diff --git a/dart/gui/osg/ImGuiHandler.cpp b/dart/gui/osg/ImGuiHandler.cpp
index 2d6e247302b56..39b1005144b31 100644
--- a/dart/gui/osg/ImGuiHandler.cpp
+++ b/dart/gui/osg/ImGuiHandler.cpp
@@ -51,15 +51,17 @@ namespace dart {
 namespace gui {
 namespace osg {
 
-//==============================================================================
+#if IMGUI_VERSION_NUM < 19150
+
 // Special keys that are usually greater than 512 in osgGA
 //
-// Imporant Note: Dear ImGui expects the control Keys indices not to be greater
+// Important Note: Dear ImGui expects the control Keys indices not to be greater
 // thant 511. It actually uses an array of 512 elements. However, OSG has
 // indices greater than that. So here I do a conversion for special keys between
 // ImGui and OSG.
 enum ConvertedKey : int
 {
+  ConvertedKey_None = -1,
   ConvertedKey_Tab = 257,
   ConvertedKey_Left,
   ConvertedKey_Right,
@@ -83,14 +85,74 @@ enum ConvertedKey : int
   ConvertedKey_RightSuper,
 };
 
+#endif
+
 //==============================================================================
 // Check for a special key and return the converted code (range [257, 511]) if
 // so. Otherwise returns -1
-int convertFromOSGKey(int key)
+#if IMGUI_VERSION_NUM >= 19150
+ImGuiKey convertFromOSGKey(int key)
+#else
+ConvertedKey convertFromOSGKey(int key)
+#endif
 {
   using KeySymbol = osgGA::GUIEventAdapter::KeySymbol;
 
   switch (key) {
+#if IMGUI_VERSION_NUM >= 19150
+    case KeySymbol::KEY_Tab:
+      return ImGuiKey_Tab;
+    case KeySymbol::KEY_Left:
+      return ImGuiKey_LeftArrow;
+    case KeySymbol::KEY_Right:
+      return ImGuiKey_RightArrow;
+    case KeySymbol::KEY_Up:
+      return ImGuiKey_UpArrow;
+    case KeySymbol::KEY_Down:
+      return ImGuiKey_DownArrow;
+    case KeySymbol::KEY_Page_Up:
+      return ImGuiKey_PageUp;
+    case KeySymbol::KEY_Page_Down:
+      return ImGuiKey_PageDown;
+    case KeySymbol::KEY_Home:
+      return ImGuiKey_Home;
+    case KeySymbol::KEY_End:
+      return ImGuiKey_End;
+    case KeySymbol::KEY_Delete:
+      return ImGuiKey_Delete;
+    case KeySymbol::KEY_BackSpace:
+      return ImGuiKey_Backspace;
+    case KeySymbol::KEY_Return:
+      return ImGuiKey_Enter;
+    case KeySymbol::KEY_Escape:
+      return ImGuiKey_Escape;
+    case KeySymbol::KEY_Control_L:
+    case KeySymbol::KEY_Control_R:
+      return ImGuiKey_ModCtrl;
+    case KeySymbol::KEY_Shift_L:
+    case KeySymbol::KEY_Shift_R:
+      return ImGuiKey_ModShift;
+    case KeySymbol::KEY_Alt_L:
+    case KeySymbol::KEY_Alt_R:
+      return ImGuiKey_ModAlt;
+    case KeySymbol::KEY_Super_L:
+    case KeySymbol::KEY_Super_R:
+      return ImGuiKey_ModSuper;
+    case KeySymbol::KEY_A:
+      return ImGuiKey_A;
+    case KeySymbol::KEY_C:
+      return ImGuiKey_C;
+    case KeySymbol::KEY_V:
+      return ImGuiKey_V;
+    case KeySymbol::KEY_X:
+      return ImGuiKey_X;
+    case KeySymbol::KEY_Y:
+      return ImGuiKey_Y;
+    case KeySymbol::KEY_Z:
+      return ImGuiKey_Z;
+    default:
+      return ImGuiKey_None;
+#else
     case KeySymbol::KEY_Tab:
       return ConvertedKey_Tab;
     case KeySymbol::KEY_Left:
@@ -134,7 +196,8 @@ int convertFromOSGKey(int key)
     case KeySymbol::KEY_Super_R:
       return ConvertedKey_RightSuper;
     default:
-      return -1;
+      return ConvertedKey_None;
+#endif
   }
 }
 
