diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
index 9e631d3a35aa2..1c05ff10f427a 100644
--- a/cmake/DARTFindDependencies.cmake
+++ b/cmake/DARTFindDependencies.cmake
@@ -106,6 +106,9 @@ else()
   )
 endif()
 
+# Taskflow
+dart_find_package(Taskflow)
+
 #=======================
 # Optional dependencies
 #=======================
diff --git a/cmake/DARTFindTaskflow.cmake b/cmake/DARTFindTaskflow.cmake
new file mode 100644
index 0000000000000..ddc3eeda29e70
--- /dev/null
+++ b/cmake/DARTFindTaskflow.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(Taskflow)
diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
index 6a0a14bf3484a..e067ec79fe25b 100644
--- a/dart/CMakeLists.txt
+++ b/dart/CMakeLists.txt
@@ -222,6 +222,20 @@ if(spdlog_FOUND)
   add_component_dependency_packages(${PROJECT_NAME} dart spdlog)
 endif()
 
+# Taskflow settings
+if(Taskflow_FOUND)
+  if(TARGET spdlog::spdlog_header_only)
+    add_component_dependency_packages(${PROJECT_NAME} dart Taskflow)
+    target_link_libraries(dart PUBLIC Taskflow::Taskflow)
+    target_compile_definitions(dart PUBLIC -DDART_HAVE_Taskflow=1)
+  else()
+    message(WARNING "Taskflow found, but no target is found. Expected Taskflow::Taskflow")
+    target_compile_definitions(dart PUBLIC -DDART_HAVE_Taskflow=0)
+  endif()
+else()
+  target_compile_definitions(dart PUBLIC -DDART_HAVE_Taskflow=0)
+endif()
+
 if(MSVC)
   set_target_properties(
     dart PROPERTIES
diff --git a/dart/constraint/BoxedLcpConstraintSolver.cpp b/dart/constraint/BoxedLcpConstraintSolver.cpp
index c455b3416af62..f23fb47984141 100644
--- a/dart/constraint/BoxedLcpConstraintSolver.cpp
+++ b/dart/constraint/BoxedLcpConstraintSolver.cpp
@@ -32,13 +32,7 @@
 
 #include "dart/constraint/BoxedLcpConstraintSolver.hpp"
 
-#include <cassert>
-#if DART_BUILD_MODE_DEBUG
-  #include <iomanip>
-  #include <iostream>
-#endif
-
-#include "dart/common/Console.hpp"
+#include "dart/common/Logging.hpp"
 #include "dart/common/Profile.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
@@ -46,66 +40,285 @@
 #include "dart/external/odelcpsolver/lcp.h"
 #include "dart/lcpsolver/Lemke.hpp"
 
+#if DART_HAVE_Taskflow
+  #include <taskflow/algorithm/for_each.hpp>
+#endif
+
+#if DART_BUILD_MODE_DEBUG
+  #include <iomanip>
+  #include <iostream>
+#endif
+#include <atomic>
+#include <future>
+#include <thread>
+
+#include <cassert>
+
 namespace dart {
 namespace constraint {
 
+namespace {
+
+[[nodiscard]] BoxedLcpSolverPtr createBoxedLcpSolver(
+    const BoxedLcpSolverType type)
+{
+  switch (type) {
+    case BoxedLcpSolverType::Dantzig: {
+      return std::make_shared<DantzigBoxedLcpSolver>();
+    }
+    case BoxedLcpSolverType::Pgs: {
+      return std::make_shared<PgsBoxedLcpSolver>();
+    }
+    default: {
+      DART_WARN("Unknown BoxedLcpSolverType. Using Dantzig solver instead.");
+      return std::make_shared<DantzigBoxedLcpSolver>();
+    }
+  }
+}
+
+#if DART_BUILD_MODE_DEBUG
+bool isSymmetric(std::size_t n, double* A)
+{
+  std::size_t nSkip = dPAD(n);
+  for (std::size_t i = 0; i < n; ++i) {
+    for (std::size_t j = 0; j < n; ++j) {
+      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6) {
+        std::cout << "A: " << std::endl;
+        for (std::size_t k = 0; k < n; ++k) {
+          for (std::size_t l = 0; l < nSkip; ++l) {
+            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
+          }
+          std::cout << std::endl;
+        }
+
+        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j]
+                  << std::endl;
+        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i]
+                  << std::endl;
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+//==============================================================================
+bool isSymmetric(std::size_t n, double* A, std::size_t begin, std::size_t end)
+{
+  std::size_t nSkip = dPAD(n);
+  for (std::size_t i = begin; i <= end; ++i) {
+    for (std::size_t j = begin; j <= end; ++j) {
+      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6) {
+        std::cout << "A: " << std::endl;
+        for (std::size_t k = 0; k < n; ++k) {
+          for (std::size_t l = 0; l < nSkip; ++l) {
+            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
+          }
+          std::cout << std::endl;
+        }
+
+        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j]
+                  << std::endl;
+        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i]
+                  << std::endl;
+        return false;
+      }
+    }
+  }
+
+  return true;
+}
+
+//==============================================================================
+void print(
+    std::size_t n,
+    double* A,
+    double* x,
+    double* /*lo*/,
+    double* /*hi*/,
+    double* b,
+    double* w,
+    int* findex)
+{
+  std::size_t nSkip = dPAD(n);
+  std::cout << "A: " << std::endl;
+  for (std::size_t i = 0; i < n; ++i) {
+    for (std::size_t j = 0; j < nSkip; ++j) {
+      std::cout << std::setprecision(4) << A[i * nSkip + j] << " ";
+    }
+    std::cout << std::endl;
+  }
+
+  std::cout << "b: ";
+  for (std::size_t i = 0; i < n; ++i) {
+    std::cout << std::setprecision(4) << b[i] << " ";
+  }
+  std::cout << std::endl;
+
+  std::cout << "w: ";
+  for (std::size_t i = 0; i < n; ++i) {
+    std::cout << w[i] << " ";
+  }
+  std::cout << std::endl;
+
+  std::cout << "x: ";
+  for (std::size_t i = 0; i < n; ++i) {
+    std::cout << x[i] << " ";
+  }
+  std::cout << std::endl;
+
+  //  std::cout << "lb: ";
+  //  for (int i = 0; i < dim; ++i)
+  //  {
+  //    std::cout << lb[i] << " ";
+  //  }
+  //  std::cout << std::endl;
+
+  //  std::cout << "ub: ";
+  //  for (int i = 0; i < dim; ++i)
+  //  {
+  //    std::cout << ub[i] << " ";
+  //  }
+  //  std::cout << std::endl;
+
+  std::cout << "frictionIndex: ";
+  for (std::size_t i = 0; i < n; ++i) {
+    std::cout << findex[i] << " ";
+  }
+  std::cout << std::endl;
+
+  double* Ax = new double[n];
+
+  for (std::size_t i = 0; i < n; ++i) {
+    Ax[i] = 0.0;
+  }
+
+  for (std::size_t i = 0; i < n; ++i) {
+    for (std::size_t j = 0; j < n; ++j) {
+      Ax[i] += A[i * nSkip + j] * x[j];
+    }
+  }
+
+  std::cout << "Ax   : ";
+  for (std::size_t i = 0; i < n; ++i) {
+    std::cout << Ax[i] << " ";
+  }
+  std::cout << std::endl;
+
+  std::cout << "b + w: ";
+  for (std::size_t i = 0; i < n; ++i) {
+    std::cout << b[i] + w[i] << " ";
+  }
+  std::cout << std::endl;
+
+  delete[] Ax;
+}
+#endif
+
+} // namespace
+
 //==============================================================================
+DART_SUPPRESS_DEPRECATED_BEGIN
 BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
     double timeStep,
     BoxedLcpSolverPtr boxedLcpSolver,
     BoxedLcpSolverPtr secondaryBoxedLcpSolver)
   : BoxedLcpConstraintSolver(
-      std::move(boxedLcpSolver), std::move(secondaryBoxedLcpSolver))
+        std::move(boxedLcpSolver), std::move(secondaryBoxedLcpSolver))
 {
   setTimeStep(timeStep);
 }
+DART_SUPPRESS_DEPRECATED_END
 
