diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 82c7409..e1474a6 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -55,8 +55,9 @@ jobs:
         # See https://github.com/robotology/icub-models/issues/185
         cd ${ICUB_MODELS_SOURCE_DIR}
         git rm -rf ./iCub
-        # Generate new files
+        # Test and copy new files to icub-models repo
         cd ${GITHUB_WORKSPACE}
+        pixi run test_generated_models
         pixi run copy_models_to_icub_models
 
     - name: Print generated models differences and add files
diff --git a/pixi.lock b/pixi.lock
index 0b3d013..c955726 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -11,7 +11,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.11-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.8.2-h59595ed_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.3.1-h8343317_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.1-h8343317_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/binutils-2.40-hdd6e379_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.40-hf600244_0.conda
@@ -60,9 +60,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-8.3.0-h3d44ed6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/hdf5-1.14.3-nompi_h4f84152_100.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-73.2-h59595ed_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/idyntree-10.3.0-py311ha885c8a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/idyntree-12.3.3-py311ha0a6677_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/imath-3.1.11-hfc55251_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.14-h04b96a2_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.16-h3696c94_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/irrlicht-1.8.5-h2a6caf8_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/jasper-4.2.3-he6dfbbe_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-2.6.32-he073ed8_17.conda
@@ -100,7 +100,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libglu-9.0.0-hac7e632_1003.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-13.2.0-h807b86a_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgpg-error-1.48-h71f35ed_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.9.3-default_h554bfaf_1009.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.10.0-default_h5622ce7_1001.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libi2c-4.3-hcb278e6_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.17-hd590300_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libidn2-2.3.7-hd590300_0.conda
@@ -136,7 +136,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-12.3.0-h0f45ef3_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libscotch-7.0.4-h91e35bf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsndfile-1.2.2-hc60ed4a_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libspral-2023.09.07-h6aa6db2_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libspral-2024.05.08-h1b93dcb_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.45.2-h2797004_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.0-h0841786_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-12.3.0-h8bca6fd_105.conda
@@ -154,7 +154,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcb-1.15-h0b41bf4_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-h662e7e4_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-2.12.6-h232c23b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libxml2-2.12.7-hc051c1a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxslt-1.1.39-h76b75d6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libyarp-3.9.0-ha614a09_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.2.13-hd590300_5.conda
@@ -162,8 +162,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-c-1.9.4-hcb278e6_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/metis-5.1.0-h59595ed_1007.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mpg123-1.32.4-h59595ed_0.conda