@@ -182,6 +245,7 @@ ImGuiHandler::ImGuiHandler()
 
   ImGui_ImplOpenGL2_Init();
 
+#if IMGUI_VERSION_NUM < 19150
   // Keyboard mapping. ImGui will use those indices to peek into the
   // io.KeyDown[] array.
   ImGuiIO& io = ImGui::GetIO();
@@ -204,6 +268,7 @@ ImGuiHandler::ImGuiHandler()
   io.KeyMap[ImGuiKey_X] = osgGA::GUIEventAdapter::KeySymbol::KEY_X;
   io.KeyMap[ImGuiKey_Y] = osgGA::GUIEventAdapter::KeySymbol::KEY_Y;
   io.KeyMap[ImGuiKey_Z] = osgGA::GUIEventAdapter::KeySymbol::KEY_Z;
+#endif
 }
 
 //==============================================================================
@@ -272,22 +337,31 @@ bool ImGuiHandler::handle(
     ::osg::Object* /*object*/,
     ::osg::NodeVisitor* /*nodeVisitor*/)
 {
-  auto& io = ImGui::GetIO();
-  const auto wantCapureMouse = io.WantCaptureMouse;
-  const auto wantCapureKeyboard = io.WantCaptureKeyboard;
+  ImGuiIO& io = ImGui::GetIO();
+  const bool wantCaptureMouse = io.WantCaptureMouse;
+  const bool wantCaptureKeyboard = io.WantCaptureKeyboard;
 
   switch (eventAdapter.getEventType()) {
     case osgGA::GUIEventAdapter::KEYDOWN: {
-      const auto c = eventAdapter.getUnmodifiedKey();
-      const auto special_key = convertFromOSGKey(c);
-
-      if (special_key > 0) {
-        assert(special_key < 512 && "ImGui KeysDown is an array of 512");
+      const int key = eventAdapter.getUnmodifiedKey();
+
+#if IMGUI_VERSION_NUM >= 19150
+      const ImGuiKey specialKey = convertFromOSGKey(key);
+      if (specialKey != ImGuiKey_None) {
+        io.AddKeyEvent(specialKey, true);
+      } else if (key != 0 && key < 0x10000) {
+        const ImWchar c = static_cast<ImWchar>(eventAdapter.getKey());
+        io.AddInputCharacter(c);
+      }
+#else
+      const ConvertedKey specialKey = convertFromOSGKey(key);
+      if (specialKey != ConvertedKey_None) {
+        assert(specialKey < 512 && "ImGui KeysDown is an array of 512");
         assert(
-            special_key > 256
+            specialKey > 256
             && "ASCII stop at 127, but we use the range [257, 511]");
 
-        io.KeysDown[special_key] = true;
+        io.KeysDown[specialKey] = true;
 
         io.KeyCtrl = io.KeysDown[ConvertedKey_LeftControl]
                      || io.KeysDown[ConvertedKey_RightControl];
@@ -297,24 +371,31 @@ bool ImGuiHandler::handle(
                     || io.KeysDown[ConvertedKey_RightAlt];
         io.KeySuper = io.KeysDown[ConvertedKey_LeftSuper]
                       || io.KeysDown[ConvertedKey_RightSuper];
-      } else if (0 < c && c < 0x10000) {
-        io.KeysDown[c] = true;
-        io.AddInputCharacter(static_cast<ImWchar>(c));
+      } else if (0 < key && key < 0x10000) {
+        io.KeysDown[key] = true;
+        io.AddInputCharacter(static_cast<ImWchar>(key));
       }
+#endif
 
-      return wantCapureKeyboard;
+      return wantCaptureKeyboard;
     }
     case osgGA::GUIEventAdapter::KEYUP: {
-      const auto c = eventAdapter.getUnmodifiedKey();
-      const auto special_key = convertFromOSGKey(c);
+      const int key = eventAdapter.getUnmodifiedKey();
 