 //==============================================================================
-BoxedLcpConstraintSolver::BoxedLcpConstraintSolver()
-  : BoxedLcpConstraintSolver(std::make_shared<DantzigBoxedLcpSolver>())
+BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(const Config& config)
+#if DART_HAVE_Taskflow
+  : ConstraintSolver(), mConfig(config), mExecutor(4)
+#else
+  : ConstraintSolver(), mConfig(config)
+#endif
 {
-  // Do nothing
+  // Empty
 }
 
 //==============================================================================
+DART_SUPPRESS_DEPRECATED_BEGIN
 BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
     BoxedLcpSolverPtr boxedLcpSolver)
   : BoxedLcpConstraintSolver(
-      std::move(boxedLcpSolver), std::make_shared<PgsBoxedLcpSolver>())
+        std::move(boxedLcpSolver), std::make_shared<PgsBoxedLcpSolver>())
 {
   // Do nothing
 }
+DART_SUPPRESS_DEPRECATED_END
 
 //==============================================================================
+DART_SUPPRESS_DEPRECATED_BEGIN
 BoxedLcpConstraintSolver::BoxedLcpConstraintSolver(
     BoxedLcpSolverPtr boxedLcpSolver, BoxedLcpSolverPtr secondaryBoxedLcpSolver)
+#if DART_HAVE_Taskflow
+  : ConstraintSolver(), mExecutor(4)
+#else
   : ConstraintSolver()
+#endif
 {
   if (boxedLcpSolver) {
     setBoxedLcpSolver(std::move(boxedLcpSolver));
   } else {
-    dtwarn << "[BoxedLcpConstraintSolver] Attempting to construct with nullptr "
-           << "LCP solver, which is not allowed. Using Dantzig solver "
-           << "instead.\n";
+    DART_WARN(
+        "[BoxedLcpConstraintSolver] Attempting to construct with nullptr LCP "
+        "solver, which is not allowed. Using Dantzig solver instead.");
     setBoxedLcpSolver(std::make_shared<DantzigBoxedLcpSolver>());
   }
 
   setSecondaryBoxedLcpSolver(std::move(secondaryBoxedLcpSolver));
 }
+DART_SUPPRESS_DEPRECATED_END
+
+//==============================================================================
+void BoxedLcpConstraintSolver::setPrimaryBoxedLcpSolverType(
+    BoxedLcpSolverType type)
+{
+  mConfig.primaryBoxedLcpSolver = type;
+}
+
+//==============================================================================
+BoxedLcpSolverType BoxedLcpConstraintSolver::getPrimaryBoxedLcpSolverType()
+    const
+{
+  return mConfig.primaryBoxedLcpSolver;
+}
+
+//==============================================================================
+void BoxedLcpConstraintSolver::setSecondaryBoxedLcpSolverType(
+    BoxedLcpSolverType type)
+{
+  mConfig.secondaryBoxedLcpSolver = type;
+}
+
+//==============================================================================
+BoxedLcpSolverType BoxedLcpConstraintSolver::getSecondaryBoxedLcpSolverType()
+    const
+{
+  return mConfig.secondaryBoxedLcpSolver;
+}
 
