6d368_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.1-h9a6d368_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.8.1-h39f12f2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/yaml-0.2.5-h3422bc3_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/zlib-1.3.1-h8359307_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-h6491c7d_2.conda
@@ -446,7 +450,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-20.1.4-default_hfa515fb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clangxx-20.1.4-default_h0982aa1_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/cmake-4.0.2-h74e3db0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-3.0.1-h38be061_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-python-3.0.1-py311h48d4333_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
@@ -548,8 +552,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.1.0-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-31_h7ac8fdf_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm20-20.1.4-he9d0ab4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libmicrohttpd-1.0.1-hbc5bc17_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.64.0-h161d5f1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
@@ -609,6 +613,7 @@ environments:
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.1-h39f12f2_0.conda
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-  md5: ba24e6f25225fea3d5b6912e2ac562f8
+  size: 112845
+  timestamp: 1746531470399
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-5.8.1-h39f12f2_1.conda
+  sha256: 5ab62c179229640c34491a7de806ad4ab7bec47ea2b5fc2136e3b8cf5ef26a57
+  md5: 4e8ef3d79c97c9021b34d682c24c2044
   depends:
   - __osx >=11.0
+  constrains:
+  - xz 5.8.1.*
   license: 0BSD
-  size: 92295
-  timestamp: 1743771392206
-- conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_0.conda
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-  md5: 8f456db836b4d3d00d3b6a6cc47009d8
+  size: 92218
+  timestamp: 1746531818330
+- conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_1.conda
+  sha256: f157a2da5f7bf2c5ce5a18c52ccc76c39f075f7fbb1584d585a8d25c1b17cb92
+  md5: 5499e2dd2f567a818b9f111e47caebd2
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.8.1 hb9d3cd8_0
+  - liblzma 5.8.1 hb9d3cd8_1
   license: 0BSD
-  size: 440913
-  timestamp: 1743771104004
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-devel-5.8.1-h39f12f2_0.conda
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-  md5: 04d3b0bd4202147c9b54581931c075b4
+  size: 441592
+  timestamp: 1746531484594
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/liblzma-devel-5.8.1-h39f12f2_1.conda
+  sha256: 33a7e9b529c9dd0cf57ad4966bc407a4088ad8327b8d9801705eb37d34aa3cf0
+  md5: 4a9561681f11aa4fb43f1bb7d209629c
   depends:
   - __osx >=11.0
-  - liblzma 5.8.1 h39f12f2_0
+  - liblzma 5.8.1 h39f12f2_1
   license: 0BSD
-  size: 116150
-  timestamp: 1743771410133
+  size: 116401
+  timestamp: 1746531844770
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libmicrohttpd-1.0.1-hbc5bc17_1.conda
   sha256: 0aa6287ec8698090d09def3416c38e5975fd2b76cd24ff5dac97edcdd6e1fbd4
   md5: c384e4dcd3c345b54bfb79d9ff712349
@@ -4262,7 +4286,7 @@ packages:
   md5: 0cd1148c68f09027ee0b0f0179f77c30
   depends:
   - __osx >=11.0
-  - libgfortran 5.*
+  - libgfortran >=5
   - libgfortran5 >=13.2.0
   - llvm-openmp >=18.1.8
   constrains:
@@ -4394,7 +4418,7 @@ packages:
   depends:
   - __osx >=11.0
   - bzip2 >=1.0.8,<2.0a0
-  - libgfortran 5.*
+  - libgfortran >=5
   - libgfortran5 >=13.2.0
   - liblzma >=5.6.3,<6.0a0
   - libzlib >=1.3.1,<2.0a0
@@ -4741,6 +4765,7 @@ packages:
   constrains:
   - openmp 20.1.4|20.1.4.*
   license: Apache-2.0 WITH LLVM-exception
+  license_family: APACHE
   size: 282599
   timestamp: 1746134861758
 - conda: https://conda.anaconda.org/conda-forge/osx-arm64/llvm-tools-18.1.8-default_hb458b26_5.conda
@@ -4897,12 +4922,12 @@ packages:
   license: CECILL-C
   size: 20755
   timestamp: 1745406913902
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-include-5.7.3-h8c5b6c6_10.conda
-  sha256: 9093f47e4a15fd34c90de93ebfa30c63799e2f99123420fd68653274f5574131
-  md5: 077b856b81445e47942980465ca52450
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-include-5.7.3-h8c5b6c6_9.conda
+  sha256: f9b7760dc84abcdab557959b356073224c84a4e12765722f3d99a3eb43377780
+  md5: 558b84eda21ff476b520916b36a343d3
   license: CECILL-C
-  size: 20799
-  timestamp: 1745406952431
+  size: 20800
+  timestamp: 1742217819438
 - conda: https://conda.anaconda.org/conda-forge/linux-64/mumps-seq-5.7.3-h27a6a8b_0.conda
   sha256: 32facdad34df86928ed1632264b943c87174edeb9d74ccfaaf353f8a669579c2
   md5: d524b41c7757ea147337039fa4158fbb
@@ -4919,24 +4944,24 @@ packages:
   license: CECILL-C
   size: 2029763
   timestamp: 1722844276781
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.7.3-h390d176_10.conda
-  sha256: 2afb273e8268a0960eb3934edffecfa617c941cccc762a11c86d15cb4f0e17a8
-  md5: d211ba253191e04aa341a02203ed42fb
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.7.3-h29d90bc_9.conda
+  sha256: fc030116ee9083610077a382b379f1c782ef6e3531226dae64bacf85ea6111e5
+  md5: f4059b9b2cec69451420cd39ad518887
   depends:
-  - mumps-include ==5.7.3 h8c5b6c6_10
-  - __osx >=11.0
-  - libgfortran 5.*
-  - libgfortran5 >=13.3.0
+  - mumps-include ==5.7.3 h8c5b6c6_9
+  - libgfortran >=5
+  - libgfortran5 >=13.2.0
   - llvm-openmp >=18.1.8
+  - __osx >=11.0
+  - libscotch >=7.0.6,<7.0.7.0a0
   - liblapack >=3.9.0,<4.0a0
-  - libblas >=3.9.0,<4.0a0
   - metis >=5.1.0,<5.1.1.0a0
-  - libscotch >=7.0.6,<7.0.7.0a0
+  - libblas >=3.9.0,<4.0a0
   constrains:
   - libopenblas * *openmp*
   license: CECILL-C
-  size: 2675502
-  timestamp: 1745406952432
+  size: 2689399
+  timestamp: 1742217819440
 - conda: https://conda.anaconda.org/conda-forge/noarch/munkres-1.1.4-pyh9f0ad1d_0.tar.bz2
   sha256: f86fb22b58e93d04b6f25e0d811b56797689d598788b59dcb47f59045b568306
   md5: 2ba8498c1018c1e9c61eb99b973dfe19
@@ -5305,6 +5330,7 @@ packages:
   - libgcc >=13
   - libstdcxx >=13
   license: MIT
+  license_family: MIT
   size: 398664
   timestamp: 1746011575217
 - conda: https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda
@@ -5361,6 +5387,43 @@ packages:
   license_family: MIT
   size: 195854
   timestamp: 1742475656293
+- conda: https://conda.anaconda.org/conda-forge/linux-64/proxsuite-0.7.2-py311hd18a35c_1.conda
+  sha256: ce3e9efe08181caa5a1fe7bd0a875d73eaadca4aefe047774eea0ad8aa7aedc4
+  md5: 420b497cdd6020d3909022a143fdd9f6