-      if (special_key > 0) {
-        assert(special_key < 512 && "ImGui KeysDown is an array of 512");
+#if IMGUI_VERSION_NUM >= 19150
+      const ImGuiKey specialKey = convertFromOSGKey(key);
+      if (specialKey != ImGuiKey_None) {
+        io.AddKeyEvent(specialKey, false);
+      }
+#else
+      const ConvertedKey specialKey = convertFromOSGKey(key);
+      if (specialKey != ConvertedKey_None) {
+        assert(specialKey < 512 && "ImGui KeysDown is an array of 512");
         assert(
-            special_key > 256
+            specialKey > 256
             && "ASCII stop at 127, but we use the range [257, 511]");
 
-        io.KeysDown[special_key] = false;
+        io.KeysDown[specialKey] = false;
 
         io.KeyCtrl = io.KeysDown[ConvertedKey_LeftControl]
                      || io.KeysDown[ConvertedKey_RightControl];
@@ -324,12 +405,13 @@ bool ImGuiHandler::handle(
                     || io.KeysDown[ConvertedKey_RightAlt];
         io.KeySuper = io.KeysDown[ConvertedKey_LeftSuper]
                       || io.KeysDown[ConvertedKey_RightSuper];
-      } else if (0 < c && c < 0x10000) {
-        io.KeysDown[c] = false;
-        io.AddInputCharacter(static_cast<ImWchar>(c));
+      } else if (0 < key && key < 0x10000) {
+        io.KeysDown[key] = false;
+        io.AddInputCharacter(static_cast<ImWchar>(key));
       }
+#endif
 
-      return wantCapureKeyboard;
+      return wantCaptureKeyboard;
     }
     case osgGA::GUIEventAdapter::PUSH: {
       io.MousePos
@@ -351,14 +433,14 @@ bool ImGuiHandler::handle(
         mMousePressed[0] = true;
       }
 
-      return wantCapureMouse;
+      return wantCaptureMouse;
     }
     case osgGA::GUIEventAdapter::DRAG:
     case osgGA::GUIEventAdapter::MOVE: {
       io.MousePos
           = ImVec2(eventAdapter.getX(), io.DisplaySize.y - eventAdapter.getY());
 
-      return wantCapureMouse;
+      return wantCaptureMouse;
     }
     case osgGA::GUIEventAdapter::RELEASE: {
       // When a mouse button is released no button mask is set. So we mark all
@@ -367,7 +449,7 @@ bool ImGuiHandler::handle(
       mMousePressed[1] = false;
       mMousePressed[2] = false;
 
-      return wantCapureMouse;
+      return wantCaptureMouse;
     }
     case osgGA::GUIEventAdapter::SCROLL: {
       constexpr float increment = 0.1f;
@@ -390,7 +472,7 @@ bool ImGuiHandler::handle(
           break;
       }
 
