diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index cd77ebc..1effbf7 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -2,6 +2,11 @@ name: Tests
 
 on:
   push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
   schedule:
     - cron: "0 7 * * 0"
 
@@ -12,13 +17,14 @@ env:
 
 jobs:
   test:
-    name: "Test ${{ matrix.pm }} on ${{ matrix.os }}"
+    name: "Test ${{ matrix.pm }} on ${{ matrix.os }} ${{ matrix.arch }}"
     runs-on: "${{ matrix.os }}-latest"
     strategy:
       fail-fast: false
       matrix:
         pm: ["pip", "conda", "nix"]
         os: ["ubuntu", "macos", "windows"]
+        arch: ["main"]
         exclude:
           - pm: "pip"
             os: "windows"
@@ -29,18 +35,29 @@ jobs:
             os: "ubuntu"
           - pm: "ros"
             os: "ubuntu"
+          - pm: "brew"
+            os: "macos"
+          - arch: "aarch64"
+            os: "ubuntu"
+            pm: "pip"
+          - arch: "aarch64"
+            os: "ubuntu"
+            pm: "nix"
     steps:
       - uses: actions/checkout@v3
 
-      # pip
-      - if: matrix.pm == 'pip'
-        uses: actions/setup-python@v4  # required only because macos-latest still has python 2 by default…
+      # aarch64
+      - name: Set up QEMU
+        if: matrix.arch == 'aarch64'
+        uses: docker/setup-qemu-action@v3
         with:
-          python-version: "3.11"
-      - if: matrix.pm == 'pip'
-        run: pip install pin[build]
-      - if: matrix.pm == 'pip'
-        run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
+          platforms: all
+
+      # brew
+      - if: matrix.pm == 'brew'
+        uses: Homebrew/actions/setup-homebrew@master
+      - if: matrix.pm == 'brew'
+        run: brew install pinocchio
 
       # conda
       - if: matrix.pm == 'conda'
@@ -52,17 +69,28 @@ jobs:
 
       # nix
       - if: matrix.pm == 'nix'
-        uses: cachix/install-nix-action@v21
-        with:
-          nix_path: nixpkgs=channel:nixpkgs-unstable
+        uses: cachix/install-nix-action@v30
       - if: matrix.pm == 'nix'
-        run: nix-channel --update
+        uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
       - if: matrix.pm == 'nix'
         run: >
-          nix shell   'nixpkgs#python311Packages.pinocchio' -c
-          nix develop 'nixpkgs#python311Packages.pinocchio' -c
+          nix shell   'nixpkgs#python3Packages.pinocchio' -c
+          nix develop 'nixpkgs#python3Packages.pinocchio' -c
           env | grep .=. >> $GITHUB_ENV
 
+      # pip
+      - if: matrix.pm == 'pip'
+        uses: actions/setup-python@v4  # required only because macos-latest still has python 2 by default…
+        with:
+          python-version: "3.13"
+      - if: matrix.pm == 'pip'
+        run: pip install pin[build]
+      - if: matrix.pm == 'pip'
+        run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
+
       # robotpkg
       - if: matrix.pm == 'robotpkg'
         run: sudo wget "${ROBOTPKG_URL}/robotpkg.gpg" -O /robotpkg.gpg
@@ -71,7 +99,7 @@ jobs:
           echo "deb [arch=amd64 signed-by=/robotpkg.gpg] ${ROBOTPKG_URL}/pub ${UBUNTU} robotpkg"
           | sudo tee /etc/apt/sources.list.d/robotpkg.list
       - if: matrix.pm == 'robotpkg'
-        run: sudo apt-get update && sudo apt-get install -qy robotpkg-py310-pinocchio
+        run: sudo apt-get update && sudo apt-get install -qy robotpkg-py3*-pinocchio
       - if: matrix.pm == 'robotpkg'
         run: echo "CMAKE_PREFIX_PATH=/opt/openrobots" >> $GITHUB_ENV
 
@@ -100,33 +128,29 @@ jobs:
       - run: cmake --build build
       - run: ./build/main
 
-  #test-docker:
-    #runs-on: "ubuntu-latest"
-    #container: ${{ matrix.container }}
-    #strategy:
-      #matrix:
-        #container: ["archlinux/archlinux:base-devel"]
-    #steps:
-      #- uses: actions/checkout@v3
-
-      #- run: curl https://github.com/Morganamilo/paru/releases/download/v1.11.2/paru-v1.11.2-x86_64.tar.zst -O
-      #- run: pacman -Syu "paru-*.tar.zst"
-      #- run: paru -Syu pinocchio
-
-      #- run: cmake -B build -S .
-      #- run: cmake --build build
-      #- run: ./build/main
-
-  #test-aarch64:
-    #runs-on: "ubuntu-latest"
-    #container: ${{ matrix.container }}
-    #strategy:
-      #matrix:
-        #container: ["archlinux/archlinux:base-devel"]
-        #pm: ["pip", "conda", "nix"]
-    #steps:
-      #- uses: actions/checkout@v3
-
-      #- run: cmake -B build -S .
-      #- run: cmake --build build
-      #- run: ./build/main
+  test-arch:
+    runs-on: "ubuntu-latest"
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        container: ["archlinux/archlinux:base-devel"]
+    env:
+      MAKEFLAGS: -j4
+    steps:
+      - uses: actions/checkout@v3
+
+      # install paru
+      - run: pacman -Syu --noconfirm git
+      - run: useradd -mG wheel user
+      - run: echo "%wheel ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+      - run: git clone https://aur.archlinux.org/paru-bin.git
+      - run: chown -R user paru-bin
+      - run: su user -c "makepkg -D paru-bin -si --noconfirm"
+
+      # use paru to install pinocchio and its dependencies from AUR
+      - run: su user -c "paru -Syu --noconfirm pinocchio"
+
+      - run: cmake -B build -S .
+      - run: cmake --build build
+      - run: ./build/main