 //==============================================================================
 void BoxedLcpConstraintSolver::setBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver)
 {
   if (!lcpSolver) {
-    dtwarn << "[BoxedLcpConstraintSolver::setBoxedLcpSolver] "
-           << "nullptr for boxed LCP solver is not allowed.\n";
+    DART_WARN(
+        "[BoxedLcpConstraintSolver::setBoxedLcpSolver] nullptr for boxed LCP "
+        "solver is not allowed.");
     return;
   }
 
   if (lcpSolver == mSecondaryBoxedLcpSolver) {
-    dtwarn << "[BoxedLcpConstraintSolver::setBoxedLcpSolver] Attempting to set "
-           << "a primary LCP solver that is the same with the secondary LCP "
-           << "solver, which is discouraged. Ignoring this request.\n";
+    DART_WARN(
+        "[BoxedLcpConstraintSolver::setBoxedLcpSolver] Attempting to set a "
+        "primary LCP solver that is the same with the secondary LCP solver, "
+        "which is discouraged. Ignoring this request.");
   }
 
   mBoxedLcpSolver = std::move(lcpSolver);
@@ -122,10 +335,11 @@ void BoxedLcpConstraintSolver::setSecondaryBoxedLcpSolver(
     BoxedLcpSolverPtr lcpSolver)
 {
   if (lcpSolver == mBoxedLcpSolver) {
-    dtwarn << "[BoxedLcpConstraintSolver::setBoxedLcpSolver] Attempting to set "
-           << "the secondary LCP solver that is identical to the primary LCP "
-           << "solver, which is redundant. Please use different solvers or set "
-           << "the secondary LCP solver to nullptr.\n";
+    DART_WARN(
+        "[BoxedLcpConstraintSolver::setSecondaryBoxedLcpSolver] Attempting "
+        "to set the secondary LCP solver that is identical to the primary "
+        "LCP solver, which is redundant. Please use different solvers or "
+        "set the secondary LCP solver to nullptr.");
   }
 
   mSecondaryBoxedLcpSolver = std::move(lcpSolver);
@@ -139,54 +353,70 @@ ConstBoxedLcpSolverPtr BoxedLcpConstraintSolver::getSecondaryBoxedLcpSolver()
 }
 
 //==============================================================================
-void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
+void solveBoxedLcp(BoxedLcp& lcp, ConstrainedGroup& group)
 {
   DART_PROFILE_SCOPED;
+  (void)lcp;
+  (void)group;
 
   // Build LCP terms by aggregating them from constraints
   const std::size_t numConstraints = group.getNumConstraints();
   const std::size_t n = group.getTotalDimension();
 
   // If there is no constraint, then just return.
-  if (0u == n)
+  if (0u == n) {
     return;
+  }
+
+  auto& mA = lcp.A;
+  auto& mABackup = lcp.ABackup;
+  auto& mX = lcp.x;
+  auto& mXBackup = lcp.xBackup;
+  auto& mB = lcp.b;
+  auto& mBBackup = lcp.bBackup;
+  // auto& mW = lcp.w;
+  auto& mLo = lcp.lo;
+  auto& mLoBackup = lcp.loBackup;
+  auto& mHi = lcp.hi;
+  auto& mHiBackup = lcp.hiBackup;
+  auto& mFIndex = lcp.fIndex;
+  auto& mFIndexBackup = lcp.fIndexBackup;
+  auto& mOffset = lcp.offset;
+  auto& mBoxedLcpSolver = lcp.boxedLcpSolver;
+  auto& mSecondaryBoxedLcpSolver = lcp.secondaryBoxedLcpSolver;
 
   const int nSkip = dPAD(n);
-#if DART_BUILD_MODE_RELEASE
-  mA.resize(n, nSkip);
-#else // debug
-  mA.setZero(n, nSkip);
-#endif
-  mX.resize(n);
-  mB.resize(n);
-  mW.setZero(n); // set w to 0
-  mLo.resize(n);
-  mHi.resize(n);
-  mFIndex.setConstant(n, -1); // set findex to -1
+  lcp.A.resize(n, nSkip);
+  lcp.x.resize(n);
+  lcp.b.resize(n);
+  lcp.w.setZero(n);
+  lcp.lo.resize(n);
+  lcp.hi.resize(n);
+  lcp.fIndex.setConstant(n, -1);
 
   // Compute offset indices
-  mOffset.resize(numConstraints);
-  mOffset[0] = 0;
+  lcp.offset.resize(numConstraints);
+  lcp.offset[0] = 0;
   for (std::size_t i = 1; i < numConstraints; ++i) {
-    const ConstraintBasePtr& constraint = group.getConstraint(i - 1);
+    const auto constraint = group.getConstraint(i - 1);
     assert(constraint->getDimension() > 0);
-    mOffset[i] = mOffset[i - 1] + constraint->getDimension();
+    lcp.offset[i] = lcp.offset[i - 1] + constraint->getDimension();
   }
 
   // For each constraint
   {
     DART_PROFILE_SCOPED_N("Construct LCP");
     ConstraintInfo constInfo;
-    constInfo.invTimeStep = 1.0 / mTimeStep;
+    constInfo.invTimeStep = 1.0 / lcp.timeStep;
     for (std::size_t i = 0; i < numConstraints; ++i) {
-      const ConstraintBasePtr& constraint = group.getConstraint(i);
+      const auto constraint = group.getConstraint(i);
 
-      constInfo.x = mX.data() + mOffset[i];
-      constInfo.lo = mLo.data() + mOffset[i];
-      constInfo.hi = mHi.data() + mOffset[i];
-      constInfo.b = mB.data() + mOffset[i];
-      constInfo.findex = mFIndex.data() + mOffset[i];
-      constInfo.w = mW.data() + mOffset[i];
+      constInfo.x = lcp.x.data() + lcp.offset[i];
+      constInfo.lo = lcp.lo.data() + lcp.offset[i];
+      constInfo.hi = lcp.hi.data() + lcp.offset[i];
+      constInfo.b = lcp.b.data() + lcp.offset[i];
+      constInfo.findex = lcp.fIndex.data() + lcp.offset[i];
+      constInfo.w = lcp.w.data() + lcp.offset[i];
 
