diff --git a/build_tools/build_install_deps_unix.sh b/build_tools/build_install_deps_unix.sh
index 773accc02..1b249c36c 100755
--- a/build_tools/build_install_deps_unix.sh
+++ b/build_tools/build_install_deps_unix.sh
@@ -18,7 +18,7 @@ if [ "$(uname -s)" = "Darwin" ]; then
 
   ### Set the build architecture if undefined
   if [ -z ${OSX_ARCHITECTURES} ]; then
-    OSX_ARCHITECTURES="arm64"
+    OSX_ARCHITECTURES="x86_64;arm64"
     echo "OSX_ARCHITECTURES is unset. Defaulting to '${OSX_ARCHITECTURES}'."
   fi
 fi
diff --git a/build_tools/build_install_deps_windows.ps1 b/build_tools/build_install_deps_windows.ps1
index bd516adac..f774d980b 100644
--- a/build_tools/build_install_deps_windows.ps1
+++ b/build_tools/build_install_deps_windows.ps1
@@ -23,6 +23,17 @@ if (-not (Test-Path env:BUILD_TYPE)) {
   ${BUILD_TYPE} = "${env:BUILD_TYPE}"
 }
 
+### Set the CPU architecture
+$ARCHITECTURE = ( & "${PYTHON_EXECUTABLE}" -c "import platform ; print(platform.machine(), end='')" )
+if (("x86_64", "AMD64").contains(${ARCHITECTURE})) {
+  $ARCHITECTURE = "x64"
+} elseif (${ARCHITECTURE} -eq "ARM64") {
+  $ARCHITECTURE = "ARM64"
+} else {
+  Write-Error "Architecture '${ARCHITECTURE}' not supported." -ErrorAction:Stop
+}
+Write-Output "Architecture: ${ARCHITECTURE}"
+
 ### Set the default generate if undefined.
 #   The appropriate toolset will be selected automatically by cmake.
 if (-not (Test-Path env:GENERATOR)) {
@@ -81,6 +92,10 @@ if (Test-Path env:Boost_ROOT) {
 if (-not (Test-Path -PathType Container "$RootDir/boost")) {
   git clone --depth=1 https://github.com/boostorg/boost.git "$RootDir/boost"
 }
+if (Test-Path -PathType Container "$RootDir/boost/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/boost/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/boost/build"
 Push-Location -Path "$RootDir/boost"
 git reset --hard
 git fetch origin "boost-1.78.0"
@@ -96,6 +111,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/eigen3")) {
   git clone --depth=1 https://gitlab.com/libeigen/eigen.git "$RootDir/eigen3"
 }
+if (Test-Path -PathType Container "$RootDir/eigen3/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/eigen3/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/eigen3/build"
 Push-Location -Path "$RootDir/eigen3"
 git fetch origin eeacbd26c8838869a491ee89ab5cf0fe7dac016f
 git checkout --force FETCH_HEAD
@@ -106,13 +125,16 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/eigenpy")) {
   git clone --depth=1 https://github.com/stack-of-tasks/eigenpy.git "$RootDir/eigenpy"
 }
+if (Test-Path -PathType Container "$RootDir/eigenpy/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/eigenpy/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/eigenpy/build"
 Push-Location -Path "$RootDir/eigenpy"
 git reset --hard
 git fetch origin "v3.4.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
-dos2unix "$RootDir/build_tools/patch_deps_windows/eigenpy.patch"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/eigenpy.patch"
 Pop-Location
 
