diff --git a/pixi.lock b/pixi.lock
index a3eddd1bb0fa2..89472855dc1ed 100644
--- a/pixi.lock
+++ b/pixi.lock
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 - kind: conda
   name: libcap
   version: '2.69'
@@ -6944,6 +7330,82 @@ packages:
   license: GPL-3.0-or-later OR LGPL-3.0-or-later
   size: 4060160
   timestamp: 1713853428915
+- kind: conda
+  name: pagmo-devel
+  version: 2.19.0
+  build: h24fcb66_9
+  build_number: 9
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/pagmo-devel-2.19.0-h24fcb66_9.conda
+  sha256: 07f10e0d778e962833f9cb19c5609f83958a3727f38ee8d008145a16b31a4918
+  md5: fe7f518de58041cd21cb77cfacee3a91
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+  - ipopt >=3.14.16,<3.14.17.0a0
+  - nlopt >=2.7.1,<2.8.0a0
+  - pagmo 2.19.0 hac87e97_9
+  - tbb >=2021.12.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 308756
+  timestamp: 1713853511936
+- kind: conda
+  name: pagmo-devel
+  version: 2.19.0
+  build: h3ed7ff5_9
+  build_number: 9
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/pagmo-devel-2.19.0-h3ed7ff5_9.conda
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+  - nlopt >=2.7.1,<2.8.0a0
+  - pagmo 2.19.0 ha6598ea_9
+  - tbb >=2021.12.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 119423
+  timestamp: 1713853323464
+- kind: conda
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+  build: h86917f8_9
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+  - tbb >=2021.12.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 119409
+  timestamp: 1713853566419
+- kind: conda
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+  build: h9b4894b_9
+  build_number: 9
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/pagmo-devel-2.19.0-h9b4894b_9.conda
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+  - nlopt >=2.7.1,<2.8.0a0
+  - pagmo 2.19.0 h53026fa_9
+  - tbb >=2021.11.0
+  - tbb-devel
+  license: GPL-3.0-or-later OR LGPL-3.0-or-later
+  size: 119161
+  timestamp: 1713852426923
 - kind: conda
   name: pathspec
   version: 0.12.1
@@ -7805,6 +8267,67 @@ packages:
   license_family: APACHE
   size: 161771
   timestamp: 1716031112705
+- kind: conda
+  name: tbb-devel
+  version: 2021.12.0
+  build: h7393e1e_1
+  build_number: 1
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/tbb-devel-2021.12.0-h7393e1e_1.conda
+  sha256: 670bfacee9193661c17b8d46045d3d42ba56c961d83859b16d8fc7f7cd4bec30
+  md5: a644e49902aa960bf4bf99875cf39775
+  depends:
+  - __osx >=10.13
+  - libcxx >=16
+  - tbb 2021.12.0 h3c5361c_1
+  size: 1058748
+  timestamp: 1716030884841
+- kind: conda
+  name: tbb-devel
+  version: 2021.12.0
+  build: h7c56ddd_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/tbb-devel-2021.12.0-h7c56ddd_1.conda
+  sha256: a4f4eee733239846dbf37f35777de53840f5721c5bd18f6326288d05daa104c8
+  md5: f896f49efc2e33ab5d4d3690bb4f32ef
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - tbb 2021.12.0 h297d8ca_1
+  size: 1057309
+  timestamp: 1716030849894
+- kind: conda
+  name: tbb-devel
+  version: 2021.12.0
+  build: h94f16c5_1
+  build_number: 1
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/tbb-devel-2021.12.0-h94f16c5_1.conda
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+  md5: 36632e54f2864b82bf76b4d017f0c0ee
+  depends:
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+  - libcxx >=16
+  - tbb 2021.12.0 h420ef59_1
+  size: 1057118
+  timestamp: 1716030942305
+- kind: conda
+  name: tbb-devel
+  version: 2021.12.0
+  build: hb551fcf_1
+  build_number: 1
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/tbb-devel-2021.12.0-hb551fcf_1.conda
+  sha256: 0dac2867318c12575eb73e65aa9babd2fff1ec37068d0cc5d3fa942873af75bc
+  md5: ce48530b0800c691735f1b96c36cb842
+  depends:
+  - tbb 2021.12.0 hc790b64_1
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  size: 1066598
+  timestamp: 1716031184519
 - kind: conda
   name: tinyxml2
   version: 10.0.0
diff --git a/pixi.toml b/pixi.toml
index 1d0fbf33f1ba5..d42776f5620af 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -20,6 +20,7 @@ pipx = ">=1.4.3,<1.5"
 
 [dependencies]
 assimp = ">=5.3.1,<5.4"
+boost = ">=1.84.0,<1.85"
 bullet-cpp = ">=3.25,<4"
 console_bridge = ">=1.0.2,<1.1"
 eigen = ">=3.4.0,<3.5"
@@ -34,6 +35,7 @@ urdfdom = ">=4.0.0,<4.1"
 ipopt = ">=3.14.14,<3.15"
 nlopt = ">=2.7.1,<2.8"
 pagmo = ">=2.19.0,<2.20"
+pagmo-devel = ">=2.19.0,<2.20"
 numpy = ">=1.26.4,<1.27"
 
 [tasks]