       // Fill vectors: lo, hi, b, w
       {
@@ -200,8 +430,9 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
         constraint->excite();
         for (std::size_t j = 0; j < constraint->getDimension(); ++j) {
           // Adjust findex for global index
-          if (mFIndex[mOffset[i] + j] >= 0)
-            mFIndex[mOffset[i] + j] += mOffset[i];
+          if (lcp.fIndex[lcp.offset[i] + j] >= 0) {
+            lcp.fIndex[lcp.offset[i] + j] += lcp.offset[i];
+          }
 
           // Apply impulse for impulse test
           {
@@ -212,10 +443,10 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
           // Fill upper triangle blocks of A matrix
           {
             DART_PROFILE_SCOPED_N("Fill upper triangle of A");
-            int index = nSkip * (mOffset[i] + j) + mOffset[i];
+            int index = nSkip * (lcp.offset[i] + j) + lcp.offset[i];
             constraint->getVelocityChange(mA.data() + index, true);
             for (std::size_t k = i + 1; k < numConstraints; ++k) {
-              index = nSkip * (mOffset[i] + j) + mOffset[k];
+              index = nSkip * (lcp.offset[i] + j) + lcp.offset[k];
               group.getConstraint(k)->getVelocityChange(
                   mA.data() + index, false);
             }
@@ -271,8 +502,9 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
 
   // Sanity check. LCP solvers should not report success with nan values, but
   // it could happen. So we set the success to false for nan values.
-  if (success && mX.hasNaN())
+  if (success && mX.hasNaN()) {
     success = false;
+  }
 
   if (!success && mSecondaryBoxedLcpSolver) {
     DART_PROFILE_SCOPED_N("Secondary LCP");
@@ -315,146 +547,47 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
 }
 
 //==============================================================================
-#if DART_BUILD_MODE_DEBUG
-bool BoxedLcpConstraintSolver::isSymmetric(std::size_t n, double* A)
+void BoxedLcpConstraintSolver::solveConstrainedGroups()
 {
-  std::size_t nSkip = dPAD(n);
-  for (std::size_t i = 0; i < n; ++i) {
-    for (std::size_t j = 0; j < n; ++j) {
-      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6) {
-        std::cout << "A: " << std::endl;
-        for (std::size_t k = 0; k < n; ++k) {
-          for (std::size_t l = 0; l < nSkip; ++l) {
-            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
-          }
-          std::cout << std::endl;
-        }
-
-        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j]
-                  << std::endl;
-        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i]
-                  << std::endl;
-        return false;
-      }
-    }
-  }
-
-  return true;
-}
+  DART_PROFILE_SCOPED;
 
-//==============================================================================
-bool BoxedLcpConstraintSolver::isSymmetric(
-    std::size_t n, double* A, std::size_t begin, std::size_t end)
-{
-  std::size_t nSkip = dPAD(n);
-  for (std::size_t i = begin; i <= end; ++i) {
-    for (std::size_t j = begin; j <= end; ++j) {
-      if (std::abs(A[nSkip * i + j] - A[nSkip * j + i]) > 1e-6) {
-        std::cout << "A: " << std::endl;
-        for (std::size_t k = 0; k < n; ++k) {
-          for (std::size_t l = 0; l < nSkip; ++l) {
-            std::cout << std::setprecision(4) << A[k * nSkip + l] << " ";
-          }
-          std::cout << std::endl;
-        }
+  const int numGroups = mConstrainedGroups.size();
 
-        std::cout << "A(" << i << ", " << j << "): " << A[nSkip * i + j]
-                  << std::endl;
-        std::cout << "A(" << j << ", " << i << "): " << A[nSkip * j + i]
-                  << std::endl;
-        return false;
+  // Prepare problems
+  {
+    DART_PROFILE_SCOPED_N("Prepare problems");
+    mProblems.resize(numGroups);
+    for (auto& prob : mProblems) {
+      if (!prob.boxedLcpSolver) {
+        prob.boxedLcpSolver
+            = createBoxedLcpSolver(mConfig.primaryBoxedLcpSolver);
       }
-    }
-  }
 
-  return true;
-}
-
-//==============================================================================
-void BoxedLcpConstraintSolver::print(
-    std::size_t n,
-    double* A,
-    double* x,
-    double* /*lo*/,
-    double* /*hi*/,
-    double* b,
-    double* w,
-    int* findex)
-{
-  std::size_t nSkip = dPAD(n);
-  std::cout << "A: " << std::endl;
-  for (std::size_t i = 0; i < n; ++i) {
-    for (std::size_t j = 0; j < nSkip; ++j) {
-      std::cout << std::setprecision(4) << A[i * nSkip + j] << " ";
-    }
-    std::cout << std::endl;
-  }
-
-  std::cout << "b: ";
-  for (std::size_t i = 0; i < n; ++i) {
-    std::cout << std::setprecision(4) << b[i] << " ";
-  }
-  std::cout << std::endl;
-
-  std::cout << "w: ";
-  for (std::size_t i = 0; i < n; ++i) {
-    std::cout << w[i] << " ";
-  }
-  std::cout << std::endl;
-
-  std::cout << "x: ";
-  for (std::size_t i = 0; i < n; ++i) {
-    std::cout << x[i] << " ";
-  }
-  std::cout << std::endl;
-
-  //  std::cout << "lb: ";
-  //  for (int i = 0; i < dim; ++i)
-  //  {
-  //    std::cout << lb[i] << " ";
-  //  }
-  //  std::cout << std::endl;
-
-  //  std::cout << "ub: ";
-  //  for (int i = 0; i < dim; ++i)
-  //  {
-  //    std::cout << ub[i] << " ";
-  //  }
-  //  std::cout << std::endl;
-
-  std::cout << "frictionIndex: ";
-  for (std::size_t i = 0; i < n; ++i) {
-    std::cout << findex[i] << " ";
-  }
-  std::cout << std::endl;
-
-  double* Ax = new double[n];
-
-  for (std::size_t i = 0; i < n; ++i) {
-    Ax[i] = 0.0;
-  }
+      if (!prob.secondaryBoxedLcpSolver) {
+        prob.secondaryBoxedLcpSolver
+            = createBoxedLcpSolver(mConfig.secondaryBoxedLcpSolver);
+      }
 