@@ -120,6 +142,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/tinyxml")) {
   git clone --depth=1 https://github.com/robotology-dependencies/tinyxml.git "$RootDir/tinyxml"
 }
+if (Test-Path -PathType Container "$RootDir/tinyxml/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/tinyxml/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/tinyxml/build"
 Push-Location -Path "$RootDir/tinyxml"
 git reset --hard
 git fetch origin "master"
@@ -130,6 +156,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/console_bridge")) {
   git clone --depth=1 https://github.com/ros/console_bridge.git "$RootDir/console_bridge"
 }
+if (Test-Path -PathType Container "$RootDir/console_bridge/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/console_bridge/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/console_bridge/build"
 Push-Location -Path "$RootDir/console_bridge"
 git reset --hard
 git fetch origin "1.0.2"
@@ -140,6 +170,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/urdfdom_headers")) {
   git clone --depth=1 https://github.com/ros/urdfdom_headers.git "$RootDir/urdfdom_headers"
 }
+if (Test-Path -PathType Container "$RootDir/urdfdom_headers/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/urdfdom_headers/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/urdfdom_headers/build"
 Push-Location -Path "$RootDir/urdfdom_headers"
 git reset --hard
 git fetch origin "1.0.5"
@@ -150,11 +184,14 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/urdfdom")) {
   git clone --depth=1 https://github.com/ros/urdfdom.git "$RootDir/urdfdom"
 }
+if (Test-Path -PathType Container "$RootDir/urdfdom/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/urdfdom/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/urdfdom/build"
 Push-Location -Path "$RootDir/urdfdom"
 git reset --hard
 git fetch origin "3.0.0"
 git checkout --force FETCH_HEAD
-dos2unix "$RootDir/build_tools/patch_deps_windows/urdfdom.patch"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/urdfdom.patch"
 Pop-Location
 
@@ -162,6 +199,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/cppad")) {
   git clone --depth=1 https://github.com/coin-or/CppAD.git "$RootDir/cppad"
 }
+if (Test-Path -PathType Container "$RootDir/cppad/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/cppad/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/cppad/build"
 Push-Location -Path "$RootDir/cppad"
 git reset --hard
 git fetch origin "20240000.2"
@@ -172,6 +213,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/cppadcodegen")) {
   git clone --depth=1 https://github.com/joaoleal/CppADCodeGen.git "$RootDir/cppadcodegen"
 }
+if (Test-Path -PathType Container "$RootDir/cppadcodegen/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/cppadcodegen/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/cppadcodegen/build"
 Push-Location -Path "$RootDir/cppadcodegen"
 git reset --hard
 git fetch origin "v2.4.3"
@@ -182,6 +227,10 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/assimp")) {
   git clone --depth=1 https://github.com/assimp/assimp.git "$RootDir/assimp"
 }
+if (Test-Path -PathType Container "$RootDir/assimp/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/assimp/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/assimp/build"
 Push-Location -Path "$RootDir/assimp"
 git reset --hard
 git fetch origin "v5.2.5"
@@ -192,15 +241,22 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
   git clone --depth=1 https://github.com/humanoid-path-planner/hpp-fcl.git "$RootDir/hpp-fcl"
 }
+if (Test-Path -PathType Container "$RootDir/hpp-fcl/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/hpp-fcl/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/hpp-fcl/build"
 Push-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
 git fetch origin "v2.4.4"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
-dos2unix "$RootDir/build_tools/patch_deps_windows/hppfcl.patch"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/hppfcl.patch"
 Pop-Location
+if (Test-Path -PathType Container "$RootDir/hpp-fcl/third-parties/qhull/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/hpp-fcl/third-parties/qhull/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/hpp-fcl/third-parties/qhull/build"
 Push-Location -Path "$RootDir/hpp-fcl/third-parties/qhull"
 git fetch origin "v8.0.2"
 git checkout --force FETCH_HEAD
@@ -210,13 +266,16 @@ Pop-Location
 if (-not (Test-Path -PathType Container "$RootDir/pinocchio")) {
   git clone --depth=1 https://github.com/stack-of-tasks/pinocchio.git "$RootDir/pinocchio"
 }
+if (Test-Path -PathType Container "$RootDir/pinocchio/build") {
+  Remove-Item -Recurse -Force -Path "$RootDir/pinocchio/build"
+}
+New-Item -ItemType "directory" -Force -Path "$RootDir/pinocchio/build"
 Push-Location -Path "$RootDir/pinocchio"
 git reset --hard
 git fetch origin "v2.7.0"
 git checkout --force FETCH_HEAD
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --depth 1 --jobs 8
-dos2unix "$RootDir/build_tools/patch_deps_windows/pinocchio.patch"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_windows/pinocchio.patch"
 Pop-Location
 