-      return wantCapureMouse;
+      return wantCaptureMouse;
     }
     default: {
       return false;
diff --git a/pixi.lock b/pixi.lock
index 20305b574955c..1ee38d06924a7 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -11,10 +11,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.10.0-py312h7900ff3_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-h25a0e75_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.10.0-py313h78bf25f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-ha87cce1_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.2-heb4867d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.3-heb4867d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-14-14.0.6-default_h7634d5b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.1.7-unix_pyh707e725_0.conda
@@ -27,7 +27,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_0.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/fcl-0.7.0-ha5cdbd8_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fcl-0.7.0-h543440a_6.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/flann-1.9.2-h3ef53d8_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.0.2-h434a139_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
@@ -84,9 +84,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.0.0-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-25_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm14-14.0.6-hcd5def8_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libmpdec-4.0.0-h4bc722e_0.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
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libode-0.16.2-h30efb56_14.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libode-0.16.5-h7469f36_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libogg-1.3.5-h4ab18f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.28-openmp_hd680484_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopus-1.3.1-h7f98852_1.tar.bz2
@@ -105,7 +105,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libvorbis-1.3.7-h9c3ff4c_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libwebp-base-1.4.0-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcb-1.17.0-h8a09558_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcrypt-4.4.36-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxkbcommon-1.7.0-h2c5496b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-2.13.4-hb346dea_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.1-hb9d3cd8_2.conda
@@ -118,8 +117,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-he02047a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.12.1-h297d8ca_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/nlopt-2.8.0-py312h69683c5_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-1.26.4-py312heda63a1_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/nlopt-2.8.0-py313h129aefb_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-2.1.3-py313h4bf6692_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/octomap-1.10.0-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openscenegraph-3.6.5-h6fe4003_20.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.3.2-hb9d3cd8_0.conda
@@ -128,7 +127,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pathspec-0.12.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pcre-8.45-h9c3ff4c_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pcre2-10.44-hba22ea6_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh8b19718_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pip-24.3.1-pyh145f28c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pipx-1.7.1-pyhd8ed1ab_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/platformdirs-4.3.6-pyhd8ed1ab_0.conda
@@ -136,13 +135,13 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pthread-stubs-0.4-hb9d3cd8_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pulseaudio-client-17.0-hb77b528_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.3.3-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.7-hc5c86c4_0_cpython.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.12-5_cp312.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.13.0-h9ebbce0_100_cp313.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.13-5_cp313.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.2-h8228510_1.conda
       - 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/sdl2-2.30.7-h3ed165c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-75.3.0-pyhd8ed1ab_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.14.1-hed91bc2_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.15.0-h10c9db5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-2022.0.0-hceb3a55_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-10.0.0-h59595ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