-  for (std::size_t i = 0; i < n; ++i) {
-    for (std::size_t j = 0; j < n; ++j) {
-      Ax[i] += A[i * nSkip + j] * x[j];
+      prob.timeStep = mTimeStep;
     }
   }
 
-  std::cout << "Ax   : ";
-  for (std::size_t i = 0; i < n; ++i) {
-    std::cout << Ax[i] << " ";
-  }
-  std::cout << std::endl;
-
-  std::cout << "b + w: ";
-  for (std::size_t i = 0; i < n; ++i) {
-    std::cout << b[i] + w[i] << " ";
+  // Solve problems
+  {
+    DART_PROFILE_SCOPED_N("Solve problems");
+#if DART_HAVE_Taskflow
+    tf::Taskflow mTaskflow;
+    mTaskflow.for_each_index(0, numGroups, 1, [&](int i) {
+      solveBoxedLcp(mProblems[i], mConstrainedGroups[i]);
+    });
+    mExecutor.run(mTaskflow).wait();
+#else
+    for (auto i = 0u; i < mProblems.size(); ++i) {
+      solveBoxedLcp(mProblems[i], mConstrainedGroups[i]);
+    };
+#endif
   }
-  std::cout << std::endl;
-
-  delete[] Ax;
 }
-#endif
 
 } // namespace constraint
 } // namespace dart
diff --git a/dart/constraint/BoxedLcpConstraintSolver.hpp b/dart/constraint/BoxedLcpConstraintSolver.hpp
index 7d9ff613c9134..65929da9672fa 100644
--- a/dart/constraint/BoxedLcpConstraintSolver.hpp
+++ b/dart/constraint/BoxedLcpConstraintSolver.hpp
@@ -36,12 +36,86 @@
 #include <dart/constraint/ConstraintSolver.hpp>
 #include <dart/constraint/SmartPointer.hpp>
 
+#if DART_HAVE_Taskflow
+  #include <taskflow/taskflow.hpp>
+#endif
+
 namespace dart {
 namespace constraint {
 
+struct BoxedLcp
+{
+  using RowMajorMatrixXd
+      = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+
+  /// Cache data for boxed LCP formulation
+  RowMajorMatrixXd A;
+
+  /// Cache data for boxed LCP formulation
+  RowMajorMatrixXd ABackup;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd x;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd xBackup;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd b;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd bBackup;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd w;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd lo;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd loBackup;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd hi;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXd hiBackup;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXi fIndex;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXi fIndexBackup;
+
+  /// Cache data for boxed LCP formulation
+  Eigen::VectorXi offset;
+
+  /// Boxed LCP solver
+  BoxedLcpSolverPtr boxedLcpSolver;
+
+  /// Boxed LCP solver to be used when the primary solver failed
+  BoxedLcpSolverPtr secondaryBoxedLcpSolver;
+
+  double timeStep{-1};
+};
+
+enum class BoxedLcpSolverType
+{
+  Dantzig, ///< The Dantzig solver
+  Pgs,     ///< The projected Gauss-Seidel solver
+};
+
+struct BoxedLcpConstraintSolverConfig
+{
+  BoxedLcpSolverType primaryBoxedLcpSolver = BoxedLcpSolverType::Dantzig;
+  BoxedLcpSolverType secondaryBoxedLcpSolver = BoxedLcpSolverType::Pgs;
+};
+
 class BoxedLcpConstraintSolver : public ConstraintSolver
 {
 public:
+  using Config = BoxedLcpConstraintSolverConfig;
+
   /// Constructor
   ///
   /// \param[in] timeStep Simulation time step
@@ -51,25 +125,22 @@ class BoxedLcpConstraintSolver : public ConstraintSolver
   /// nullptr is passed, PGS solver will be used. This is to make the default
   /// solver setting to be Dantzig + PGS. In order to disable use of secondary
   /// solver, call setSecondaryBoxedLcpSolver(nullptr) explicitly.
-  ///
-  /// \deprecated Deprecated in DART 6.8. Please use other constructors that
-  /// doesn't take timespte. Timestep should be set by the owner of this solver
-  /// such as dart::simulation::World when the solver added.
-  DART_DEPRECATED(6.8)
-  BoxedLcpConstraintSolver(
-      double timeStep,
-      BoxedLcpSolverPtr boxedLcpSolver = nullptr,
-      BoxedLcpSolverPtr secondaryBoxedLcpSolver = nullptr);
-
-  /// Constructs with default primary and secondary LCP solvers, which are
-  /// Dantzig and PGS, respectively.
-  BoxedLcpConstraintSolver();
+  [[deprecated(
+      "Since DART 6.14. Please use other constructor that takes config "
+      "struct instead.")]] BoxedLcpConstraintSolver(double timeStep, BoxedLcpSolverPtr boxedLcpSolver = nullptr, BoxedLcpSolverPtr secondaryBoxedLcpSolver = nullptr);
+
+  /// Constructs with specific primary and secondary LCP solvers, which are
+  /// specified by the config struct.
+  explicit BoxedLcpConstraintSolver(const Config& config = Config());
 
