diff --git a/pixi.lock b/pixi.lock
index 1ee38d06924a7..124111e2c7e58 100644
--- a/pixi.lock
+++ b/pixi.lock
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@@ -708,6 +724,26 @@ packages:
   license_family: GPL
   size: 71042
   timestamp: 1660065501192
+- kind: conda
+  name: black
+  version: 24.10.0
+  build: py312hb401068_0
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py312hb401068_0.conda
+  sha256: a1397d32f6d40ff19107bab8c1570f3934ad91a601d1d973b129eabe08b943e6
+  md5: e832f4c2afb84e85718008b600944bc0
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+  - mypy_extensions >=0.4.3
+  - packaging >=22.0
+  - pathspec >=0.9
+  - platformdirs >=2
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  license_family: MIT
+  size: 393514
+  timestamp: 1728503944080
 - kind: conda
   name: black
   version: 24.10.0
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   size: 397986
   timestamp: 1728503908150
-- kind: conda
-  name: black
-  version: 24.10.0
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-  size: 400395
-  timestamp: 1728503832399
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   version: 24.10.0
@@ -792,22 +808,22 @@ packages:
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-  build: h38cdd20_3
+  build: h81f2e74_3
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-  url: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h38cdd20_3.conda
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-  md5: ecced0936d59094c262fb64151d485eb
+  url: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h81f2e74_3.conda
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+  md5: 52206a784c1d25dcf5fb8d0174065177
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   - libcxx >=17
-  - numpy >=1.21,<3
-  - python_abi 3.13.* *_cp313
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.12.* *_cp312
   - xorg-libx11 >=1.8.9,<2.0a0
   - xorg-libxext >=1.3.4,<2.0a0
   license: Zlib
-  size: 39753899
-  timestamp: 1725367987014
+  size: 40029733
+  timestamp: 1725367829146
 - kind: conda
   name: bullet-cpp
   version: '3.25'
@@ -2922,6 +2938,130 @@ packages:
   license: BSL-1.0
   size: 2138336
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+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/tbb-devel-2021.13.0-h053bfa6_0.conda
+  sha256: 5c564de8d3355814ccb6213c3e1eeee473cb7975e82dd9415dfd1766e2f44a2f
+  md5: ae3893a7b463769d7372d2335297abb8
+  depends:
+  - tbb 2021.13.0 hc790b64_0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  size: 1062534
+  timestamp: 1725533022774
+- kind: conda
+  name: tbb-devel
+  version: 2022.0.0
+  build: h1f99690_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/tbb-devel-2022.0.0-h1f99690_0.conda
+  sha256: 67a58fa88d4c8d353a72c8ab2130b4e2a96afbfeca6e8438b07b9fc76e551090
+  md5: 52317967d0c3dc2ef6f73c2e6a60e005
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libstdcxx >=13
+  - tbb 2022.0.0 hceb3a55_0
+  size: 1075564
+  timestamp: 1730477658219
+- kind: conda
+  name: tbb-devel
+  version: 2022.0.0
+  build: h6e261d1_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-devel-2022.0.0-h6e261d1_0.conda
+  sha256: 50d10fd8d6be3deaf7fabbd40d61c82cf13b70e2e09603e67c0a41161214b279
+  md5: f0ab986bef824b8045c44737d7e6464e
+  depends:
+  - __osx >=11.0
+  - libcxx >=17
+  - tbb 2022.0.0 h0cbf7ec_0
+  size: 1075822
+  timestamp: 1730477778601
+- kind: conda
+  name: tbb-devel
+  version: 2022.0.0
+  build: h80d89ef_0
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/tbb-devel-2022.0.0-h80d89ef_0.conda
+  sha256: 057720aeed52e84f5620025d736e8d1be265387e3632b7ccc2725be9ab7b430a
+  md5: b5f7717fe68aed91bda2366a18035dfb
+  depends:
+  - __osx >=10.13
+  - libcxx >=17
+  - tbb 2022.0.0 h0ec6371_0
+  size: 1074771
+  timestamp: 1730477812192
 - kind: conda
   name: tinyxml2
   version: 10.0.0
@@ -7468,6 +7747,20 @@ packages:
   license_family: MIT
   size: 321561
   timestamp: 1724530461598
+- kind: conda
+  name: wheel
+  version: 0.45.0
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda
+  sha256: 8a51067f8e1a2cb0b5e89672dbcc0369e344a92e869c38b2946584aa09ab7088
+  md5: f9751d7c71df27b2d29f5cab3378982e
+  depends:
+  - python >=3.8
+  license: MIT
+  size: 62755
+  timestamp: 1731120002488
 - kind: conda
   name: xcb-util
   version: 0.4.1
diff --git a/pixi.toml b/pixi.toml
index 67bf879e15c20..7e1707aa6f0c6 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -33,7 +33,7 @@ nlopt = ">=2.7.1"
 numpy = ">=1.26.4"
 octomap = ">=1.9.8"
 openscenegraph = ">=3.6.5"
-pagmo = ">=2.19.1"
+pagmo-devel = ">=2.19.1"
 spdlog = ">=1.12.0"
 tinyxml2 = ">=10.0.0"
 urdfdom = ">=4.0.0"
@@ -54,9 +54,13 @@ config = { cmd = """
         -B build \
         -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
         -DCMAKE_BUILD_TYPE=Release \
-        -DDART_VERBOSE=ON \
-        -DDART_USE_SYSTEM_IMGUI=ON
-""" }
+        -DDART_VERBOSE=$DART_VERBOSE \
+        -DDART_USE_SYSTEM_IMGUI=ON \
+        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
+        -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON \
+        -DCMAKE_INSTALL_RPATH=$CONDA_PREFIX/lib \
+        -DCMAKE_INSTALL_RPATH_USE_LINK_PATH=ON
+""", env = { DART_VERBOSE = "ON" } }
 
 lint-cpp = { cmd = "cmake --build build --target format", depends_on = [
     "config",