@@ -257,36 +316,38 @@ if (${BUILD_TYPE} -eq "Release") {
 } else {
   Write-Error "Build type '${BUILD_TYPE}' not supported." -ErrorAction:Stop
 }
-if (-not (Test-Path -PathType Container "$RootDir/boost/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/boost/build"
+
+if (${ARCHITECTURE} -eq "x64") {
+  $ArchiB2 = "x86"
+} elseif (${ARCHITECTURE} -eq "ARM64") {
+  $ArchiB2 = "arm"
 }
 
 # Compiling everything with static linkage except Boost::Python
 ./b2.exe --prefix="$InstallDir" --build-dir="$RootDir/boost/build" `
          --with-chrono --with-timer --with-date_time --with-system --with-test `
          --with-filesystem --with-atomic --with-serialization --with-thread `
-         --build-type=minimal architecture=x86 address-model=64 `
-         threading=single @DebugOptionsB2 --layout=system --lto=off `
-         link=static runtime-link=shared `
-         cxxflags="-std=c++11 ${CMAKE_CXX_FLAGS}" linkflags="${CMAKE_SHARED_LINKER_FLAGS}" `
+         --build-type=minimal --layout=system --lto=off `
+         architecture=${ArchiB2} address-model=64 @DebugOptionsB2 `
+         threading=single link=static runtime-link=shared `
+         cxxflags="-std=c++11 ${CMAKE_CXX_FLAGS}" `
+         linkflags="${CMAKE_SHARED_LINKER_FLAGS}" `
          variant="$BuildTypeB2" install -q -d0 -j2
 
 ./b2.exe --prefix="$InstallDir" --build-dir="$RootDir/boost/build" `
          --with-python `
-         --build-type=minimal architecture=x86 address-model=64 `
-         threading=single @DebugOptionsB2 --layout=system --lto=off `
-         link=shared runtime-link=shared `
-         cxxflags="-std=c++11 ${CMAKE_CXX_FLAGS}" linkflags="${CMAKE_SHARED_LINKER_FLAGS}" `
+         --build-type=minimal --layout=system --lto=off `
+         architecture=${ArchiB2} address-model=64 @DebugOptionsB2 `
+         threading=single link=shared runtime-link=shared `
+         cxxflags="-std=c++11 ${CMAKE_CXX_FLAGS}" `
+         linkflags="${CMAKE_SHARED_LINKER_FLAGS}" `
          variant="$BuildTypeB2" install -q -d0 -j2
 Pop-Location
 
 #################################### Build and install eigen3 ##########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/eigen3/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/eigen3/build"
-}
 Push-Location -Path "$RootDir/eigen3/build"
-cmake "$RootDir/eigen3" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/eigen3" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=OFF
 cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
@@ -294,11 +355,8 @@ Pop-Location
 
 ################################### Build and install eigenpy ##########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/eigenpy/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/eigenpy/build"
-}
 Push-Location -Path "$RootDir/eigenpy/build"
-cmake "$RootDir/eigenpy" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/eigenpy" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
@@ -313,11 +371,8 @@ Pop-Location
 
 ################################## Build and install tinyxml ###########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/tinyxml/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/tinyxml/build"
-}
 Push-Location -Path "$RootDir/tinyxml/build"
-cmake "$RootDir/tinyxml" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/tinyxml" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_SHARED_LINKER_FLAGS="${CMAKE_SHARED_LINKER_FLAGS}" `
@@ -327,11 +382,8 @@ Pop-Location
 
 ############################## Build and install console_bridge ########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/console_bridge/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/console_bridge/build"
-}
 Push-Location -Path "$RootDir/console_bridge/build"
-cmake "$RootDir/console_bridge" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/console_bridge" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_SHARED_LINKER_FLAGS="${CMAKE_SHARED_LINKER_FLAGS}" `
@@ -341,22 +393,16 @@ Pop-Location
 
 ############################### Build and install urdfdom_headers ######################################
 