@@ -153,7 +152,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/urdfdom_headers-1.1.2-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/userpath-1.7.0-pyhd8ed1ab_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/wayland-1.23.1-h3e06ad9_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/wheel-0.45.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-0.4.1-hb711507_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-image-0.4.0-hb711507_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xcb-util-keysyms-0.4.1-hb711507_0.conda
@@ -179,10 +177,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ampl-mp-3.1.0-h2beb688_1006.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.5.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/assimp-5.4.3-hf9fe5ce_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py312hb401068_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h81f2e74_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/black-24.10.0-py313habf4b1d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/bullet-cpp-3.25-h38cdd20_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/bzip2-1.0.8-hfdf4475_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/c-ares-1.34.2-h32b1619_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/c-ares-1.34.3-hf13058a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ca-certificates-2024.8.30-h8857fd0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/clang-format-14-14.0.6-default_hdb78580_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.1.7-unix_pyh707e725_0.conda
@@ -194,7 +192,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/eigen-3.4.0-h1c7c39f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/expat-2.6.4-h240833e_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/fcl-0.7.0-h74a68c9_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/fcl-0.7.0-h088812d_6.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/flann-1.9.2-h66ee4ad_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/fmt-11.0.2-h3c5361c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
@@ -234,8 +232,9 @@ environments:
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-  - python_abi 3.12.* *_cp312
+  - python >=3.13,<3.14.0a0
+  - python >=3.13,<3.14.0a0 *_cp313
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   license: BSD-3-Clause
   license_family: BSD
-  size: 6990646
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-  - libstdcxx-ng >=12
-  - python >=3.12,<3.13.0a0
-  - python_abi 3.12.* *_cp312
+  - python >=3.13,<3.14.0a0
+  - python_abi 3.13.* *_cp313
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
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   license: BSD-3-Clause
   license_family: BSD
-  size: 7484186
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   name: octomap
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   name: pip
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-  build: pyh8b19718_0
+  build: pyh145f28c_0
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   noarch: python
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+  sha256: fc305cfe1ad0d51c61dd42a33cf27e03a075992fd0070c173d7cad86c1a48f13
+  md5: ca3afe2d7b893a8c8cdf489d30a2b1a3
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-  - python >=3.8,<3.13.0a0
-  - setuptools
-  - wheel
+  - python >=3.13.0a0
   license: MIT
   license_family: MIT
-  size: 1243168
-  timestamp: 1730203795600
+  size: 1241228
+  timestamp: 1730203795175
 - kind: conda
   name: pipx
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@@ -6554,64 +6578,67 @@ packages:
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   name: python
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-  build: h739c21a_0_cpython
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-  md5: e0d82e57ebb456077565e6d82cd4a323
+  version: 3.13.0
+  build: h0608dab_100_cp313
+  build_number: 100
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/python-3.13.0-h0608dab_100_cp313.conda
+  sha256: f4c8ca4c34cb2a508956cfc8c2130dc30f168a75ae8254da8c43b5dce10ed2ea
+  md5: 9603103619775a3f99fe4b58d278775e
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+  - __osx >=10.13
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   - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
+  - libmpdec >=4.0.0,<5.0a0
   - libsqlite >=3.46.1,<4.0a0
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - openssl >=3.3.2,<4.0a0
+  - python_abi 3.13.* *_cp313
   - readline >=8.2,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   - xz >=5.2.6,<6.0a0
-  constrains:
-  - python_abi 3.12.* *_cp312
   license: Python-2.0
-  size: 12975439
-  timestamp: 1728057819519
+  size: 13933848
+  timestamp: 1729169951268
 - kind: conda
   name: python
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-  url: https://conda.anaconda.org/conda-forge/osx-64/python-3.12.7-h8f8b54e_0_cpython.conda
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-  md5: 7f81191b1ca1113e694e90e15c27a12f
+  version: 3.13.0
+  build: h75c3a9f_100_cp313
+  build_number: 100
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/python-3.13.0-h75c3a9f_100_cp313.conda
+  sha256: be9464399b76ae1fef77853eed70267ef657a98a5f69f7df012b7c6a34792151
+  md5: 94ae22ea862d056ad1bc095443d02d73