-      - 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/linux-64/mumps-include-5.7.2-ha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/mumps-seq-5.7.2-h6e8dedb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mysql-common-8.3.0-hf1915f5_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mysql-libs-8.3.0-hca2cd23_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.4.20240210-h59595ed_0.conda
@@ -196,7 +196,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.4-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/robot-testing-framework-2.0.1-hcb278e6_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ruby-3.2.2-h983345b_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/scotch-7.0.4-h23d43cc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl-1.2.68-h293081c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/sdl2-2.28.5-hdbcbe63_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.2.0-pyhd8ed1ab_0.conda
@@ -205,7 +204,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/soxr-0.1.3-h0b41bf4_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/svt-av1-1.8.0-h59595ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.12-he073ed8_17.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-2021.11.0-h00ab1b0_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/tbb-2021.12.0-h297d8ca_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml-2.6.2-h4bd325d_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda
@@ -226,7 +225,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-kbproto-1.0.7-h7f98852_1002.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libice-1.1.1-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libsm-1.2.4-h7391055_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libx11-1.8.7-h8ee46fc_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libx11-1.8.9-h8ee46fc_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxau-1.0.11-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxdmcp-1.1.3-h7f98852_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxext-1.3.4-h0b41bf4_2.conda
@@ -252,7 +251,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/alsa-lib-1.2.11-h31becfc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ampl-mp-3.1.0-h05efe27_1006.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/aom-3.8.2-h0425590_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/assimp-5.3.1-h0b8f51a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/assimp-5.4.1-h0b8f51a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/attr-2.5.1-h4e544f5_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/binutils-2.40-h64c2a2e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/binutils_impl_linux-aarch64-2.40-h870a726_0.conda
@@ -300,9 +299,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/harfbuzz-8.3.0-hebeb849_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/hdf5-1.14.3-nompi_ha486f32_100.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/icu-73.2-h787c7f5_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/idyntree-10.3.0-py311h5498c2b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/idyntree-12.3.3-py311h95b97ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/imath-3.1.11-hd84c7bf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ipopt-3.14.14-h64a9e3f_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ipopt-3.14.16-h95b2e97_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/irrlicht-1.8.5-h962fdfd_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/jasper-4.2.3-h381c573_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-aarch64-4.18.0-h5b4a56d_14.conda
@@ -340,7 +339,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libglu-9.0.0-hf4b6fbe_1003.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libgomp-13.2.0-hf8544c7_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libgpg-error-1.48-h5ce24db_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libhwloc-2.9.3-default_hda148da_1009.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libhwloc-2.10.0-default_h3030c0e_1001.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libi2c-4.3-hd600fc2_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libiconv-1.17-h31becfc_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libidn2-2.3.7-h31becfc_0.conda
