diff --git a/README.md b/README.md
index c48d9d5..4198887 100644
--- a/README.md
+++ b/README.md
@@ -72,14 +72,13 @@ source install/setup.bash
 
 #### Dependencies
 
-* [proxsuite-nlp](https://github.com/Simple-Robotics/proxsuite-nlp.git)
 * [proxsuite](https://github.com/Simple-Robotics/proxsuite.git)
 * [Eigen3](https://eigen.tuxfamily.org) >= 3.3.7
 * [Boost](https://www.boost.org) >= 1.71.0
 * OpenMP
 * [hpp-fcl](https://github.com/humanoid-path-planner/hpp-fcl)
 * [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | [conda](https://anaconda.org/conda-forge/pinocchio)
-* [Aligator](https://github.com/Simple-Robotics/aligator.git) devel branch
+* [Aligator](https://github.com/edantec/aligator) temporary_fix branch
 * [example-robot-data](https://github.com/Gepetto/example-robot-data)
 * [ndcurves](https://github.com/loco-3d/ndcurves)
 * (optional) [eigenpy](https://github.com/stack-of-tasks/eigenpy)>=3.9.0 (Python bindings)
diff --git a/dependencies.cmake b/dependencies.cmake
index 4c8603a..9a4b9e0 100644
--- a/dependencies.cmake
+++ b/dependencies.cmake
@@ -2,7 +2,7 @@ find_package(example-robot-data 4.0.9 REQUIRED)
 ADD_PROJECT_DEPENDENCY(OpenMP REQUIRED)
 ADD_PROJECT_DEPENDENCY(proxsuite REQUIRED)
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
-ADD_PROJECT_DEPENDENCY(aligator 0.13.0 REQUIRED)
+ADD_PROJECT_DEPENDENCY(aligator 0.15.0 REQUIRED)
 
 function(get_ndcurves)
   find_package(ndcurves QUIET)
diff --git a/devel-git-deps.yaml b/devel-git-deps.yaml
index 383ee5e..aff0256 100644
--- a/devel-git-deps.yaml
+++ b/devel-git-deps.yaml
@@ -2,7 +2,7 @@ repositories:
   aligator:
     type: git
     url: git@github.com:edantec/aligator.git
-    version: devel
+    version: temporary_fix
   eigenpy:
     type: git
     url: git@github.com:stack-of-tasks/eigenpy.git
@@ -23,7 +23,3 @@ repositories:
     type: git
     url: git@github.com:stack-of-tasks/pinocchio.git
     version: devel
-  proxsuite-nlp:
-    type: git
-    url: git@github.com:simple-robotics/proxsuite-nlp.git
-    version: main
diff --git a/include/simple-mpc/ocp-handler.hpp b/include/simple-mpc/ocp-handler.hpp
index 92bf9f0..03563d1 100644
--- a/include/simple-mpc/ocp-handler.hpp
+++ b/include/simple-mpc/ocp-handler.hpp
@@ -11,11 +11,12 @@
 #include "simple-mpc/robot-handler.hpp"
 
 #include <aligator/core/traj-opt-problem.hpp>
+#include <aligator/modelling/constraints/box-constraint.hpp>
+#include <aligator/modelling/constraints/equality-constraint.hpp>
+#include <aligator/modelling/constraints/negative-orthant.hpp>
 #include <aligator/modelling/costs/quad-state-cost.hpp>
 #include <aligator/modelling/costs/sum-of-costs.hpp>
 #include <aligator/modelling/function-xpr-slice.hpp>
-#include <proxsuite-nlp/modelling/constraints/box-constraint.hpp>
-#include <proxsuite-nlp/modelling/constraints/negative-orthant.hpp>
 
 namespace simple_mpc
 {
@@ -26,9 +27,9 @@ namespace simple_mpc
   using QuadraticStateCost = QuadraticStateCostTpl<double>;
   using QuadraticResidualCost = QuadraticResidualCostTpl<double>;
   using StateErrorResidual = StateErrorResidualTpl<double>;
-  using BoxConstraint = proxsuite::nlp::BoxConstraintTpl<double>;
-  using NegativeOrthant = proxsuite::nlp::NegativeOrthantTpl<double>;
-  using EqualityConstraint = proxsuite::nlp::EqualityConstraintTpl<double>;
+  using BoxConstraint = BoxConstraintTpl<double>;
+  using NegativeOrthant = NegativeOrthantTpl<double>;
+  using EqualityConstraint = EqualityConstraintTpl<double>;
   using FunctionSliceXpr = FunctionSliceXprTpl<double>;
 
 #define SIMPLE_MPC_DEFINE_DEFAULT_MOVE_CTORS(Type)                                                                     \
diff --git a/package.xml b/package.xml
index 4d847c6..2c4d061 100644
--- a/package.xml
+++ b/package.xml
@@ -13,7 +13,6 @@
   <build_depend>doxygen</build_depend>
   <depend>boost</depend>
   <depend>pinocchio</depend>
-  <depend>proxsuite-nlp</depend>
   <depend>proxsuite</depend>
   <depend>aligator</depend>
   <depend>std_msgs</depend>
diff --git a/pixi.lock b/pixi.lock