   depends:
-  - __osx >=10.13
+  - __osx >=11.0
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   - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
+  - libmpdec >=4.0.0,<5.0a0
   - libsqlite >=3.46.1,<4.0a0
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - openssl >=3.3.2,<4.0a0
+  - python_abi 3.13.* *_cp313
   - readline >=8.2,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
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-  constrains:
-  - python_abi 3.12.* *_cp312
   license: Python-2.0
-  size: 13761315
-  timestamp: 1728058247482
+  size: 12804842
+  timestamp: 1729168680448
 - kind: conda
   name: python
-  version: 3.12.7
-  build: hc5c86c4_0_cpython
+  version: 3.13.0
+  build: h9ebbce0_100_cp313
+  build_number: 100
   subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.7-hc5c86c4_0_cpython.conda
-  sha256: 674be31ff152d9f0e0fe16959a45e3803a730fc4f54d87df6a9ac4e6a698c41d
-  md5: 0515111a9cdf69f83278f7c197db9807
+  url: https://conda.anaconda.org/conda-forge/linux-64/python-3.13.0-h9ebbce0_100_cp313.conda
+  sha256: 6ab5179679f0909db828d8316f3b8b379014a82404807310fe7df5a6cf303646
+  md5: 08e9aef080f33daeb192b2ddc7e4721f
   depends:
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@@ -6619,108 +6646,107 @@ packages:
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   - libffi >=3.4,<4.0a0
   - libgcc >=13
-  - libnsl >=2.0.1,<2.1.0a0
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   - libsqlite >=3.46.1,<4.0a0
   - libuuid >=2.38.1,<3.0a0
-  - libxcrypt >=4.4.36
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
   - openssl >=3.3.2,<4.0a0
+  - python_abi 3.13.* *_cp313
   - readline >=8.2,<9.0a0
   - tk >=8.6.13,<8.7.0a0
   - tzdata
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-  constrains:
-  - python_abi 3.12.* *_cp312
   license: Python-2.0
-  size: 31574780
-  timestamp: 1728059777603
+  size: 33112481
+  timestamp: 1728419573472
 - kind: conda
   name: python
-  version: 3.12.7
-  build: hce54a09_0_cpython
+  version: 3.13.0
+  build: hf5aa216_100_cp313
+  build_number: 100
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/python-3.12.7-hce54a09_0_cpython.conda
-  sha256: 2308cfa9ec563360d29ced7fd13a6b60b9a7b3cf8961a95c78c69f486211d018
-  md5: 21f1f7c6ccf6b747c5086d2422c230e1
+  url: https://conda.anaconda.org/conda-forge/win-64/python-3.13.0-hf5aa216_100_cp313.conda
+  sha256: 18f3f0bd514c9101d38d57835b2d027958f3ae4b3b65c22d187a857aa26b3a08
+  md5: 3c2f7ad3f598480fe2a09e4e33cb1a2a
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   - libexpat >=2.6.3,<3.0a0
   - libffi >=3.4,<4.0a0
+  - libmpdec >=4.0.0,<5.0a0
   - libsqlite >=3.46.1,<4.0a0
   - libzlib >=1.3.1,<2.0a0
   - openssl >=3.3.2,<4.0a0
+  - python_abi 3.13.* *_cp313
   - tk >=8.6.13,<8.7.0a0
   - tzdata
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
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   - xz >=5.2.6,<6.0a0
-  constrains:
-  - python_abi 3.12.* *_cp312
   license: Python-2.0
-  size: 15987537
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+  size: 16641177
+  timestamp: 1728417810202
 - kind: conda
   name: python_abi
-  version: '3.12'
-  build: 5_cp312
+  version: '3.13'
+  build: 5_cp313
   build_number: 5
   subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.12-5_cp312.conda
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-  md5: 0424ae29b104430108f5218a66db7260
+  url: https://conda.anaconda.org/conda-forge/linux-64/python_abi-3.13-5_cp313.conda
+  sha256: 438225b241c5f9bddae6f0178a97f5870a89ecf927dfca54753e689907331442
+  md5: 381bbd2a92c863f640a55b6ff3c35161
   constrains:
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+  - python 3.13.* *_cp313
   license: BSD-3-Clause
   license_family: BSD
-  size: 6238
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+  size: 6217
+  timestamp: 1723823393322
 - kind: conda
   name: python_abi
-  version: '3.12'
-  build: 5_cp312
+  version: '3.13'
+  build: 5_cp313
   build_number: 5
   subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.12-5_cp312.conda
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+  url: https://conda.anaconda.org/conda-forge/osx-64/python_abi-3.13-5_cp313.conda
+  sha256: 075ad768648e88b78d2a94099563b43d3082e7c35979f457164f26d1079b7b5c
+  md5: 927a2186f1f997ac018d67c4eece90a6
   constrains:
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+  - python 3.13.* *_cp313
   license: BSD-3-Clause
   license_family: BSD
-  size: 6312
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+  size: 6291
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 - kind: conda
   name: python_abi
-  version: '3.12'
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+  version: '3.13'
+  build: 5_cp313
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   subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/python_abi-3.12-5_cp312.conda
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-  md5: b76f9b1c862128e56ac7aa8cd2333de9