@@ -375,7 +374,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libsanitizer-12.3.0-h8ebda82_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libscotch-7.0.4-h16908e7_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libsndfile-1.2.2-h79657aa_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libspral-2023.09.07-h98a5362_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libspral-2024.05.08-h68f0087_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libsqlite-3.45.2-h194ca79_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libssh2-1.11.0-h492db2e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-aarch64-12.3.0-h8b5ab12_105.conda
@@ -392,7 +391,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxcb-1.15-h2a766a3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxcrypt-4.4.36-h31becfc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxkbcommon-1.7.0-h2555907_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxml2-2.12.6-h3091e33_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxml2-2.12.7-h49dc7a2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxslt-1.1.39-h1cc9640_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libyarp-3.9.0-h6d2be9b_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libzlib-1.2.13-h31becfc_5.conda
@@ -400,8 +399,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/lz4-c-1.9.4-hd600fc2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/metis-5.1.0-h2f0025b_1007.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mpg123-1.32.4-h2f0025b_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mumps-include-5.6.2-h8af1aa0_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mumps-seq-5.6.2-hae18a20_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mumps-include-5.7.2-h8af1aa0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mumps-seq-5.7.2-h0922659_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mysql-common-8.3.0-hb6794ad_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mysql-libs-8.3.0-hf629957_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ncurses-6.4.20240210-h0425590_0.conda
@@ -433,7 +432,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/rhash-1.4.4-h31becfc_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/robot-testing-framework-2.0.1-hd600fc2_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ruby-3.2.2-hcdc5f17_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/scotch-7.0.4-habe6132_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/sdl-1.2.68-h32cd00b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/sdl2-2.28.5-hd75414b_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-69.2.0-pyhd8ed1ab_0.conda
@@ -442,7 +440,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/soxr-0.1.3-hb4cce97_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/svt-av1-1.8.0-h2f0025b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-aarch64-2.17-h5b4a56d_14.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/tbb-2021.11.0-h2a328a1_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/tbb-2021.12.0-h70be974_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/tinyxml-2.6.2-hd62202e_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/tk-8.6.13-h194ca79_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda
@@ -463,7 +461,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-kbproto-1.0.7-h3557bc0_1002.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libice-1.1.1-h7935292_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libsm-1.2.4-h5a01bc2_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libx11-1.8.7-h055a233_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libx11-1.8.9-h055a233_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxau-1.0.11-h31becfc_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxdmcp-1.1.3-h3557bc0_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libxext-1.3.4-h2a766a3_2.conda
@@ -486,7 +484,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ace-7.1.3-h73e2aa4_2.conda
