diff --git a/README.md b/README.md
index 3fceea1..bc4da22 100644
--- a/README.md
+++ b/README.md
@@ -68,15 +68,6 @@ conda install -c conda-forge -c robotology casadi pytest liecasadi  meshcat-pyth
 pip install --no-deps git+https://github.com/ami-iit/hippopt.git
 ```
 
-#### With Drake
-
-To use [`drake`](https://drake.mit.edu/) as the simulator backend requires the following additional dependencies:
-
-```bash
-conda install meshio tqdm
-pip install drake git+https://github.com/ami-iit/amo_urdf
-```
-
 ### 📦 Installation with pixi
 
 An alternative and easy way to use comodo is with [`pixi`](https://pixi.sh/latest/) package manager. It automatically handles the creation and activation of virtual environments in which to use the different simulators that comodo supports.
diff --git a/examples/drake_walking.ipynb b/examples/drake_walking.ipynb
index 8ffa225..60d26db 100644
--- a/examples/drake_walking.ipynb
+++ b/examples/drake_walking.ipynb
@@ -316,7 +316,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "comodo_jaxsim",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -330,9 +330,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.16"
+   "version": "3.12.11"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/examples/jaxsim_walking.ipynb b/examples/jaxsim_walking.ipynb
index 39b1677..53e60f1 100644
--- a/examples/jaxsim_walking.ipynb
+++ b/examples/jaxsim_walking.ipynb
@@ -577,7 +577,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "comodo",
+   "display_name": "Python 3 (ipykernel)",
    "language": "python",
    "name": "python3"
   },
@@ -591,9 +591,9 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.13"
+   "version": "3.12.11"
   }
  },
  "nbformat": 4,
- "nbformat_minor": 2
+ "nbformat_minor": 4
 }
diff --git a/pixi.lock b/pixi.lock
index 45bf6c9..1155bbd 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5b22810001a2590d21cd187e34c04fd5cdf6fe2b0d5d86096b93e62434f8594a
-size 296122
+oid sha256:a26ac1dbda9e0f8b9dd0593c4fb2399e4fa3f3a1f16a60ca94704183c82eff3b
+size 526994
diff --git a/pyproject.toml b/pyproject.toml
index c354871..5af55f9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -85,13 +85,13 @@ tqdm = "*"
 
 [tool.pixi.feature.hippopt.dependencies]
 liecasadi = "*"
-ffmepg-python = "*"
+ffmpeg-python = "*"
 meshcat-python = "*"
 
 [tool.pixi.feature.hippopt.pypi-dependencies]
 hippopt = { git = "git+https://github.com/ami-iit/hippopt.git"}
 
-[environments]
+[tool.pixi.environments]
 jaxsim = { features = ["jaxsim"], solve-group = "default" }
 mujoco = { features = ["mujoco"], solve-group = "default" }
 drake = { features = ["drake"], solve-group = "default" }
diff --git a/src/comodo/jaxsimSimulator/jaxsimSimulator.py b/src/comodo/jaxsimSimulator/jaxsimSimulator.py
index 4122635..4eeeaf0 100644
--- a/src/comodo/jaxsimSimulator/jaxsimSimulator.py
+++ b/src/comodo/jaxsimSimulator/jaxsimSimulator.py
@@ -12,7 +12,7 @@
 import jaxsim.rbda.contacts
 import numpy as np
 import numpy.typing as npt
-from jaxsim import VelRepr, integrators
+from jaxsim import VelRepr
 from jaxsim.mujoco import MujocoVideoRecorder
 from jaxsim.mujoco.loaders import UrdfToMjcf
 from jaxsim.mujoco.model import MujocoModelHelper
@@ -66,7 +66,7 @@ def __init__(
 
         # Step aux dict.
         # This is used only for variable-step integrators.
-        self._step_aux_dict: dict[str, Any]= {}
+        self._step_aux_dict: dict[str, Any] = {}
 
         # Time step for the simulation
         self._dt: float = dt