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - _openmp_mutex >=4.5
+  - eigen
+  - libgcc >=13
+  - libstdcxx >=13
+  - numpy
+  - python >=3.11,<3.12.0a0
+  - python_abi 3.11.* *_cp311
+  - scipy
+  - simde
+  license: BSD-2-Clause
+  license_family: BSD
+  size: 831178
+  timestamp: 1742218837868
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/proxsuite-0.7.2-py311h5e3411b_1.conda
+  sha256: 457da17d5b200942e041b033eb3150648e37953d614507ff5700567984364356
+  md5: 9aec1d9864b87cecd2121f06553322db
+  depends:
+  - __osx >=11.0
+  - eigen
+  - libcxx >=18
+  - llvm-openmp >=18.1.8
+  - llvm-openmp >=19.1.7
+  - numpy
+  - python >=3.11,<3.12.0a0
+  - python >=3.11,<3.12.0a0 *_cpython
+  - python_abi 3.11.* *_cp311
+  - scipy
+  - simde
+  license: BSD-2-Clause
+  license_family: BSD
+  size: 490540
+  timestamp: 1742218918677
 - conda: https://conda.anaconda.org/conda-forge/linux-64/proxsuite-nlp-0.11.0-py311h57c6026_4.conda
   sha256: 7d3e5ce935011e394e042bf878a988bebb0e1c1b56fb939ad74c552e25b16c47
   md5: 73eb326fa10eb870df78f8bf24854405
@@ -5784,7 +5847,7 @@ packages:
   - libblas >=3.9.0,<4.0a0
   - libcblas >=3.9.0,<4.0a0
   - libcxx >=18
-  - libgfortran 5.*
+  - libgfortran >=5
   - libgfortran5 >=13.2.0
   - liblapack >=3.9.0,<4.0a0
   - numpy <2.5
@@ -5815,6 +5878,24 @@ packages:
   license_family: MIT
   size: 210264
   timestamp: 1643442231687
+- conda: https://conda.anaconda.org/conda-forge/linux-64/simde-0.8.2-h84d6215_0.conda
+  sha256: c055f966ebd72a768e25994ea7bdea0f0eecf481128c01e26f68c4ab11ae21b7
+  md5: aa4dd437f90aa209a0309313af213964
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  license: MIT
+  license_family: MIT
+  size: 480387
+  timestamp: 1724439702451
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/simde-0.8.2-h7b3277c_0.conda
+  sha256: 282929ab21b49577fd81c5a8d2d461c028086a4be6044762f6a5f546e423f299
+  md5: fc5b5caefb2778064799b76751a69b69
+  depends:
+  - __osx >=11.0
+  license: MIT
+  license_family: MIT
+  size: 482908
+  timestamp: 1724439819598
 - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhd8ed1ab_0.conda
   sha256: 41db0180680cc67c3fa76544ffd48d6a5679d96f4b71d7498a759e94edc9a2db
   md5: a451d576819089b0d672f18768be0f65
@@ -6056,18 +6137,17 @@ packages:
   license_family: BSD
   size: 19265
   timestamp: 1726152487304
-- conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-20.30.0-pyhd8ed1ab_0.conda
-  sha256: 1dbb24b144f7b8400b30cca760cdee1b7de61716cd7f06d7ea82b741645823ce
-  md5: c0e0b4a09aa5a698a1bdd4ebfe28be38
+- conda: https://conda.anaconda.org/conda-forge/noarch/virtualenv-20.31.1-pyhd8ed1ab_0.conda
+  sha256: ba4a3a817a6b30f9c36378290dd4d22dcc3be096330b228cc07e462ced0dc1fb
+  md5: cd28135cfaf1f1a162d6c5af37f7fccb
   depends:
   - distlib >=0.3.7,<1
   - filelock >=3.12.2,<4
   - platformdirs >=3.9.1,<5
   - python >=3.9
   license: MIT
-  license_family: MIT
-  size: 3635535
-  timestamp: 1743474070226
+  size: 4133676
+  timestamp: 1746523564327
 - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.23.1-h3e06ad9_1.conda
   sha256: 73d809ec8056c2f08e077f9d779d7f4e4c2b625881cad6af303c33dc1562ea01
   md5: a37843723437ba75f42c9270ffe800b1
@@ -6350,69 +6430,77 @@ packages:
   license_family: MIT
