diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
index ba229e9725c38..2385c238d9aa9 100644
--- a/.github/workflows/ci_windows.yml
+++ b/.github/workflows/ci_windows.yml
@@ -47,6 +47,7 @@ jobs:
             bullet3
             freeglut
             glfw3
+            nanobind
             nlopt
             opengl
             osg
@@ -55,7 +56,7 @@ jobs:
             tracy
             urdfdom
           triplet: x64-windows
-          revision: "2024.02.14"
+          revision: "2024.03.25"
           github-binarycache: true
           token: ${{ github.token }}
 
diff --git a/.github/workflows/publish_dartpy.yml b/.github/workflows/publish_dartpy.yml
index 2dec358a14891..fc29ac276d146 100644
--- a/.github/workflows/publish_dartpy.yml
+++ b/.github/workflows/publish_dartpy.yml
@@ -111,6 +111,7 @@ jobs:
             freeglut
             glfw3
             imgui
+            nanobind
             nlopt
             ode
             opengl
@@ -119,7 +120,7 @@ jobs:
             tinyxml2
             urdfdom
           triplet: x64-windows
-          revision: "2024.02.14"
+          revision: "2024.03.25"
           github-binarycache: true
           token: ${{ github.token }}
 
diff --git a/docker/dev/v6.14/Dockerfile.ubuntu.noble b/docker/dev/v6.14/Dockerfile.ubuntu.noble
index 2a91654d30c68..1a89c2ad38ef6 100644
--- a/docker/dev/v6.14/Dockerfile.ubuntu.noble
+++ b/docker/dev/v6.14/Dockerfile.ubuntu.noble
@@ -62,6 +62,7 @@ RUN apt-get install -y --no-install-recommends \
 
 RUN apt-get install -y --no-install-recommends \
     libpython3-dev \
+    nanobind-dev \
     pybind11-dev \
     python3 \
     python3-dev \
diff --git a/pixi.lock b/pixi.lock
index 261a97c73e894..65c265538dd7c 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -119,6 +119,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mumps-include-5.6.2-ha770c72_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mumps-seq-5.6.2-hfef103a_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.4-h59595ed_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nettle-3.9.1-h7ab15ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.11.1-h924138e_0.conda
@@ -276,6 +277,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/mumps-include-5.6.2-h694c41f_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/mumps-seq-5.6.2-he3629b0_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ncurses-6.4-h93d8f39_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/nettle-3.9.1-h8e11ae5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ninja-1.11.1-hb8565cd_0.conda
@@ -417,6 +419,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-include-5.6.2-hce30654_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.6.2-hbbab245_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.4-h463b476_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/nettle-3.9.1-h40ed0f5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ninja-1.11.1-hffc8910_0.conda
@@ -535,6 +538,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/mkl-2024.0.0-h66d3029_49657.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/mumps-seq-5.6.2-h1f49738_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.0.0-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/ninja-1.11.1-h91493d7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/nlopt-2.7.1-py312h7fb0d8c_4.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/numpy-1.26.4-py312h8753938_0.conda
@@ -5805,6 +5809,21 @@ packages:
   license_family: MIT
   size: 10492
   timestamp: 1675543414256
+- kind: conda
+  name: nanobind
+  version: 1.9.2
+  build: pyhd8ed1ab_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/nanobind-1.9.2-pyhd8ed1ab_0.conda
+  sha256: 79702a7055d2cbc4a5e5299248694a5ec14f07bce4715c320bc9fb19e85be08b
+  md5: 9ffe2a357e884ff9cb4a61a542bee596
+  depends:
+  - python >=3.8
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 138768
+  timestamp: 1708688744475
 - kind: conda
   name: ncurses
   version: '6.4'
diff --git a/pixi.toml b/pixi.toml
index 8c6fa4dac411a..84c66c28fc39d 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -34,6 +34,7 @@ ipopt = ">=3.14.14,<3.15"
 nlopt = ">=2.7.1,<2.8"
 pagmo = ">=2.19.0,<2.20"
 numpy = ">=1.26.4,<1.27"
+nanobind = ">=1.9.2,<1.10"
 
 [build-dependencies]
 cmake = "3.22.*"