index e2de71a..b540198 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -8,25 +8,25 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/_x86_64-microarch-level-1-2_x86_64.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/aligator-0.13.0-py311h57c6026_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aligator-0.15.0-py311h57c6026_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-asl-1.0.0-h5888daf_2.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/benchmark-1.9.2-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.43-h4852527_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb9d3cd8_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb9d3cd8_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-1.34.5-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.9.0-h2b85faf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2025.4.26-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/casadi-3.7.0-py311hc7537bf_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/casadi-3.7.0-py311h0b04af2_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.11.3-h80c52d3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.5.0-h3f2d84a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.0.2-h74e3db0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.0.3-h74e3db0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-3.0.1-h38be061_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/coal-python-3.0.1-py311h48d4333_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
@@ -36,15 +36,14 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.9.0-h1a2810e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.27-h54b06d7_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.13.6-h5008d03_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-h3c4dab8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/docstring_parser-0.16-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/double-conversion-3.3.1-h5888daf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h00ab1b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigenpy-3.10.3-np20py311h2672b3f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/elfutils-0.192-h7f4e02f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/example-robot-data-4.3.0-pyh6b898a9_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.2.2-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.7.0-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.1.4-h07f6e7f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
@@ -53,19 +52,19 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.57.0-py311h2dc5d0c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.58.2-py311h2dc5d0c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.13.3-ha770c72_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-13.3.0-h9576a4e_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.3.0-h1e990d8_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-hc28eda2_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.3.0-h6f18a23_11.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gdbm-1.18-h0a1914f_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.8.9-h5746830_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.8.9-h86084c0_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.13-h59595ed_1003.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-13.3.0-h9576a4e_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.3.0-hae580e1_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.3.0-h6834431_10.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-11.1.0-h3beb420_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.3.0-hb14504d_11.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-11.2.1-h3beb420_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/hpp-fcl-3.0.1-pyhd3e5650_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.0.0-pyhd8ed1ab_1.conda
@@ -86,16 +85,16 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.86.0-ha770c72_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-1.86.0-py311h5b7b71f_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-devel-1.86.0-py311hbd00459_3.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hb9d3cd8_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hb9d3cd8_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hb9d3cd8_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hb9d3cd8_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hb9d3cd8_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-31_he106b2a_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp20.1-20.1.4-default_h1df26ce_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang13-20.1.4-default_he06ed0a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp20.1-20.1.6-default_h1df26ce_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang13-20.1.6-default_he06ed0a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcoal-3.0.1-ha55d5d9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcups-2.3.3-h4637d8d_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.13.0-h332b0f4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.23-h86f0d12_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.14.1-h332b0f4_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.24-h86f0d12_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libdrm-2.4.124-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20250104-pl5321h7949ede_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libegl-1.7.0-ha4b6fd6_2.conda