   size: 17819
   timestamp: 1734214575628
-- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_0.conda
-  sha256: 65f32402dc69fb20dc9b6307793405f45b6fd979a55534e1a4f2d39bcabea303
-  md5: c9880133bf4750a4c848f8d2c78d498c
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.1-hbcc6ac9_1.conda
+  sha256: 178b04c2f35261a1f9a272901d2533c88d50416745509450ca56f7bc76f4a268
+  md5: 46600bb863ef3f2f565e7e0458f3d3bc
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - 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
+  - liblzma 5.8.1 hb9d3cd8_1
+  - liblzma-devel 5.8.1 hb9d3cd8_1
+  - xz-gpl-tools 5.8.1 hbcc6ac9_1
+  - xz-tools 5.8.1 hb9d3cd8_1
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 23859
-  timestamp: 1743771157444
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-5.8.1-h9a6d368_0.conda
-  sha256: 339d096f9a08e08ddcedc65dd28635610f629cdb1b57d6851308605f6776d013
-  md5: 6cbb460021a53fc29db69a51846e9b36
+  size: 23933
+  timestamp: 1746531531849
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-5.8.1-h9a6d368_1.conda
+  sha256: 365f86baf9187c73072de09a257a4fe569e9dc321b1893107caf1d5fbb662cf7
+  md5: b51d63218e537b65c03a1d712d859680
   depends:
   - __osx >=11.0
-  - 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
+  - liblzma 5.8.1 h39f12f2_1
+  - liblzma-devel 5.8.1 h39f12f2_1
+  - xz-gpl-tools 5.8.1 h9a6d368_1
+  - xz-tools 5.8.1 h39f12f2_1
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  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
+  size: 23945
+  timestamp: 1746531921863
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.1-hbcc6ac9_1.conda
+  sha256: 1f66e240fd37f66dfaff27f55f0e69008c4fdbbb02766cd2e0a60d2de85d49b4
+  md5: 23d49402c43d1ea67aca3685acedc0ae
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.8.1 hb9d3cd8_0
+  - liblzma 5.8.1 hb9d3cd8_1
+  constrains:
+  - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  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
+  size: 33852
+  timestamp: 1746531515485
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.1-h9a6d368_1.conda
+  sha256: 0978a1c2d104fb5c056d290d5b6f6e2291bf96938e14f4d4fc34207fdc2e64bc
+  md5: 2b74c0fcf1423146e8a1b38e8edb9d18
   depends:
   - __osx >=11.0
-  - liblzma 5.8.1 h39f12f2_0
+  - liblzma 5.8.1 h39f12f2_1
+  constrains:
+  - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  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
+  size: 33633
+  timestamp: 1746531896043
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_1.conda
+  sha256: d219c162f2bf0bb851bfe4fbcb70f118b4f518e0e1c46ae72726bc5b9dde6f24
+  md5: 966d5f3958ecfaf49a9a060dfb81eb85
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.8.1 hb9d3cd8_0
+  - liblzma 5.8.1 hb9d3cd8_1
+  constrains:
+  - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later
-  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
+  size: 96134
+  timestamp: 1746531500507
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.8.1-h39f12f2_1.conda
+  sha256: 703deddf649255c1e34ed479a0af6b2f66f0180a8fabfb845dbdff3bd8485f24
+  md5: 697caaae49a3d00a508d64b0e09f1a31
   depends:
   - __osx >=11.0
-  - liblzma 5.8.1 h39f12f2_0
+  - liblzma 5.8.1 h39f12f2_1
+  constrains:
+  - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later