-if (-not (Test-Path -PathType Container "$RootDir/urdfdom_headers/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/urdfdom_headers/build"
-}
 Push-Location -Path "$RootDir/urdfdom_headers/build"
-cmake "$RootDir/urdfdom_headers" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/urdfdom_headers" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir"
 cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
 Pop-Location
 
 ################################## Build and install urdfdom ###########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/urdfdom/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/urdfdom/build"
-}
 Push-Location -Path "$RootDir/urdfdom/build"
-cmake "$RootDir/urdfdom" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/urdfdom" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=ON -DBUILD_TESTING=OFF -DBUILD_SHARED_LIBS=OFF `
@@ -367,11 +413,8 @@ Pop-Location
 
 ################################### Build and install CppAD ##########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/cppad/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/cppad/build"
-}
 Push-Location -Path "$RootDir/cppad/build"
-cmake "$RootDir/cppad" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/cppad" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DCMAKE_SHARED_LINKER_FLAGS="${CMAKE_SHARED_LINKER_FLAGS}" -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}"
@@ -380,11 +423,8 @@ Pop-Location
 
 ################################### Build and install CppADCodeGen ##########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/cppadcodegen/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/cppadcodegen/build"
-}
 Push-Location -Path "$RootDir/cppadcodegen/build"
-cmake "$RootDir/cppadcodegen" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/cppadcodegen" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DGOOGLETEST_GIT=ON -DCMAKE_SHARED_LINKER_FLAGS="${CMAKE_SHARED_LINKER_FLAGS}" `
@@ -394,11 +434,8 @@ Pop-Location
 
 ###################################### Build and install assimp ########################################
 
-if (-not (Test-Path -PathType Container "$RootDir/assimp/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/assimp/build"
-}
 Push-Location -Path "$RootDir/assimp/build"
-cmake "$RootDir/assimp" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/assimp" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=OFF -DASSIMP_BUILD_TESTS=OFF `
@@ -415,7 +452,7 @@ Pop-Location
 #   add the desired flag at the end of CMAKE_CXX_FLAGS ("/MT", "/MD"...). It will take precedence over
 #   any existing flag if any.
 Push-Location -Path "$RootDir/hpp-fcl/third-parties/qhull/build"
-cmake "$RootDir/hpp-fcl/third-parties/qhull" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/hpp-fcl/third-parties/qhull" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_SHARED_LINKER_FLAGS="${CMAKE_SHARED_LINKER_FLAGS}" `
@@ -424,11 +461,8 @@ cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
 Pop-Location
 
 ### Build hpp-fcl
-if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/hpp-fcl/build"
-}
 Push-Location -Path "$RootDir/hpp-fcl/build"
-cmake "$RootDir/hpp-fcl" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/hpp-fcl" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
@@ -445,11 +479,8 @@ Pop-Location
 ################################ Build and install Pinocchio ##########################################
 