       - 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/osx-64/aom-3.8.2-h73e2aa4_0.conda
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   - metis >=5.1.0,<5.1.1.0a0
-  - mumps-include >=5.6.2,<5.6.3.0a0
-  - scotch >=7.0.4,<7.0.5.0a0
+  - mumps-include >=5.7.2,<5.7.3.0a0
   license: CECILL-C
-  size: 1860366
-  timestamp: 1705868832832
+  size: 2035746
+  timestamp: 1718731935071
 - kind: conda
   name: mumps-seq
-  version: 5.6.2
-  build: hfef103a_4
-  build_number: 4
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/mumps-seq-5.6.2-hfef103a_4.conda
-  sha256: 311d01882fe43677ddb8f0eb7382ac5b072c51fb1b64b69e3ec54c2a3ca2f61c
-  md5: 04a7b59399685952f5af225bf3d9c131
+  version: 5.7.2
+  build: h7c2359a_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/mumps-seq-5.7.2-h7c2359a_0.conda
+  sha256: 53e9fa44fc47ec0dc2b375a37671a3fd77193a34ed1408a75a265333feea6ec8
+  md5: 3e0fe79a09a203351560035169a091bc
   depends:
   - libblas >=3.9.0,<4.0a0
-  - libgcc-ng >=12
-  - libgfortran-ng
+  - libflang >=5.0.0,<6.0.0.a0
+  - liblapack >=3.9.0,<4.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: CECILL-C
+  size: 3196509
+  timestamp: 1718781440282
+- kind: conda
+  name: mumps-seq
+  version: 5.7.2
+  build: hab9b160_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/mumps-seq-5.7.2-hab9b160_0.conda
+  sha256: f3ad155fccd122dfdd8dad7686f0191668a37fbec557f6335339dc1be2dc9a0d
+  md5: defe5fae541d09d2dc2750c541b580f9
+  depends:
+  - __osx >=11.0
+  - libblas >=3.9.0,<4.0a0
+  - libgfortran 5.*
   - libgfortran5 >=12.3.0
+  - libgfortran5 >=13.2.0
   - liblapack >=3.9.0,<4.0a0
-  - libscotch
+  - libscotch >=7.0.4,<7.0.5.0a0
   - metis >=5.1.0,<5.1.1.0a0
-  - mumps-include >=5.6.2,<5.6.3.0a0
-  - scotch >=7.0.4,<7.0.5.0a0
+  - mumps-include >=5.7.2,<5.7.3.0a0
   license: CECILL-C
-  size: 1956627
-  timestamp: 1705868645516
+  size: 1752921
+  timestamp: 1718732250747
 - kind: conda
   name: mysql-common
   version: 8.3.0
@@ -14527,62 +14509,6 @@ packages:
   license_family: BSD
   size: 8236895
   timestamp: 1703349359919
-- kind: conda
-  name: scotch
-  version: 7.0.4
-  build: h23d43cc_1
-  build_number: 1
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/scotch-7.0.4-h23d43cc_1.conda
-  sha256: 63bed3999eb07598cb249b670fb36f8f3278cf4abebdafd3b9d908fba904e8bf
-  md5: 29663db7f60e56db7a2576ddf5a7fdc2
-  depends:
-  - libscotch 7.0.4 h91e35bf_1
-  license: CECILL-C
-  size: 92023
-  timestamp: 1702323154062
-- kind: conda
-  name: scotch
-  version: 7.0.4
-  build: h52a132a_1
-  build_number: 1
-  subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/scotch-7.0.4-h52a132a_1.conda
-  sha256: e9d98aeb38ddde3c3ea537a24818b4bce19fe331ec1ab0390aab03ef6a82ea6a
-  md5: 20861af41e8b87c54ae231a00d801df9
-  depends:
-  - libscotch 7.0.4 hc2ac6e5_1
-  license: CECILL-C
-  size: 78475
-  timestamp: 1702323468906
-- kind: conda
-  name: scotch
-  version: 7.0.4
-  build: habe6132_1
-  build_number: 1
-  subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/scotch-7.0.4-habe6132_1.conda
-  sha256: 66cd82be2e4989a76be489b453d97b9fb18b16976ebd13684f5c6c8e2de31bad
-  md5: 8e201be4922a66725150d863544926b7
-  depends:
-  - libscotch 7.0.4 h16908e7_1
-  license: CECILL-C
-  size: 99530
-  timestamp: 1702326258817
-- kind: conda
-  name: scotch
-  version: 7.0.4
-  build: heaa5b5c_1
-  build_number: 1
-  subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/scotch-7.0.4-heaa5b5c_1.conda
-  sha256: 912b497b2adde2647d9ed31325abfff0944a02e6e2819d87315bfef1081b4b70
-  md5: a30162091e3e0c0940f459ac73813192
-  depends:
-  - libscotch 7.0.4 hc938e73_1
-  license: CECILL-C
-  size: 81912
-  timestamp: 1702323453484
 - kind: conda
   name: sdl
   version: 1.2.68
@@ -15085,40 +15011,6 @@ packages:
   license_family: MIT
   size: 191416
   timestamp: 1602687595316
-- kind: conda
-  name: tbb
-  version: 2021.11.0
-  build: h00ab1b0_1
-  build_number: 1
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/tbb-2021.11.0-h00ab1b0_1.conda
-  sha256: ded4de0d5a3eb7b47ed829f0ed0e3c61ccd428308bde52d8d22ced228038223b