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/python_abi-3.13-5_cp313.conda
+  sha256: 4437198eae80310f40b23ae2f8a9e0a7e5c2b9ae411a8621eb03d87273666199
+  md5: b8e82d0a5c1664638f87f63cc5d241fb
   constrains:
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+  - python 3.13.* *_cp313
   license: BSD-3-Clause
   license_family: BSD
-  size: 6278
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+  size: 6322
+  timestamp: 1723823058879
 - kind: conda
   name: python_abi
-  version: '3.12'
-  build: 5_cp312
+  version: '3.13'
+  build: 5_cp313
   build_number: 5
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/python_abi-3.12-5_cp312.conda
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-  md5: e8681f534453af7afab4cd2bc1423eec
+  url: https://conda.anaconda.org/conda-forge/win-64/python_abi-3.13-5_cp313.conda
+  sha256: 0c12cc1b84962444002c699ed21e815fb9f686f950d734332a1b74d07db97756
+  md5: 44b4fe6f22b57103afb2299935c8b68e
   constrains:
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+  - python 3.13.* *_cp313
   license: BSD-3-Clause
   license_family: BSD
-  size: 6730
-  timestamp: 1723823139725
+  size: 6716
+  timestamp: 1723823166911
 - kind: conda
   name: readline
   version: '8.2'
@@ -6888,74 +6914,70 @@ packages:
   timestamp: 1730382173961
 - kind: conda
   name: spdlog
-  version: 1.14.1
-  build: h325aa07_1
-  build_number: 1
+  version: 1.15.0
+  build: h096ffd4_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.15.0-h096ffd4_0.conda
+  sha256: de653f827cca162c9eed6c78a6e33d07bf5849142e379d963a6b64f2f86cc962
+  md5: a487a4d98ad1b71c7d077e1aa3267874
+  depends:
+  - __osx >=11.0
+  - fmt >=11.0.2,<12.0a0
+  - libcxx >=18
+  license: MIT
+  license_family: MIT
+  size: 162704
+  timestamp: 1731185107680
+- kind: conda
+  name: spdlog
+  version: 1.15.0
+  build: h0ec5880_0
   subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.14.1-h325aa07_1.conda
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-  md5: 4aa13d84a5c71b5df6642761a6c35ce9
+  url: https://conda.anaconda.org/conda-forge/osx-64/spdlog-1.15.0-h0ec5880_0.conda
+  sha256: 6b6ac55b025b19cb79e302284b9636ac1598d8d52bcdef01d1dde1a7ec74f6bb
+  md5: 818b052de52ee7f86ea7a6bb5bb8fb34
   depends:
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-  - fmt >=11.0.1,<12.0a0
-  - libcxx >=16
+  - fmt >=11.0.2,<12.0a0
+  - libcxx >=18
   license: MIT
   license_family: MIT
-  size: 171455
-  timestamp: 1722238446029
+  size: 168907
+  timestamp: 1731184892850
 - kind: conda
   name: spdlog
-  version: 1.14.1
-  build: h6d8af72_1
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-  url: https://conda.anaconda.org/conda-forge/osx-arm64/spdlog-1.14.1-h6d8af72_1.conda
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-  md5: 4af518b01539da8e4af17aee5fb92639
+  version: 1.15.0
+  build: h10c9db5_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.15.0-h10c9db5_0.conda
+  sha256: 23a22cc59649a6e5376ff7e7f1e2ea823c5bc38f3d8508dab5435abfe6641c46
+  md5: 1187fdeda7f8e65817b3d00afe42907e
   depends:
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-  - fmt >=11.0.1,<12.0a0
-  - libcxx >=16
+  - __glibc >=2.17,<3.0.a0
+  - fmt >=11.0.2,<12.0a0
+  - libgcc >=13
+  - libstdcxx >=13
   license: MIT
   license_family: MIT
-  size: 164011
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+  size: 193568
+  timestamp: 1731184711946
 - kind: conda
   name: spdlog
-  version: 1.14.1
-  build: h9f2357e_1
-  build_number: 1
+  version: 1.15.0
+  build: h81cc0e1_0
   subdir: win-64
-  url: https://conda.anaconda.org/conda-forge/win-64/spdlog-1.14.1-h9f2357e_1.conda
-  sha256: 3ed3e9aaeb6255914472109a6d25d5119eb196c8d6cc2ec732cffe79ccc789bf
-  md5: b9bff07144f2be7ee32f0b83a79ef21d
+  url: https://conda.anaconda.org/conda-forge/win-64/spdlog-1.15.0-h81cc0e1_0.conda
+  sha256: c2298163c4957b17550e931ac91070852caccd5c74919df4f2d751bd9d030eb7
+  md5: f976e9b380c4035211dd1bf8743b2ecf
   depends:
-  - fmt >=11.0.1,<12.0a0
+  - fmt >=11.0.2,<12.0a0
   - ucrt >=10.0.20348.0
   - vc >=14.2,<15
   - vc14_runtime >=14.29.30139
   license: MIT
   license_family: MIT
-  size: 169120
-  timestamp: 1722238639391
-- kind: conda
-  name: spdlog
-  version: 1.14.1
-  build: hed91bc2_1
-  build_number: 1
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/spdlog-1.14.1-hed91bc2_1.conda
-  sha256: 0c604fe3f78ddb2b612841722bd9b5db24d0484e30ced89fac78c0a3f524dfd6
-  md5: 909188c8979846bac8e586908cf1ca6a
-  depends:
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-  - fmt >=11.0.1,<12.0a0
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  license: MIT
-  license_family: MIT
-  size: 195665
-  timestamp: 1722238295031
+  size: 167708
+  timestamp: 1731185043282
 - kind: conda
   name: tbb
   version: 2021.13.0
@@ -7446,20 +7468,6 @@ 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 879f7bf8357c1..67bf879e15c20 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -41,92 +41,99 @@ urdfdom = ">=4.0.0"
 [tasks]
 clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" }
 