 ### Build and install pinocchio, finally !
-if (-not (Test-Path -PathType Container "$RootDir/pinocchio/build")) {
-  New-Item -ItemType "directory" -Force -Path "$RootDir/pinocchio/build"
-}
 Push-Location -Path "$RootDir/pinocchio/build"
-cmake "$RootDir/pinocchio" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
+cmake "$RootDir/pinocchio" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
diff --git a/build_tools/patch_deps_windows/eigenpy.patch b/build_tools/patch_deps_windows/eigenpy.patch
index ad6534f74..ae5648d7e 100644
--- a/build_tools/patch_deps_windows/eigenpy.patch
+++ b/build_tools/patch_deps_windows/eigenpy.patch
@@ -4,7 +4,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 @@ -206,7 +206,7 @@
      src/optional.cpp
      src/version.cpp)
-
+ 
 -add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
 +add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SOURCES}
                                     ${${PROJECT_NAME}_HEADERS})
@@ -27,7 +27,7 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 +  endif()
 +  set(Boost_USE_STATIC_LIBS ON)
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
-
+ 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
 @@ -192,7 +200,6 @@
    string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})
diff --git a/build_tools/patch_deps_windows/hppfcl.patch b/build_tools/patch_deps_windows/hppfcl.patch
index 0a1508269..070637785 100644
--- a/build_tools/patch_deps_windows/hppfcl.patch
+++ b/build_tools/patch_deps_windows/hppfcl.patch
@@ -16,7 +16,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 +  ADD_PROJECT_DEPENDENCY(Boost REQUIRED system)
 -  find_package(Boost REQUIRED COMPONENTS system)
  endif(BUILD_PYTHON_INTERFACE)
-  
+ 
  if(Boost_VERSION_STRING VERSION_LESS 1.81)
    # Default C++ version should be C++11
    CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
@@ -51,7 +51,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 @@ -283,7 +274,6 @@
    include/hpp/fcl/timings.h
    )
-
+ 
 -add_subdirectory(doc)
  add_subdirectory(src)
  if (BUILD_PYTHON_INTERFACE)
@@ -70,7 +70,7 @@ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
 @@ -179,6 +178,7 @@
  ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
  ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
-
+ 
 +ADD_PROJECT_DEPENDENCY(assimp REQUIRED)
  MODERNIZE_TARGET_LINK_LIBRARIES(${LIBRARY_NAME} SCOPE PRIVATE
    TARGETS assimp::assimp
@@ -101,7 +101,7 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 +  endif()
 +  set(Boost_USE_STATIC_LIBS ON)
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
-
+ 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
 @@ -192,7 +200,6 @@
    string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})
diff --git a/build_tools/patch_deps_windows/pinocchio.patch b/build_tools/patch_deps_windows/pinocchio.patch
index c5a5a5ed8..75205d0c3 100644
--- a/build_tools/patch_deps_windows/pinocchio.patch
+++ b/build_tools/patch_deps_windows/pinocchio.patch
@@ -6,7 +6,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
  SET_BOOST_DEFAULT_OPTIONS()
  EXPORT_BOOST_DEFAULT_OPTIONS()
 -ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
-
+ 
  IF(Boost_VERSION_STRING VERSION_LESS 1.81)
      IF(BUILD_WITH_URDF_SUPPORT AND ${urdfdom_VERSION} VERSION_GREATER "0.4.2")
 @@ -163,6 +162,9 @@
@@ -49,7 +49,7 @@ diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
 +++ b/src/CMakeLists.txt
 @@ -17,7 +17,7 @@
    ${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
-
+ 
  # Create target libpinocchio.so
 -ADD_LIBRARY(${PROJECT_NAME} SHARED
 +ADD_LIBRARY(${PROJECT_NAME}
@@ -73,7 +73,7 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 +  endif()
 +  set(Boost_USE_STATIC_LIBS ON)
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
-
+ 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
 @@ -192,7 +200,6 @@
    string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})
diff --git a/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py b/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py
index 67517b554..33f71ee18 100644
--- a/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py
+++ b/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py
@@ -688,6 +688,7 @@ def reset(self,  # type: ignore[override]
 
         # Re-initialize some shared memories.
         # It is necessary because the robot may have changed.
+        self.robot = self.simulator.robot
         self.robot_state = self.simulator.robot_state
         self.sensor_measurements = OrderedDict(self.robot.sensor_measurements)
 
diff --git a/python/jiminy_py/src/jiminy_py/viewer/replay.py b/python/jiminy_py/src/jiminy_py/viewer/replay.py
index 68cd8e9b2..61bcbe639 100644
--- a/python/jiminy_py/src/jiminy_py/viewer/replay.py
+++ b/python/jiminy_py/src/jiminy_py/viewer/replay.py
@@ -678,7 +678,8 @@ def play_trajectories(
                     # of the whole recording process (~75% on discrete gpu).
                     buffer = Viewer.capture_frame(
                         *record_video_size, raw_data=True)
-                    memoryview(frame.planes[0])[:] = buffer
+                    memoryview(
+                        frame.planes[0])[:] = buffer  # type: ignore[arg-type]
 
                     # Write frame
                     for packet in stream.encode(frame):