-  md5: 4531d2927578e7e254ff3bcf6457518c
-  depends:
-  - libgcc-ng >=12
-  - libhwloc >=2.9.3,<2.9.4.0a0
-  - libstdcxx-ng >=12
-  license: Apache-2.0
-  license_family: APACHE
-  size: 195540
-  timestamp: 1706163436794
-- kind: conda
-  name: tbb
-  version: 2021.11.0
-  build: h2a328a1_1
-  build_number: 1
-  subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/tbb-2021.11.0-h2a328a1_1.conda
-  sha256: eb8a3fb326828c2ff7ba8e2879bf11b3bd52f34c317d0faebe59772533d7d1de
-  md5: 4e385c984b98c7cbf28af64041d21cc4
-  depends:
-  - libgcc-ng >=12
-  - libhwloc >=2.9.3,<2.9.4.0a0
-  - libstdcxx-ng >=12
-  license: Apache-2.0
-  license_family: APACHE
-  size: 161613
-  timestamp: 1706166156098
 - kind: conda
   name: tbb
   version: 2021.11.0
@@ -15169,6 +15061,40 @@ packages:
   license_family: APACHE
   size: 161382
   timestamp: 1706164225098
+- kind: conda
+  name: tbb
+  version: 2021.12.0
+  build: h297d8ca_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/tbb-2021.12.0-h297d8ca_1.conda
+  sha256: ab706931ba80e8117995fc838509f044ccd1388a4cd7cc4ff1a55ea904bac723
+  md5: 3ff978d8994f591818a506640c6a7071
+  depends:
+  - libgcc-ng >=12
+  - libhwloc >=2.10.0,<2.10.1.0a0
+  - libstdcxx-ng >=12
+  license: Apache-2.0
+  license_family: APACHE
+  size: 194111
+  timestamp: 1716030795319
+- kind: conda
+  name: tbb
+  version: 2021.12.0
+  build: h70be974_1
+  build_number: 1
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/tbb-2021.12.0-h70be974_1.conda
+  sha256: fae554fbe95be9ae17f4e233613ea7f18bb293dd5fce695848ea1a5acd9c78ec
+  md5: ea7d4337db9d66216dbfd59035916aaf
+  depends:
+  - libgcc-ng >=12
+  - libhwloc >=2.10.0,<2.10.1.0a0
+  - libstdcxx-ng >=12
+  license: Apache-2.0
+  license_family: APACHE
+  size: 162627
+  timestamp: 1716033199474
 - kind: conda
   name: tinyxml
   version: 2.6.2
@@ -16103,73 +16029,73 @@ packages:
 - kind: conda
   name: xorg-libx11
   version: 1.8.7
-  build: h055a233_0
-  subdir: linux-aarch64
-  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libx11-1.8.7-h055a233_0.conda
-  sha256: dc688480f6afa3b5880b9d4e11e25e6c8dd10e961a07cfa30b2dc5e529e250bb
-  md5: b3ff774afbb2cd7678044e1fed24f59e
+  build: hbd0b022_0
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/xorg-libx11-1.8.7-hbd0b022_0.conda
+  sha256: 696c8e8dd7bf76a2075373640b3fa171c20e2b9a706a48b0e57bea3ec74d83e6
+  md5: 1861bf782a55f2cc66478a46b053159a
   depends:
-  - libgcc-ng >=12
   - libxcb >=1.15,<1.16.0a0
   - xorg-kbproto
   - xorg-xextproto >=7.3.0,<8.0a0
   - xorg-xproto
   license: MIT
   license_family: MIT
-  size: 854309
-  timestamp: 1697056918786
+  size: 777870
+  timestamp: 1697057121760
 - kind: conda
   name: xorg-libx11
   version: 1.8.7
-  build: h8ee46fc_0
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libx11-1.8.7-h8ee46fc_0.conda
-  sha256: 7a02a7beac472ae2759498550b5fc5261bf5be7a9a2b4648a3f67818a7bfefcf
-  md5: 49e482d882669206653b095f5206c05b
+  build: hfd9643e_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/xorg-libx11-1.8.7-hfd9643e_0.conda
+  sha256: d89b74e67c6bf6bec4ad732d9c1cfa843ac7ee604afeccb496a0833db399598b
+  md5: 62362b81bf9d497d283ae2b8fd5e6a99
   depends:
-  - libgcc-ng >=12
   - libxcb >=1.15,<1.16.0a0
   - xorg-kbproto
   - xorg-xextproto >=7.3.0,<8.0a0
   - xorg-xproto
   license: MIT
   license_family: MIT
-  size: 828692
-  timestamp: 1697056910935
+  size: 767300
+  timestamp: 1697057150709
 - kind: conda
   name: xorg-libx11
-  version: 1.8.7
-  build: hbd0b022_0
-  subdir: osx-64
-  url: https://conda.anaconda.org/conda-forge/osx-64/xorg-libx11-1.8.7-hbd0b022_0.conda
-  sha256: 696c8e8dd7bf76a2075373640b3fa171c20e2b9a706a48b0e57bea3ec74d83e6
-  md5: 1861bf782a55f2cc66478a46b053159a
+  version: 1.8.9
+  build: h055a233_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/xorg-libx11-1.8.9-h055a233_0.conda
+  sha256: fe6adc8f0ab7ea026b8ccd5c8c8843e5a01f49bcd193eacec9af1626f0db1194
+  md5: d5f0529d3568a2ce38a9aed44a9a8029
   depends:
+  - libgcc-ng >=12
   - libxcb >=1.15,<1.16.0a0
   - xorg-kbproto
   - xorg-xextproto >=7.3.0,<8.0a0
