diff --git a/examples/pixi.lock b/examples/pixi.lock
index 3c2e83bb8..9ce41c527 100644
--- a/examples/pixi.lock
+++ b/examples/pixi.lock
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   size: 13829
   timestamp: 1622899345711
+  purls:
+  - pkg:pypi/typing-utils
 - platform: linux-64
   name: tyro
-  version: 0.5.18
+  version: 0.6.3
   category: main
   manager: conda
   dependencies:
@@ -5609,10 +5397,10 @@ package:
   - rich >=11.1.0
   - shtab >=1.5.6
   - typing-extensions >=4.3.0
-  url: https://conda.anaconda.org/conda-forge/noarch/tyro-0.5.18-pyhd8ed1ab_0.conda
+  url: https://conda.anaconda.org/conda-forge/noarch/tyro-0.6.3-pyhd8ed1ab_0.conda
   hash:
-    md5: bdfd13c02003be9836234fb7c0d8d696
-    sha256: fe1fee25e68123bd7f226aff8f3daaf7763793d1838bb15065c12ac9c1b739d9
+    md5: 99e9749688a9f576dd8096d253c9622a
+    sha256: 3439ae15209d3a46ecb6e674dd57216ec3c9698357a2d1058a5d734b6ff553e5
   build: pyhd8ed1ab_0
   arch: x86_64
   subdir: linux-64
@@ -5620,26 +5408,28 @@ package:
   license: MIT
   license_family: MIT
   noarch: python
-  size: 80294
-  timestamp: 1700784933595
+  size: 67220
+  timestamp: 1704079035737
+  purls:
+  - pkg:pypi/tyro
 - platform: linux-64
   name: tzdata
-  version: 2023c
+  version: 2023d
   category: main
   manager: conda
   dependencies: []
-  url: https://conda.anaconda.org/conda-forge/noarch/tzdata-2023c-h71feb2d_0.conda
+  url: https://conda.anaconda.org/conda-forge/noarch/tzdata-2023d-h0c530f3_0.conda
   hash:
-    md5: 939e3e74d8be4dac89ce83b20de2492a
-    sha256: 0449138224adfa125b220154408419ec37c06b0b49f63c5954724325903ecf55
-  build: h71feb2d_0
+    md5: 8dee24b8be2d9ff81e7bd4d7d97ff1b0
+    sha256: 04f2ab3e36f2015841551415bf16bf62933bd94b7085d4be5493b388e95a9c3d
+  build: h0c530f3_0
   arch: x86_64
   subdir: linux-64
   build_number: 0
   license: LicenseRef-Public-Domain
   noarch: generic
-  size: 117580
-  timestamp: 1680041306008
+  size: 119639
+  timestamp: 1703250910370
 - platform: linux-64
   name: uri-template
   version: 1.3.0
@@ -5682,6 +5472,8 @@ package:
   noarch: python
   size: 85324
   timestamp: 1699933655057
+  purls:
+  - pkg:pypi/urllib3
 - platform: linux-64
   name: wcwidth
   version: 0.2.12
@@ -5702,6 +5494,8 @@ package:
   noarch: python
   size: 32405
   timestamp: 1700608049984
+  purls:
+  - pkg:pypi/wcwidth
 - platform: linux-64
   name: webcolors
   version: '1.13'
@@ -5722,6 +5516,8 @@ package:
   noarch: python
   size: 18186
   timestamp: 1679900907305
+  purls:
+  - pkg:pypi/webcolors
 - platform: linux-64
   name: webencodings
   version: 0.5.1
@@ -5762,6 +5558,8 @@ package:
   noarch: python
   size: 46626
   timestamp: 1701630814576
+  purls:
+  - pkg:pypi/websocket-client
 - platform: linux-64
   name: wheel
   version: 0.42.0
@@ -5782,6 +5580,8 @@ package:
   noarch: python
   size: 57553
   timestamp: 1701013309664
+  purls:
+  - pkg:pypi/wheel
 - platform: linux-64
   name: x264
   version: 1!164.3095
@@ -5841,6 +5641,8 @@ package:
   noarch: python
   size: 13620
   timestamp: 1652020928232
+  purls:
+  - pkg:pypi/xmltodict
 - platform: linux-64
   name: xorg-fixesproto
   version: '5.0'
@@ -6266,6 +6068,8 @@ package:
   noarch: python
   size: 18954
   timestamp: 1695255262261
+  purls:
+  - pkg:pypi/zipp
 - platform: linux-64
   name: zlib
   version: 1.2.13
diff --git a/examples/pixi.toml b/examples/pixi.toml
index b0806b6bd..f3e03986d 100644
--- a/examples/pixi.toml
+++ b/examples/pixi.toml
@@ -8,14 +8,17 @@ version = "0.1.0"
 
 [system-requirements]
 cuda = "12"
+unix = true
 
 [tasks]
 install = "python -m pip install git+https://github.com/ami-iit/jaxsim.git"
 notebook = {cmd = "jupyter notebook PD_controller.ipynb", depends_on = ["install"]}
 
 [dependencies]
+cuda-nvcc = ">=12.3,<12.4"
 ffmpeg = "*"
 jax-dataclasses = "*"
+jaxlib = "* *cuda*"
 jaxlie = "*"
 mediapy = "*"
 mujoco = "*"
@@ -24,8 +27,3 @@ pip = "*"
 pptree = "*"
 rod = "*"
 typing-extensions = "*"
-
-[target.linux-64.dependencies]
-cuda-nvcc = "12.*"
-# jax = "*"
-# jaxlib = "*"