-  size: 85779
-  timestamp: 1743771431091
+  size: 85980
+  timestamp: 1746531874100
 - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
   sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
   md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
diff --git a/pixi.toml b/pixi.toml
index 3dac9228..eb5e6511 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -20,6 +20,7 @@ libboost-python-devel = ">=1.80.0"
 python = "3.11"
 eigenpy = ">=3.10.1"
 aligator = ">=0.13"
+proxsuite = ">=0.7.2"
 benchmark = ">=1.8.0"
 pytest = ">=8.3.0"
 matplotlib = ">=3.9"
diff --git a/src/fulldynamics.cpp b/src/fulldynamics.cpp
index 011a9438..a386f986 100644
--- a/src/fulldynamics.cpp
+++ b/src/fulldynamics.cpp
@@ -171,7 +171,7 @@ namespace simple_mpc
           stm.addConstraint(wrench_residual, NegativeOrthant());
         }
 
-        if (land_constraint.at(name))
+        if (settings_.land_cstr and land_constraint.at(name))
         {
           FrameVelocityResidual velocity_residual = FrameVelocityResidual(
             space.ndx(), nu_, model_handler_.getModel(), Motion::Zero(), model_handler_.getFootId(name),
@@ -187,7 +187,7 @@ namespace simple_mpc
             space.ndx(), model_handler_.getModel(), actuation_matrix_, cms, prox_settings_, name, settings_.mu);
           stm.addConstraint(friction_residual, NegativeOrthant());
         }
-        if (land_constraint.at(name))
+        if (settings_.land_cstr and land_constraint.at(name))
         {
           std::vector<int> vel_id = {0, 1, 2};
           FrameVelocityResidual velocity_residual = FrameVelocityResidual(
diff --git a/src/kinodynamics.cpp b/src/kinodynamics.cpp
index c9d8c182..817b89ca 100644
--- a/src/kinodynamics.cpp
+++ b/src/kinodynamics.cpp
@@ -129,7 +129,7 @@ namespace simple_mpc
 
           FunctionSliceXpr vel_slice = FunctionSliceXpr(frame_vel, vel_id);
           stm.addConstraint(vel_slice, EqualityConstraint());
-          if (land_constraint.at(name))
+          if (settings_.land_cstr and land_constraint.at(name))
           {
             std::vector<int> frame_id = {2};
 
diff --git a/tests/problem.cpp b/tests/problem.cpp
index 89af17fc..6cc4cb53 100644
--- a/tests/problem.cpp
+++ b/tests/problem.cpp
@@ -46,7 +46,7 @@ BOOST_AUTO_TEST_CASE(fulldynamics)
   CostStack * cs = dynamic_cast<CostStack *>(&*sm.cost_);
 
   BOOST_CHECK_EQUAL(cs->components_.size(), 6);
-  BOOST_CHECK_EQUAL(sm.numConstraints(), 4);
+  BOOST_CHECK_EQUAL(sm.numConstraints(), 3);
 
   fdproblem.createProblem(model_handler.getReferenceState(), 100, 6, settings.gravity[2], true);
 
diff --git a/tests/test_utils.cpp b/tests/test_utils.cpp
index b34370f6..b78b84b2 100644
--- a/tests/test_utils.cpp
+++ b/tests/test_utils.cpp
@@ -140,6 +140,7 @@ FullDynamicsSettings getFullDynamicsSettings(RobotModelHandler model_handler)
   settings.torque_limits = true;
   settings.kinematics_limits = true;
   settings.force_cone = true;
+  settings.land_cstr = false;
 
   return settings;
 }
@@ -186,6 +187,7 @@ KinodynamicsSettings getKinodynamicsSettings(RobotModelHandler model_handler)
   settings.Wfoot = 0.075;
   settings.kinematics_limits = true;
   settings.force_cone = true;
+  settings.land_cstr = false;
 
   return settings;
 }