   /// Constructors with specific primary LCP solver.
   ///
   /// \param[in] boxedLcpSolver The primary boxed LCP solver. When nullptr is
   /// passed, which is discouraged, Dantzig solver will be used.
-  BoxedLcpConstraintSolver(BoxedLcpSolverPtr boxedLcpSolver);
+  [[deprecated(
+      "Since DART 6.14. Please use other constructor that takes config "
+      "struct instead.")]] BoxedLcpConstraintSolver(BoxedLcpSolverPtr
+                                                        boxedLcpSolver);
 
   /// Constructs with specific primary and secondary LCP solvers.
   ///
@@ -77,29 +148,54 @@ class BoxedLcpConstraintSolver : public ConstraintSolver
   /// passed, which is discouraged, Dantzig solver will be used.
   /// \param[in] secondaryBoxedLcpSolver The secondary boxed-LCP solver. Pass
   /// nullptr to disable using secondary LCP solver.
-  BoxedLcpConstraintSolver(
-      BoxedLcpSolverPtr boxedLcpSolver,
-      BoxedLcpSolverPtr secondaryBoxedLcpSolver);
+  [[deprecated(
+      "Since DART 6.14. Please use other constructor that takes config "
+      "struct instead.")]] BoxedLcpConstraintSolver(BoxedLcpSolverPtr boxedLcpSolver, BoxedLcpSolverPtr secondaryBoxedLcpSolver);
+
+  /// Sets the primary boxed LCP solver type
+  void setPrimaryBoxedLcpSolverType(BoxedLcpSolverType type);
+
+  /// Returns the primary boxed LCP solver type
+  [[nodiscard]] BoxedLcpSolverType getPrimaryBoxedLcpSolverType() const;
+
+  /// Sets the secondary boxed LCP solver type
+  void setSecondaryBoxedLcpSolverType(BoxedLcpSolverType type);
+
+  /// Returns the secondary boxed LCP solver type
+  [[nodiscard]] BoxedLcpSolverType getSecondaryBoxedLcpSolverType() const;
 
   /// Sets boxed LCP (BLCP) solver
   ///
   /// \param[in] lcpSolver The primary boxed LCP solver. When nullptr is
   /// passed, Dantzig solver will be used.
-  void setBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
+  [[deprecated(
+      "Since DART 6.14. Please use setPrimaryBoxedLcpSolverType() "
+      "instead.")]] void
+  setBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
 
   /// Returns boxed LCP (BLCP) solver
-  ConstBoxedLcpSolverPtr getBoxedLcpSolver() const;
+  [[deprecated(
+      "Since DART 6.14. Please use getPrimaryBoxedLcpSolverType() "
+      "instead.")]] ConstBoxedLcpSolverPtr
+  getBoxedLcpSolver() const;
 
   /// Sets boxed LCP (BLCP) solver that is used when the primary solver failed
-  void setSecondaryBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
+  [[deprecated(
+      "Since DART 6.14. Please use setSecondaryBoxedLcpSolverType() "
+      "instead.")]] void
+  setSecondaryBoxedLcpSolver(BoxedLcpSolverPtr lcpSolver);
 
   /// Returns boxed LCP (BLCP) solver that is used when the primary solver
   /// failed
-  ConstBoxedLcpSolverPtr getSecondaryBoxedLcpSolver() const;
+  [[deprecated(
+      "Since DART 6.14. Please use getSecondaryBoxedLcpSolverType() "
+      "instead.")]] ConstBoxedLcpSolverPtr
+  getSecondaryBoxedLcpSolver() const;
 
 protected:
-  // Documentation inherited.
-  void solveConstrainedGroup(ConstrainedGroup& group) override;
+  void solveConstrainedGroups() override;
+
+  Config mConfig;
 
   /// Boxed LCP solver
   BoxedLcpSolverPtr mBoxedLcpSolver;
@@ -154,25 +250,10 @@ class BoxedLcpConstraintSolver : public ConstraintSolver
   /// Cache data for boxed LCP formulation
   Eigen::VectorXi mOffset;
 
-#if DART_BUILD_MODE_DEBUG
-private:
-  /// Return true if the matrix is symmetric
-  bool isSymmetric(std::size_t n, double* A);
-
-  /// Return true if the diagonal block of matrix is symmetric
-  bool isSymmetric(
-      std::size_t n, double* A, std::size_t begin, std::size_t end);
-
-  /// Print debug information
-  void print(
-      std::size_t n,
-      double* A,
-      double* x,
-      double* lo,
-      double* hi,
-      double* b,
-      double* w,
-      int* findex);
+  std::vector<BoxedLcp> mProblems;
+
+#if DART_HAVE_Taskflow
+  tf::Executor mExecutor;
 #endif
 };
 
diff --git a/dart/constraint/ConstraintSolver.cpp b/dart/constraint/ConstraintSolver.cpp
index 7f3331c535412..c36c6b123d134 100644
--- a/dart/constraint/ConstraintSolver.cpp
+++ b/dart/constraint/ConstraintSolver.cpp
@@ -697,7 +697,9 @@ void ConstraintSolver::solveConstrainedGroups()
   DART_PROFILE_SCOPED;
 
   for (auto& constraintGroup : mConstrainedGroups) {
+    DART_SUPPRESS_DEPRECATED_BEGIN
     solveConstrainedGroup(constraintGroup);
+    DART_SUPPRESS_DEPRECATED_END
   }
 }
 
diff --git a/dart/constraint/ConstraintSolver.hpp b/dart/constraint/ConstraintSolver.hpp
index 4935eb5ffda98..d11ab755af6fc 100644
--- a/dart/constraint/ConstraintSolver.hpp
+++ b/dart/constraint/ConstraintSolver.hpp
@@ -235,8 +235,12 @@ class ConstraintSolver
   bool removeContactSurfaceHandler(const ContactSurfaceHandlerPtr& handler);
 
 protected:
-  // TODO(JS): Docstring
-  virtual void solveConstrainedGroup(ConstrainedGroup& group) = 0;
+  [[deprecated(
+      "Since DART 6.14. Use solveConstrainedGroups() instead.")]] virtual void
+  solveConstrainedGroup(ConstrainedGroup& group)
+  {
+    (void)group;
+  }
 
