diff --git a/pkgs/by-name/al/aligator/package.nix b/pkgs/by-name/al/aligator/package.nix
index 7c26ac68aa57..95b48a12cdb3 100644
--- a/pkgs/by-name/al/aligator/package.nix
+++ b/pkgs/by-name/al/aligator/package.nix
@@ -1,32 +1,40 @@
 {
-  cmake,
-  crocoddyl,
-  doxygen,
-  fetchFromGitHub,
-  fmt,
-  fontconfig,
-  gbenchmark,
-  graphviz,
   lib,
+  fetchFromGitHub,
+  fontconfig,
   llvmPackages,
-  pinocchio,
-  pkg-config,
-  proxsuite-nlp,
+  nix-update-script,
   python3Packages,
   pythonSupport ? false,
   stdenv,
+
+  # nativeBuildInputs
+  doxygen,
+  cmake,
+  graphviz,
+  pkg-config,
+
+  # buildInputs
+  fmt,
+
+  # propagatedBuildInputs
   suitesparse,
+  crocoddyl,
+  pinocchio,
+
+  # checkInputs
+  gbenchmark,
 }:
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "aligator";
-  version = "0.12.0";
+  version = "0.14.0";
 
   src = fetchFromGitHub {
     owner = "Simple-Robotics";
     repo = "aligator";
     tag = "v${finalAttrs.version}";
-    hash = "sha256-oy2qcJbIGr5pe+XYWKntfsc6Ie7oEU1qqrPXjuqULmY=";
+    hash = "sha256-SkhFV/a3A6BqzoicQa7MUgsEuDzd+JfgYvL4ztHg/K0=";
   };
 
   outputs = [
@@ -44,6 +52,7 @@ stdenv.mkDerivation (finalAttrs: {
       pkg-config
     ]
     ++ lib.optionals pythonSupport [
+      python3Packages.python
       python3Packages.pythonImportsCheckHook
     ];
   buildInputs =
@@ -57,12 +66,10 @@ stdenv.mkDerivation (finalAttrs: {
       python3Packages.crocoddyl
       python3Packages.matplotlib
       python3Packages.pinocchio
-      python3Packages.proxsuite-nlp
     ]
     ++ lib.optionals (!pythonSupport) [
       crocoddyl
       pinocchio
-      proxsuite-nlp
     ];
   checkInputs =
     [ gbenchmark ]
@@ -99,6 +106,8 @@ stdenv.mkDerivation (finalAttrs: {
   doCheck = true;
   pythonImportsCheck = [ "aligator" ];
 
+  passthru.updateScript = nix-update-script { };
+
   meta = {
     description = "Versatile and efficient framework for constrained trajectory optimization";
     homepage = "https://github.com/Simple-Robotics/aligator";
diff --git a/pkgs/by-name/jr/jrl-cmakemodules/package.nix b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
index ef1489066436..caf1828b090c 100644
--- a/pkgs/by-name/jr/jrl-cmakemodules/package.nix
+++ b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
@@ -7,13 +7,13 @@
 
 stdenv.mkDerivation {
   pname = "jrl-cmakemodules";
-  version = "0-unstable-2025-01-29";
+  version = "0-unstable-2025-05-04";
 
   src = fetchFromGitHub {
     owner = "jrl-umi3218";
     repo = "jrl-cmakemodules";
-    rev = "2ede15d1cb9d66401ba96788444ad64c44ffccd8";
-    hash = "sha256-0o5DKt9BxZlAYTHp/BjzF6eJRP/d6lVlaV5P4xlzKnA=";
+    rev = "2dd858f5a71d8224f178fb3dc0bcd95256ba10e7";
+    hash = "sha256-Iq9IuhEJBmDd14FhQ3wb94AoJDUjJ1h1D3qCdQYCnUc=";
   };
 
   nativeBuildInputs = [ cmake ];
diff --git a/pkgs/by-name/pr/proxsuite/package.nix b/pkgs/by-name/pr/proxsuite/package.nix
index ae499019b099..18355cfdf313 100644
--- a/pkgs/by-name/pr/proxsuite/package.nix
+++ b/pkgs/by-name/pr/proxsuite/package.nix
@@ -2,39 +2,37 @@
   lib,
   stdenv,
   fetchFromGitHub,
-  fetchpatch,
-  cereal_1_3_2,
-  cmake,
-  doxygen,
-  eigen,
   fontconfig,
-  graphviz,
-  jrl-cmakemodules,
-  simde,
-  matio,
+  nix-update-script,
   pythonSupport ? false,
   python3Packages,
+
+  # nativeBuildInputs
+  cmake,
+  doxygen,
+  graphviz,
+
+  # propagatedBuildInputs
+  cereal_1_3_2,
+  eigen,
+  jrl-cmakemodules,
+  simde,
+
+  # checkInputs
+  matio,
+
 }:
 stdenv.mkDerivation (finalAttrs: {
   pname = "proxsuite";
-  version = "0.6.7";
+  version = "0.7.2";
 
   src = fetchFromGitHub {
     owner = "simple-robotics";
     repo = "proxsuite";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-iKc55WDHArmmIM//Wir6FHrNV84HnEDcBUlwnsbtMME=";
+    hash = "sha256-1+a5tFOlEwzhGZtll35EMFceD0iUOOQCbwJd9NcFDlk=";
   };
 
-  patches = [
-    # Fix use of system cereal
-    # This was merged upstream and can be removed on next release
-    (fetchpatch {
-      url = "https://github.com/Simple-Robotics/proxsuite/pull/352/commits/8305864f13ca7dff7210f89004a56652b71f8891.patch";
-      hash = "sha256-XMS/zHFVrEp1P6aDlGrLbrcmuKq42+GdZRH9ObewNCY=";
-    })
-  ];
-
   outputs = [
     "doc"
     "out"
@@ -52,17 +50,24 @@ stdenv.mkDerivation (finalAttrs: {
 
   strictDeps = true;
 
-  nativeBuildInputs = [
-    cmake
-    doxygen
-    graphviz
-  ] ++ lib.optional pythonSupport python3Packages.pythonImportsCheckHook;
+  nativeBuildInputs =
+    [
+      cmake
+      doxygen
+      graphviz
+    ]
+    ++ lib.optionals pythonSupport [
+      python3Packages.python
+      python3Packages.pythonImportsCheckHook
+    ];
+
   propagatedBuildInputs = [
     cereal_1_3_2
     eigen
     jrl-cmakemodules
     simde
-  ] ++ lib.optionals pythonSupport [ python3Packages.pybind11 ];
+  ] ++ lib.optionals pythonSupport [ python3Packages.nanobind ];
+
   checkInputs =
     [ matio ]
     ++ lib.optionals pythonSupport [
@@ -85,11 +90,13 @@ stdenv.mkDerivation (finalAttrs: {
   doCheck = true;
   pythonImportsCheck = [ "proxsuite" ];
 
+  passthru.updateScript = nix-update-script { };
+
   meta = {
     description = "Advanced Proximal Optimization Toolbox";
     homepage = "https://github.com/Simple-Robotics/proxsuite";
     license = lib.licenses.bsd2;
     maintainers = with lib.maintainers; [ nim65s ];
-    platforms = lib.platforms.unix;
+    platforms = lib.platforms.unix ++ lib.platforms.windows;
   };
 })