diff --git a/poetry.lock b/poetry.lock
index f843567..0600dad 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1039,21 +1039,17 @@ name = "forwardkinematics"
 version = "1.2.2"
 description = "\"Light-weight implementation of forward kinematics using casadi.\""
 optional = false
-python-versions = "^3.8,<4.0"
-files = []
-develop = false
+python-versions = "<4.0,>=3.8"
+files = [
+    {file = "forwardkinematics-1.2.2-py3-none-any.whl", hash = "sha256:c71aa9316158b9afcccc43f1295945aa81a38b7a802a907c71b780aedfbc820c"},
+    {file = "forwardkinematics-1.2.2.tar.gz", hash = "sha256:b7545ecaf3494f6db8a2515fc254884b136db24bb0f1d3e0934318ec68c9718d"},
+]
 
 [package.dependencies]
-casadi = "^3.5.4,!=3.5.5.post1,!=3.5.5.post2"
-numpy = "^1.15.3"
+casadi = ">=3.5.4,<3.5.5.post1 || >3.5.5.post1,<3.5.5.post2 || >3.5.5.post2,<4.0.0"
+numpy = ">=1.15.3,<2.0.0"
 urdf_parser_py = ">=0.0.3"
 
-[package.source]
-type = "git"
-url = "https://github.com/maxspahn/forwardKinematics"
-reference = "develop"
-resolved_reference = "8e83d1c43b2db198505c1abfeee2ea82146cb8b7"
-
 [[package]]
 name = "fqdn"
 version = "1.5.1"
@@ -4816,4 +4812,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.8,<3.10"
-content-hash = "fb82d56080ad2d7eba12f6ad5bc62f20387612b9a45d324ed244bd559095b90b"
+content-hash = "c8be5a133a66deeffe443aed26636bd5ed83455e17ceb83a09fc911ca1c361a0"
diff --git a/pyproject.toml b/pyproject.toml
index 2f32343..6e5d872 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "fabrics"
-version = "0.9.3"
+version = "0.9.4"
 description = "Optimization fabrics in python."
 authors = ["Max Spahn <m.spahn@tudelft.nl>"]
 readme = "README.md"
@@ -21,7 +21,7 @@ pynput = "^1.7.6"
 vector = "^1.1.1"
 pytest = "6.2.5"
 deprecation = "^2.1.0"
-forwardkinematics = {git = "https://github.com/maxspahn/forwardKinematics", rev = "develop"}
+forwardkinematics = "^1.2.2"
 
 [tool.poetry.group.dev]
 optional = true