   /// Checks if the skeleton is contained in this solver
   ///
@@ -263,7 +267,7 @@ class ConstraintSolver
   void buildConstrainedGroups();
 
   /// Solve constrained groups
-  void solveConstrainedGroups();
+  virtual void solveConstrainedGroups();
 
   /// Return true if at least one of colliding body is soft body
   bool isSoftContact(const collision::Contact& contact) const;
diff --git a/docker/dev/v6.14/Dockerfile.ubuntu.noble b/docker/dev/v6.14/Dockerfile.ubuntu.noble
index 8882bfd8b3886..16b836134a958 100644
--- a/docker/dev/v6.14/Dockerfile.ubuntu.noble
+++ b/docker/dev/v6.14/Dockerfile.ubuntu.noble
@@ -33,7 +33,8 @@ RUN apt-get install -y --no-install-recommends \
     libassimp-dev \
     libeigen3-dev \
     libfcl-dev \
-    libfmt-dev
+    libfmt-dev \
+    libtaskflow-cpp-dev
 
 # ==============================================================================
 # DART optional dependencies
diff --git a/docker/dev/v6.14/Dockerfile.ubuntu.oracular b/docker/dev/v6.14/Dockerfile.ubuntu.oracular
index 4c47e6eabe778..a4fa6ba0cfd36 100644
--- a/docker/dev/v6.14/Dockerfile.ubuntu.oracular
+++ b/docker/dev/v6.14/Dockerfile.ubuntu.oracular
@@ -33,7 +33,8 @@ RUN apt-get install -y --no-install-recommends \
     libassimp-dev \
     libeigen3-dev \
     libfcl-dev \
-    libfmt-dev
+    libfmt-dev \
+    libtaskflow-cpp-dev
 
