diff --git a/examples/ik.ipynb b/examples/ik.ipynb
index 27f5de72..6f1bacdf 100644
--- a/examples/ik.ipynb
+++ b/examples/ik.ipynb
@@ -3,8 +3,8 @@
     {
       "cell_type": "markdown",
       "metadata": {
-        "id": "view-in-github",
-        "colab_type": "text"
+        "colab_type": "text",
+        "id": "view-in-github"
       },
       "source": [
         "<a href=\"https://colab.research.google.com/github/ami-iit/adam/blob/main/examples/ik.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>"
@@ -31,7 +31,7 @@
       "outputs": [],
       "source": [
         "!pip install mujoco\n",
-        "!pip install adam-robotics\n",
+        "!pip install adam-robotics[casadi]\n",
         "!pip install -q mediapy\n",
         "!git clone https://github.com/google-deepmind/mujoco_menagerie.git\n",
         "!wget https://raw.githubusercontent.com/bulletphysics/bullet3/master/examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf\n",
@@ -283,11 +283,11 @@
   ],
   "metadata": {
     "colab": {
-      "provenance": [],
-      "include_colab_link": true
+      "include_colab_link": true,
+      "provenance": []
     },
     "kernelspec": {
-      "display_name": "adam_env",
+      "display_name": "adamenv",
       "language": "python",
       "name": "python3"
     },
@@ -301,7 +301,7 @@
       "name": "python",
       "nbconvert_exporter": "python",
       "pygments_lexer": "ipython3",
-      "version": "3.10.11"
+      "version": "3.13.7"
     }
   },
   "nbformat": 4,
diff --git a/pyproject.toml b/pyproject.toml
index 6165eb1b..5387def0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,7 +36,7 @@ dependencies = [
 
 [project.optional-dependencies]
 jax = ["jax<=0.6.0", "jaxlib"]
-casadi = ["casadi"]
+casadi = ["casadi", "liecasadi"]
 pytorch = ["torch", "jax", "jaxlib"]
 test = [
   "jax<=0.6.0",