@@ -105,18 +104,18 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.4.6-h2dba641_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libfreetype-2.13.3-ha770c72_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libfreetype6-2.13.3-h48d6fc4_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-14.2.0-h767d61c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.1.0-h767d61c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-13.3.0-hc03c837_102.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-14.2.0-h69a702a_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-15.1.0-h69a702a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgettextpo-0.24.1-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-14.2.0-h69a702a_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-ng-14.2.0-h69a702a_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-14.2.0-hf1ad2bd_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-15.1.0-h69a702a_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-ng-15.1.0-h69a702a_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-15.1.0-hcea5267_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgl-1.7.0-ha4b6fd6_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libglib-2.84.1-h2ff4ddf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libglib-2.84.2-h3618099_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libglvnd-1.7.0-ha4b6fd6_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libglx-1.7.0-ha4b6fd6_2.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-14.2.0-h767d61c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.1.0-h767d61c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgz-cmake3-3.5.3-hac33072_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgz-math7-7.5.1-h5888daf_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgz-tools2-2.0.1-h17585e0_0.conda
@@ -127,93 +126,91 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libidn2-2.3.8-ha4ef2c3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.1.0-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-31_h7ac8fdf_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm20-20.1.4-he9d0ab4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm20-20.1.6-he9d0ab4_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.1-hb9d3cd8_2.conda
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   license_family: LGPL
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   - libcups >=2.3.3,<2.4.0a0
   - libdrm >=2.4.124,<2.5.0a0
   - libegl >=1.7.0,<2.0a0
+  - libfreetype >=2.13.3
+  - libfreetype6 >=2.13.3
   - libgcc >=13
   - libgl >=1.7.0,<2.0a0
-  - libglib >=2.84.1,<3.0a0
-  - libjpeg-turbo >=3.0.0,<4.0a0
-  - libllvm20 >=20.1.2,<20.2.0a0
+  - libglib >=2.84.2,<3.0a0
+  - libjpeg-turbo >=3.1.0,<4.0a0
+  - libllvm20 >=20.1.6,<20.2.0a0
   - libpng >=1.6.47,<1.7.0a0
-  - libpq >=17.4,<18.0a0
-  - libsqlite >=3.49.1,<4.0a0
+  - libpq >=17.5,<18.0a0
+  - libsqlite >=3.50.0,<4.0a0
   - libstdcxx >=13
   - libtiff >=4.7.0,<4.8.0a0
   - libwebp-base >=1.5.0,<2.0a0
   - libxcb >=1.17.0,<2.0a0
-  - libxkbcommon >=1.8.1,<2.0a0
-  - libxml2 >=2.13.7,<2.14.0a0
+  - libxkbcommon >=1.10.0,<2.0a0
+  - libxml2 >=2.13.8,<2.14.0a0
   - libzlib >=1.3.1,<2.0a0
-  - mysql-libs >=9.2.0,<9.3.0a0
   - openssl >=3.5.0,<4.0a0
-  - pcre2 >=10.44,<10.45.0a0
+  - pcre2 >=10.45,<10.46.0a0
   - wayland >=1.23.1,<2.0a0
   - xcb-util >=0.4.1,<0.5.0a0
   - xcb-util-cursor >=0.1.5,<0.2.0a0
@@ -5728,11 +5660,11 @@ packages:
   - xorg-libxxf86vm >=1.1.6,<2.0a0
   - zstd >=1.5.7,<1.6.0a0
   constrains:
-  - qt 6.9.0
+  - qt 6.9.1
   license: LGPL-3.0-only
   license_family: LGPL
-  size: 51522155
-  timestamp: 1744201848686
+  size: 51972981
+  timestamp: 1748902080649
 - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.2-h8c095d6_2.conda
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.5-hb9d3cd8_0.conda
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   - libgcc >=13
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-  md5: 6b218126ad00e168cc94d6fe96fe77b9