 # ==============================================================================
 # DART optional dependencies
diff --git a/pixi.lock b/pixi.lock
index 07e158cdf1010..b6c4d935970a5 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -71,22 +71,22 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-22_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libccd-double-2.1-h59595ed_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp14-14.0.6-default_h7634d5b_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.8.0-hca28451_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.8.0-hca28451_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.20-hd590300_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libdrm-2.4.121-h4ab18f5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libdrm-2.4.122-h4ab18f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20191231-he28a2e2_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.6.2-h59595ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.4.2-h7f98852_5.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libflac-1.4.3-h59595ed_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-13.2.0-h77fa898_13.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-14.1.0-h77fa898_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcrypt-1.11.0-h4ab18f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgettextpo-0.22.5-h59595ed_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgettextpo-devel-0.22.5-h59595ed_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-ng-13.2.0-h69a702a_13.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-13.2.0-h3d2ce59_13.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-ng-14.1.0-h69a702a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-14.1.0-hc5f4f2c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libglib-2.80.2-hf974151_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-13.2.0-h77fa898_13.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-14.1.0-h77fa898_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgpg-error-1.50-h4f305b6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.10.0-default_h5622ce7_1001.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.17-hd590300_2.conda
@@ -107,7 +107,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libspral-2024.05.08-h1b93dcb_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.46.0-hde9e2c9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.0-h0841786_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-13.2.0-hc0a3c3a_13.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-14.1.0-hc0a3c3a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsystemd0-255-h3516f8a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libtasn1-4.19.0-h166bdaf_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libtiff-4.6.0-h1dd3fc0_3.conda
@@ -161,6 +161,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.1.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.12.0-hd2e6256_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/svt-av1-1.4.1-hcb278e6_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/taskflow-3.7.0-h297d8ca_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-2021.12.0-h297d8ca_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-devel-2021.12.0-h7c56ddd_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-10.0.0-h59595ed_0.conda
@@ -259,7 +260,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libcblas-3.9.0-22_osx64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libccd-double-2.1-he965462_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libclang-cpp14-14.0.6-default_hdb78580_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/libcurl-8.8.0-hf9fcc65_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/libcurl-8.8.0-hf9fcc65_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libcxx-17.0.6-h88467a6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libdeflate-1.20-h49d49c5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/libedit-3.1.20191231-h0678c8f_2.tar.bz2
@@ -330,6 +331,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.1.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.12.0-h8dd852c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/svt-av1-1.4.1-hf0c8a7f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/taskflow-3.7.0-h3c5361c_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tbb-2021.12.0-h3c5361c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tbb-devel-2021.12.0-h7393e1e_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/tinyxml2-10.0.0-h73e2aa4_0.conda
@@ -412,7 +414,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcblas-3.9.0-22_osxarm64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libccd-double-2.1-h9a09cb3_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libclang-cpp14-14.0.6-default_h5dc8d65_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.8.0-h7b6f9a7_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcurl-8.8.0-h7b6f9a7_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libcxx-17.0.6-h5f092b4_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libdeflate-1.20-h93a5062_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libedit-3.1.20191231-hc8eb9b7_2.tar.bz2
@@ -485,6 +487,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.1.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.12.0-he64bfa9_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/svt-av1-1.4.1-h7ea286d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/taskflow-3.7.0-h420ef59_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-2021.12.0-h420ef59_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-devel-2021.12.0-h94f16c5_1.conda
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   timestamp: 1708789054033
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+  license: Zlib
+  size: 2155390
+  timestamp: 1712091452523
 - kind: conda
   name: sdl2
   version: 2.30.2
@@ -8200,6 +8258,71 @@ packages:
   license_family: BSD
   size: 2413709
   timestamp: 1670989070228
+- kind: conda
+  name: taskflow
+  version: 3.7.0
+  build: h297d8ca_3
+  build_number: 3
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/taskflow-3.7.0-h297d8ca_3.conda
+  sha256: 3185d5c6e814fbe31b976c6ddd887216d45def525a736a3e7363a867dd949de1
+  md5: f29aa7c0a6fecf29d6007fb95e9cfb73
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  license: MIT
+  license_family: MIT
+  size: 143507
+  timestamp: 1719423892822
+- kind: conda
+  name: taskflow
+  version: 3.7.0
+  build: h3c5361c_3
+  build_number: 3
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/taskflow-3.7.0-h3c5361c_3.conda
+  sha256: 14964f84850bd322e26d012668d927b177152f55c8415efe8b37cf84b00bf86a
+  md5: 06260a4932a1e97e0b778970710a171f
+  depends:
+  - __osx >=10.13
+  - libcxx >=16
+  license: MIT
+  license_family: MIT
+  size: 143941
+  timestamp: 1719424380833
+- kind: conda
+  name: taskflow
+  version: 3.7.0
+  build: h420ef59_3
+  build_number: 3
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/taskflow-3.7.0-h420ef59_3.conda
+  sha256: f1dbebcdce270f97d265e4d2121fa29f700c140f13a81561e96ac01cd123bc2a
+  md5: 52eee22e88bb01bff9d37e7216d1830a
+  depends:
+  - __osx >=11.0
+  - libcxx >=16
+  license: MIT
+  license_family: MIT
+  size: 143705
+  timestamp: 1719423441508
+- kind: conda
+  name: taskflow
+  version: 3.7.0
+  build: h7f575de_3
+  build_number: 3
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/taskflow-3.7.0-h7f575de_3.conda
+  sha256: 1ba003d66890313847be9e84a1feddfa49afc6c15d37eceabd502e36c5b91e95
+  md5: f7372cdceb105f3fce9722486a50dd9c
+  depends:
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: MIT
+  license_family: MIT
+  size: 143934
+  timestamp: 1719424168708
 - kind: conda
   name: tbb
   version: 2021.12.0
diff --git a/pixi.toml b/pixi.toml
index 5d4e2d43c5f39..4c60399dc3f17 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -26,6 +26,7 @@ console_bridge = ">=1.0.2,<1.1"
 eigen = ">=3.4.0,<3.5"
 fcl = ">=0.7.0,<0.8"
 fmt = ">=10.2.1,<10.3"
+imgui = ">=1.90.8,<1.91"
 ipopt = ">=3.14.14,<3.15"
 libode = ">=0.16.2,<0.17"
 nlopt = ">=2.7.1,<2.8"
@@ -35,6 +36,7 @@ openscenegraph = ">=3.6.5,<3.7"
 pagmo = ">=2.19.0,<2.20"
 pagmo-devel = ">=2.19.0,<2.20"
 spdlog = ">=1.12.0,<1.13"
+taskflow = ">=3.7.0,<3.8"
 tinyxml2 = ">=10.0.0,<10.1"
 urdfdom = ">=4.0.0,<4.1"
 
@@ -84,13 +86,16 @@ test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
     "configure",
 ] }
 
-example-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
+ex-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
     "configure",
 ] }
-example-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
+ex-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
     "configure",
 ] }
-example-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
+ex-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
+    "configure",
+] }
+ex-boxes = { cmd = "cmake --build build --target boxes --parallel && ./build/bin/boxes", depends_on = [
     "configure",
 ] }
 
@@ -116,7 +121,6 @@ clang-format-14 = ">=14.0.6,<14.1"
 
 [target.linux-64.dependencies]
 freeglut = ">=3.2.2,<3.3"
-imgui = ">=1.90.4,<1.91"
 
 [target.linux-64.tasks]
 tracy = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw --net=host tracy-profiler" }
@@ -129,7 +133,6 @@ tracy = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.
 clang-format-14 = ">=14.0.6,<14.1"
 
 [target.osx-64.dependencies]
-imgui = ">=1.90.4,<1.91"
 
 [target.osx-64.tasks]
 
@@ -141,7 +144,6 @@ imgui = ">=1.90.4,<1.91"
 clang-format-14 = ">=14.0.6,<14.1"
 
 [target.osx-arm64.dependencies]
-imgui = ">=1.90.4,<1.91"
 
 [target.osx-arm64.tasks]
 
@@ -153,7 +155,7 @@ imgui = ">=1.90.4,<1.91"
 freeglut = ">=3.2.2,<3.3"
 
 [target.win-64.tasks]
-configure = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=OFF" }
+configure = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=ON" }
 lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
     "configure",
 ] }
diff --git a/tests/benchmark/integration/bm_boxes.cpp b/tests/benchmark/integration/bm_boxes.cpp
index ca61f00147636..17cfde427add0 100644
--- a/tests/benchmark/integration/bm_boxes.cpp
+++ b/tests/benchmark/integration/bm_boxes.cpp
@@ -135,4 +135,4 @@ static void BM_RunBoxes(benchmark::State& state)
   }
 }
 
-BENCHMARK(BM_RunBoxes)->Arg(2)->Arg(5)->Unit(benchmark::kMillisecond);
+BENCHMARK(BM_RunBoxes)->Arg(2)->Arg(4)->Arg(8)->Unit(benchmark::kMillisecond);