diff --git a/pixi.lock b/pixi.lock
index f985059381e1a..0627c3420d963 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -467,6 +467,7 @@ 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/tinyxml2-10.0.0-hebf3989_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/tk-8.6.13-h5083fa2_1.conda
@@ -519,7 +520,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/win-64/freeglut-3.2.2-he0c23c2_3.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/freetype-2.12.1-hdaf720e_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/glfw-3.4-hcfcfb64_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/hdf5-1.14.3-nompi_h2b43c12_105.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/imgui-1.90.8-hecf2515_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.0.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/intel-openmp-2024.1.0-h57928b3_966.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/ipopt-3.14.16-ha3daec3_4.conda
@@ -577,6 +580,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.1.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/python-3.12.4-h889d299_0_cpython.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/python_abi-3.12-4_cp312.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/sdl2-2.30.2-h63175ca_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.1.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/spdlog-1.12.0-h64d2f7d_2.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/svt-av1-1.4.1-h63175ca_0.conda
@@ -2412,6 +2416,21 @@ packages:
   license: Zlib
   size: 113768
   timestamp: 1708789054033
+- kind: conda
+  name: glfw
+  version: '3.4'
+  build: hcfcfb64_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/glfw-3.4-hcfcfb64_0.conda
+  sha256: f7759a2d1e473d36b39a65096c1b0660fe3574b7aa8fa330ef13626926292d13
+  md5: 5d41478e933d70273686b267827d2ae6
+  depends:
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: Zlib
+  size: 118348
+  timestamp: 1708789270458
 - kind: conda
   name: glfw
   version: '3.4'
@@ -2712,6 +2731,24 @@ packages:
   license_family: MIT
   size: 626709
   timestamp: 1717724405363
+- kind: conda
+  name: imgui
+  version: 1.90.8
+  build: hecf2515_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/imgui-1.90.8-hecf2515_0.conda
+  sha256: b1f6b1886a966f02e456b14d949d118738509ba343c31a5f6d1f1addf963738b
+  md5: 3cfddbbb10ae792a183e73699b03cddc
+  depends:
+  - glfw >=3.4,<4.0a0
+  - sdl2 >=2.30.2,<3.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: MIT
+  license_family: MIT
+  size: 657726
+  timestamp: 1717724662603
 - kind: conda
   name: iniconfig
   version: 2.0.0
@@ -7549,6 +7586,21 @@ packages:
   license_family: MIT
   size: 184509
   timestamp: 1693427593121
+- kind: conda
+  name: sdl2
+  version: 2.30.2
+  build: h63175ca_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/sdl2-2.30.2-h63175ca_0.conda
+  sha256: 2f8020bffb8fcaca01638c44fb845f223140baf04f8766ecca2eb8bc2f7443f0
+  md5: 18017f8551ce74d2281f5684f16eb71f
+  depends:
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: Zlib
+  size: 2155390
+  timestamp: 1712091452523
 - kind: conda
   name: sdl2
   version: 2.30.2
@@ -7765,6 +7817,22 @@ packages:
   license_family: MIT
   size: 143776
   timestamp: 1715068524511
+- 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
diff --git a/pixi.toml b/pixi.toml
index 24bb517bae025..66e267fc49d02 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -25,16 +25,18 @@ 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"
+numpy = ">=1.26.4,<1.27"
 octomap = ">=1.9.8,<1.10"
 openscenegraph = ">=3.6.5,<3.7"
+pagmo = ">=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"
-ipopt = ">=3.14.14,<3.15"
-nlopt = ">=2.7.1,<2.8"
-pagmo = ">=2.19.0,<2.20"
-numpy = ">=1.26.4,<1.27"
 
 [tasks]
 clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" }
@@ -109,8 +111,6 @@ clang-format-14 = ">=14.0.6,<14.1"
 
 [target.linux-64.dependencies]
 freeglut = ">=3.2.2,<3.3"
-imgui = ">=1.90.4,<1.91"
-taskflow = ">=3.7.0,<3.8"
 
 [target.linux-64.tasks]
 tracy = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw --net=host tracy-profiler" }
@@ -123,8 +123,6 @@ tracy = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.
 clang-format-14 = ">=14.0.6,<14.1"
 
 [target.osx-64.dependencies]
-imgui = ">=1.90.4,<1.91"
-taskflow = ">=3.7.0,<3.8"
 
 [target.osx-64.tasks]
 
@@ -136,7 +134,6 @@ taskflow = ">=3.7.0,<3.8"
 clang-format-14 = ">=14.0.6,<14.1"
 
 [target.osx-arm64.dependencies]
-imgui = ">=1.90.4,<1.91"
 
 [target.osx-arm64.tasks]
 
@@ -146,10 +143,9 @@ imgui = ">=1.90.4,<1.91"
 
 [target.win-64.dependencies]
 freeglut = ">=3.2.2,<3.3"
-taskflow = ">=3.7.0,<3.8"
 
 [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 = { cmd = "black . && isort .", depends_on = ["configure"] }
 check-lint = { cmd = "black . --check && isort . --check", depends_on = [
     "configure",