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/ruby-3.4.4-he7af4c9_0.conda
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   - gdbm >=1.18,<1.19.0a0
   - gmp >=6.3.0,<7.0a0
-  - libffi >=3.4,<4.0a0
+  - libffi >=3.4.6,<3.5.0a0
   - libgcc >=13
   - libxcrypt >=4.4.36
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
-  - openssl >=3.4.1,<4.0a0
+  - openssl >=3.5.0,<4.0a0
   - readline >=8.2,<9.0a0
   - yaml >=0.2.5,<0.3.0a0
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@@ -5792,22 +5724,22 @@ packages:
   - rb34
   license: BSD-2-Clause
   license_family: BSD
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/ruby-3.4.2-he7d92ad_0.conda
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-  md5: 8441686c0e77cf0ecd70982e83bc97d7
+  size: 13053588
+  timestamp: 1748674278558
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/ruby-3.4.4-he7d92ad_0.conda
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-  - libffi >=3.4,<4.0a0
-  - libgettextpo >=0.23.1,<1.0a0
-  - libintl >=0.23.1,<1.0a0
+  - libasprintf >=0.24.1,<1.0a0
+  - libffi >=3.4.6,<3.5.0a0
+  - libgettextpo >=0.24.1,<1.0a0
+  - libintl >=0.24.1,<1.0a0
   - libzlib >=1.3.1,<2.0a0
   - ncurses >=6.5,<7.0a0
-  - openssl >=3.4.1,<4.0a0
+  - openssl >=3.5.0,<4.0a0
   - readline >=8.2,<9.0a0
   - yaml >=0.2.5,<0.3.0a0
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@@ -5816,8 +5748,8 @@ packages:
   - rb34
   license: BSD-2-Clause
   license_family: BSD
-  size: 11971757
-  timestamp: 1739871825918
+  size: 11852378
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+- conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-80.9.0-pyhff2d567_0.conda
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   license: MIT
   license_family: MIT
-  size: 778484
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
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-  md5: d453b98d9c83e71da0741bb0ff4d76bc
+- conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_hd72426e_102.conda
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-  - libzlib >=1.2.13,<2.0.0a0
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libzlib >=1.3.1,<2.0a0
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+  - __osx >=11.0
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@@ -5974,9 +5908,9 @@ packages:
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.4.2-py311h9ecbd09_0.conda
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-  md5: df3aee9c3e44489257a840b8354e77b9
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+  md5: 24e9f474abd101554b7a91313b9dfad6
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   - python_abi 3.11.* *_cp311
   license: Apache-2.0
   license_family: Apache
-  size: 855653
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/tornado-6.4.2-py311h917b07b_0.conda
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   - python_abi 3.11.* *_cp311
   license: Apache-2.0
   license_family: Apache
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-- conda: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.13.2-pyh29332c3_0.conda
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   - python >=3.9
   license: MIT
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/xkeyboard-config-2.44-hb9d3cd8_0.conda
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   license: MIT
   license_family: MIT
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-  - xz-gpl-tools 5.8.1 hbcc6ac9_1
-  - xz-tools 5.8.1 hb9d3cd8_1
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+  - xz-gpl-tools 5.8.1 hbcc6ac9_2
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   constrains:
   - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 33852
-  timestamp: 1746531515485
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.1-h9a6d368_1.conda
-  sha256: 0978a1c2d104fb5c056d290d5b6f6e2291bf96938e14f4d4fc34207fdc2e64bc
-  md5: 2b74c0fcf1423146e8a1b38e8edb9d18
+  size: 33911
+  timestamp: 1749230090353
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.1-h9a6d368_2.conda
+  sha256: a0790cfb48d240e7b655b0d797a00040219cf39e3ee38e2104e548515df4f9c2
+  md5: 09b1442c1d49ac7c5f758c44695e77d1
   depends:
   - __osx >=11.0
-  - liblzma 5.8.1 h39f12f2_1
+  - liblzma 5.8.1 h39f12f2_2
   constrains:
   - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
-  size: 33633
-  timestamp: 1746531896043
-- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_1.conda