   - xorg-xproto
   license: MIT
   license_family: MIT
-  size: 777870
-  timestamp: 1697057121760
+  size: 851567
+  timestamp: 1712415736293
 - kind: conda
   name: xorg-libx11
-  version: 1.8.7
-  build: hfd9643e_0
-  subdir: osx-arm64
-  url: https://conda.anaconda.org/conda-forge/osx-arm64/xorg-libx11-1.8.7-hfd9643e_0.conda
-  sha256: d89b74e67c6bf6bec4ad732d9c1cfa843ac7ee604afeccb496a0833db399598b
-  md5: 62362b81bf9d497d283ae2b8fd5e6a99
+  version: 1.8.9
+  build: h8ee46fc_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/xorg-libx11-1.8.9-h8ee46fc_0.conda
+  sha256: 3e53ba247f1ad68353f18aceba5bf8ce87e3dea930de85d36946844a7658c9fb
+  md5: 077b6e8ad6a3ddb741fce2496dd01bec
   depends:
+  - libgcc-ng >=12
   - libxcb >=1.15,<1.16.0a0
   - xorg-kbproto
   - xorg-xextproto >=7.3.0,<8.0a0
   - xorg-xproto
   license: MIT
   license_family: MIT
-  size: 767300
-  timestamp: 1697057150709
+  size: 828060
+  timestamp: 1712415742569
 - kind: conda
   name: xorg-libxau
   version: 1.0.11
diff --git a/pixi.toml b/pixi.toml
index 02d2e31..1ed60e6 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -12,6 +12,10 @@ platforms = ["linux-64", "linux-aarch64", "win-64", "osx-arm64", "osx-64"]
 # Workaround for https://github.com/prefix-dev/pixi/issues/826
 scripts = ["clean_env.sh"]
 
+[system-requirements]
+# Support macos 12
+macos = "12.0"
+
 [tasks]
 # As of pixi 0.13.0, pixi does not support git pip packages, so we install it from source
 # Specific commit of urdfdom_py is a workaround for https://github.com/robotology/simmechanics-to-urdf/issues/36
@@ -19,7 +23,7 @@ header_commit = { cmd = "echo Automatic build of models via icub-models-generato
 header_own_version = {cmd = "echo icub-models-generator commit: robotology/icub-models-generator@$(git rev-parse HEAD) >> ./deploy_commit_message", depends_on = ["header_commit"]}
 header_repos = { cmd = "echo ### Dependencies information of dependencies installed manually: >> ./deploy_commit_message",  depends_on = ["header_own_version"] }
 install_urdfdom_py = { cmd = "export URDF_PARSER_PY_COMMIT=31474b9baaf7c3845b40e5a9aa87d5900a2282c3 && pip install git+https://github.com/ros/urdf_parser_py.git@$URDF_PARSER_PY_COMMIT --no-deps && echo urdf_parser_py commit: ros/urdf_parser_py@$URDF_PARSER_PY_COMMIT >> ./deploy_commit_message", depends_on = ["header_repos"]}
-install_simmechanics_to_urdf = { cmd = "export SIMMECHANICS_TO_URDF_COMMIT=22caa23cfe7063299c5746304850b8afd74f4e1f && pip install git+https://github.com/robotology/simmechanics-to-urdf@$SIMMECHANICS_TO_URDF_COMMIT --no-deps && echo simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@$SIMMECHANICS_TO_URDF_COMMIT >> ./deploy_commit_message", depends_on = ["install_urdfdom_py"] }
+install_simmechanics_to_urdf = { cmd = "export SIMMECHANICS_TO_URDF_COMMIT=143fd8f5450d0f84611d35ea1611869e530b0623 && pip install git+https://github.com/robotology/simmechanics-to-urdf@$SIMMECHANICS_TO_URDF_COMMIT --no-deps && echo simmechanics-to-urdf commit: robotology/simmechanics-to-urdf@$SIMMECHANICS_TO_URDF_COMMIT >> ./deploy_commit_message", depends_on = ["install_urdfdom_py"] }
 header_pixi_list = { cmd = "echo ### Dependencies information via pixi list:  >> ./deploy_commit_message", depends_on = ["install_simmechanics_to_urdf"]}
 pixi_list = { cmd = "pixi list >> ./deploy_commit_message",  depends_on = ["header_pixi_list"]}
 configure_cmake_project = { cmd = "cmake -GNinja -S. -B.build -DICUB_MODELS_SOURCE_DIR=$ICUB_MODELS_SOURCE_DIR -DBUILD_TESTING:BOOL=ON",  depends_on = ["pixi_list"]}
@@ -29,7 +33,9 @@ build_tests = { cmd = "cmake --build .build", depends_on = ["configure_cmake_pro
 test_generated_models = { cmd = "ctest --test-dir .build",  depends_on = ["generate_models", "build_tests"]}
 
 [dependencies]
-idyntree = ">=10.3.0,<10.4"
+# We need a version where https://github.com/robotology/idyntree/pull/1191
+# is fixed
+idyntree = ">=12.3.3"
 yarp = ">=3.9.0,<3.10"
 lxml = "==4.9.4"
 # Not using latest pyyaml as workaround for https://github.com/robotology/simmechanics-to-urdf/issues/57