diff --git a/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch b/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch
deleted file mode 100644
index d6e39d068b7d..000000000000
--- a/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch
+++ /dev/null
@@ -1,52 +0,0 @@
-From 1cb7fe38e3ec43117c646cae521eb8347145965a Mon Sep 17 00:00:00 2001
-From: Guilhem Saurel <guilhem.saurel@laas.fr>
-Date: Tue, 14 Oct 2025 19:37:16 +0200
-Subject: [PATCH] fix for crocoddyl v3.1.0 explicit template instanciation
-
-ref. https://github.com/loco-3d/crocoddyl/pull/1367
-
-Yes, that was a breaking change
----
- tests/factory/point-mass.hpp | 22 ++++++++++++++++++++++
- 1 file changed, 22 insertions(+)
-
-diff --git a/tests/factory/point-mass.hpp b/tests/factory/point-mass.hpp
-index e82c977..c2e93af 100644
---- a/tests/factory/point-mass.hpp
-+++ b/tests/factory/point-mass.hpp
-@@ -60,6 +60,17 @@ class DAMPointMass1D : public crocoddyl::DifferentialActionModelAbstract {
-   // Destructor
-   virtual ~DAMPointMass1D();
- 
-+  // Explicit template instanciation
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()
-+      const override {
-+    return std::make_shared<DAMPointMass1D>(*this);
-+  }
-+
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()
-+      const override {
-+    return std::make_shared<DAMPointMass1D>(*this);
-+  }
-+
-   // Cost & dynamics
-   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
-             const Eigen::Ref<const VectorXd>& x,
-@@ -135,6 +146,17 @@ class DAMPointMass2D : public crocoddyl::DifferentialActionModelAbstract {
-   // Destructor
-   virtual ~DAMPointMass2D();
- 
-+  // Explicit template instanciation
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()
-+      const override {
-+    return std::make_shared<DAMPointMass2D>(*this);
-+  }
-+
-+  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()
-+      const override {
-+    return std::make_shared<DAMPointMass2D>(*this);
-+  }
-+
-   // Cost & dynamics
-   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
-             const Eigen::Ref<const VectorXd>& x,
diff --git a/pkgs/by-name/mi/mim-solvers/package.nix b/pkgs/by-name/mi/mim-solvers/package.nix
index 44483056d44a..28bd2bf43e02 100644
--- a/pkgs/by-name/mi/mim-solvers/package.nix
+++ b/pkgs/by-name/mi/mim-solvers/package.nix
@@ -14,27 +14,15 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "mim-solvers";
-  version = "0.1.1";
+  version = "0.3.0";
 
   src = fetchFromGitHub {
     owner = "machines-in-motion";
     repo = "mim_solvers";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-1Mqu9Hfy65HUIOVG/gJBpSMlOwDWVcH+LrR8CaWz0BE=";
+    hash = "sha256-t21zzUo+Oiqvr3lYN9v1lCeoki3I1FWPqo3gWzM6Kdw=";
   };
 
-  patches = [
-    # ref. https://github.com/machines-in-motion/mim_solvers/pull/71 merged upstream
-    (fetchpatch {
-      name = "build-standalone-python-interface.patch";
-      url = "https://github.com/machines-in-motion/mim_solvers/commit/796eecf05dd9165dd0795aa562ead17de4f19633.patch";
-      hash = "sha256-/OiMzyDVEbpC/Dr/HcguwAdhmbQNxnIRsHAVkX68xqA=";
-    })
-    # Fix for crocoddyl 3.1.0
-    # ref. https://github.com/machines-in-motion/mim_solvers/pull/72
-    ./fix-croco-310.patch
-  ];
-
   nativeBuildInputs = [
     cmake
     pkg-config