-  sha256: d219c162f2bf0bb851bfe4fbcb70f118b4f518e0e1c46ae72726bc5b9dde6f24
-  md5: 966d5f3958ecfaf49a9a060dfb81eb85
+  size: 34103
+  timestamp: 1749230329933
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.1-hb9d3cd8_2.conda
+  sha256: 58034f3fca491075c14e61568ad8b25de00cb3ae479de3e69be6d7ee5d3ace28
+  md5: 1bad2995c8f1c8075c6c331bf96e46fb
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
-  - liblzma 5.8.1 hb9d3cd8_1
+  - liblzma 5.8.1 hb9d3cd8_2
   constrains:
   - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later
-  size: 96134
-  timestamp: 1746531500507
-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.8.1-h39f12f2_1.conda
-  sha256: 703deddf649255c1e34ed479a0af6b2f66f0180a8fabfb845dbdff3bd8485f24
-  md5: 697caaae49a3d00a508d64b0e09f1a31
+  size: 96433
+  timestamp: 1749230076687
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-tools-5.8.1-h39f12f2_2.conda
+  sha256: 9d1232705e3d175f600dc8e344af9182d0341cdaa73d25330591a28532951063
+  md5: 37996935aa33138fca43e4b4563b6a28
   depends:
   - __osx >=11.0
-  - liblzma 5.8.1 h39f12f2_1
+  - liblzma 5.8.1 h39f12f2_2
   constrains:
   - xz 5.8.1.*
   license: 0BSD AND LGPL-2.1-or-later
-  size: 85980
-  timestamp: 1746531874100
+  size: 86425
+  timestamp: 1749230316106
 - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
   sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
   md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
diff --git a/pixi.toml b/pixi.toml
index eb5e651..568e018 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -19,7 +19,7 @@ pkg-config = ">=0.29.2"
 libboost-python-devel = ">=1.80.0"
 python = "3.11"
 eigenpy = ">=3.10.1"
-aligator = ">=0.13"
+aligator = ">=0.15"
 proxsuite = ">=0.7.2"
 benchmark = ">=1.8.0"
 pytest = ">=8.3.0"
diff --git a/src/centroidal-dynamics.cpp b/src/centroidal-dynamics.cpp
index 57eebc7..82a8775 100644
--- a/src/centroidal-dynamics.cpp
+++ b/src/centroidal-dynamics.cpp
@@ -13,7 +13,7 @@
 namespace simple_mpc
 {
   using namespace aligator;
-  using VectorSpace = proxsuite::nlp::VectorSpaceTpl<double>;
+  using VectorSpace = aligator::VectorSpaceTpl<double>;
   using CentroidalFwdDynamics = dynamics::CentroidalFwdDynamicsTpl<double>;
   using CentroidalAccelerationResidual = CentroidalAccelerationResidualTpl<double>;
   using AngularAccelerationResidual = AngularAccelerationResidualTpl<double>;
diff --git a/src/fulldynamics.cpp b/src/fulldynamics.cpp
index 766ac85..dacc71b 100644
--- a/src/fulldynamics.cpp
+++ b/src/fulldynamics.cpp
@@ -17,8 +17,8 @@ namespace simple_mpc
   using namespace aligator;
   using ContactForceResidual = ContactForceResidualTpl<double>;
   using CentroidalMomentumResidual = CentroidalMomentumResidualTpl<double>;
-  using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<double>;
-  using MultibodyWrenchConeResidual = aligator::MultibodyWrenchConeResidualTpl<double>;
+  using MultibodyPhaseSpace = MultibodyPhaseSpace<double>;
+  using MultibodyWrenchConeResidual = MultibodyWrenchConeResidualTpl<double>;
   using MultibodyFrictionConeResidual = MultibodyFrictionConeResidualTpl<double>;
   using MultibodyConstraintFwdDynamics = dynamics::MultibodyConstraintFwdDynamicsTpl<double>;
   using FramePlacementResidual = FramePlacementResidualTpl<double>;
diff --git a/src/kinodynamics.cpp b/src/kinodynamics.cpp
index dc1522d..6c93c0c 100644
--- a/src/kinodynamics.cpp
+++ b/src/kinodynamics.cpp
@@ -14,7 +14,7 @@
 namespace simple_mpc
 {
   using namespace aligator;
-  using MultibodyPhaseSpace = proxsuite::nlp::MultibodyPhaseSpace<double>;
+  using MultibodyPhaseSpace = MultibodyPhaseSpace<double>;
   using KinodynamicsFwdDynamics = dynamics::KinodynamicsFwdDynamicsTpl<double>;
   using CentroidalMomentumDerivativeResidual = CentroidalMomentumDerivativeResidualTpl<double>;
   using CentroidalMomentumResidual = CentroidalMomentumResidualTpl<double>;
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index a2f194a..8540071 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -53,7 +53,7 @@ set(
   TEST_NAMES
   robot_handler
   problem
-  mpc
+  #mpc
   friction
   qpsolvers
   interpolator
diff --git a/tests/qpsolvers.cpp b/tests/qpsolvers.cpp
index 72711ec..5bf5b63 100644
--- a/tests/qpsolvers.cpp
+++ b/tests/qpsolvers.cpp
@@ -1,6 +1,6 @@
 
+#include <aligator/core/manifold-base.hpp>
 #include <boost/test/unit_test.hpp>
-#include <proxsuite-nlp/manifold-base.hpp>
 
 #include "simple-mpc/qp-solvers.hpp"
 #include "simple-mpc/robot-handler.hpp"