-configure-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
+config-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
 install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_on = [
-    "configure_local",
+    "config_local",
     "build",
 ] }
 
-configure = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" }
+config = { cmd = """
+    cmake \
+        -G Ninja \
+        -S . \
+        -B build \
+        -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DDART_VERBOSE=ON \
+        -DDART_USE_SYSTEM_IMGUI=ON
+""" }
 
 lint-cpp = { cmd = "cmake --build build --target format", depends_on = [
-    "configure",
+    "config",
 ] }
 lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
-    "configure",
+    "config",
 ] }
 lint = { depends_on = ["lint-cpp", "lint-py"] }
 check-lint-cpp = { cmd = "cmake --build build --target check-format", depends_on = [
-    "configure",
+    "config",
 ] }
 check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
-    "configure",
+    "config",
 ] }
 check-lint = { depends_on = ["check-lint-cpp", "check-lint-py"] }
 
-build = { cmd = "cmake --build build -j --target all", depends_on = [
-    "configure",
-] }
+build = { cmd = "cmake --build build -j --target all", depends_on = ["config"] }
 build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
-    "configure",
+    "config",
 ] }
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
-    "configure",
+    "config",
 ] }
 
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
 test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
-    "configure",
+    "config",
 ] }
 test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
-    "configure",
+    "config",
 ] }
 
 ex-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
-    "configure",
+    "config",
 ] }
 ex-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
-    "configure",
+    "config",
 ] }
 ex-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
-    "configure",
+    "config",
 ] }
 
 bm-boxes = { cmd = "cmake --build build --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
-    "configure",
+    "config",
 ] }
 bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
-    "configure",
+    "config",
 ] }
 bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
-    "configure",
+    "config",
 ] }
 
 tu-biped = { cmd = "cmake --build build --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-biped-fi = { cmd = "cmake --build build --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-collisions = { cmd = "cmake --build build --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-collisions-fi = { cmd = "cmake --build build --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-dominoes = { cmd = "cmake --build build --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-dominoes-fi = { cmd = "cmake --build build --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-multi-pendulum = { cmd = "cmake --build build --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-multi-pendulum-fi = { cmd = "cmake --build build --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [
-    "configure",
+    "config",
 ] }
 
 install = { cmd = "cmake --build build --target install --parallel", depends_on = [
@@ -179,59 +186,69 @@ clang-format-14 = ">=14.0.6,<15"
 freeglut = ">=3.2.2"
 
 [target.win-64.tasks]
-configure = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=ON" }
+config = { cmd = """
+    cmake \
+        -S . \
+        -B build \
+        -G 'Visual Studio 17 2022' \
+        -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+        -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",
+    "config",
 ] }
 lint = { depends_on = ["lint-py"] }
 check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
-    "configure",
+    "config",
 ] }
 check-lint = { depends_on = ["check-lint-py"] }
 
 build = { cmd = "cmake --build build --config Release -j", depends_on = [
-    "configure",
+    "config",
 ] }
 build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [
-    "configure",
+    "config",
 ] }
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
-    "configure",
+    "config",
 ] }
 
 test = { cmd = "ctest --test-dir build --build-config Release --output-on-failure", depends_on = [
     "build-tests",
 ] }
 test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [
-    "configure",
+    "config",
 ] }
 test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [
-    "configure",
+    "config",
 ] }
 
 tu-biped = { cmd = "cmake --build build --config Release --target tutorial_biped --parallel && build/Release/tutorial_biped.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-biped-fi = { cmd = "cmake --build build --config Release --target tutorial_biped_finished --parallel && build/Release/tutorial_biped_finished.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-collisions = { cmd = "cmake --build build --config Release --target tutorial_collisions --parallel && build/Release/tutorial_collisions.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-collisions-fi = { cmd = "cmake --build build --config Release --target tutorial_collisions_finished --parallel && build/Release/tutorial_collisions_finished.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-dominoes = { cmd = "cmake --build build --config Release --target tutorial_dominoes --parallel && build/Release/tutorial_dominoes.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-dominoes-fi = { cmd = "cmake --build build --config Release --target tutorial_dominoes_finished --parallel && build/Release/tutorial_dominoes_finished.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-multi-pendulum = { cmd = "cmake --build build --config Release --target tutorial_multi_pendulum --parallel && build/Release/tutorial_multi_pendulum.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 tu-multi-pendulum-fi = { cmd = "cmake --build build --config Release --target tutorial_multi_pendulum_finished --parallel && build/Release/tutorial_multi_pendulum_finished.exe", depends_on = [
-    "configure",
+    "config",
 ] }
 
 install = { cmd = "cmake --build build --config Release -j --target install", depends_on = [