diff --git a/pyproject.toml b/pyproject.toml
index 6ef1bfc..5d50013 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -35,7 +35,7 @@ keywords = ["robot", "description", "urdf", "mjcf"]
 opts = [
     "idyntree >= 8.0.0",
     "mujoco >=3.2.0",
-    "pin >=2.6.10",
+    "pin >= 3.1.0",
     "pybullet >=3.2.6",
     "robomeshcat >=1.0.4",
     "yourdfpy >=0.0.56",
diff --git a/tox.ini b/tox.ini
index 51a4545..78abb59 100644
--- a/tox.ini
+++ b/tox.ini
@@ -15,7 +15,7 @@ deps =
     idyntree >= 8.0.0
     mujoco >=2.3.5
     numpy >=1.23.4,<2
-    pin >=2.6.14
+    pin >= 3.1.0
     pybullet >=3.2.5
     robomeshcat >= 1.0.4
     yourdfpy >=0.0.56
@@ -32,7 +32,7 @@ deps =
     mujoco >=2.3.5
     mypy
     numpy >=1.23.4,<2
-    pin >=2.6.14
+    pin >= 3.1.0
     pybullet >=3.2.5
     pylint
     robomeshcat >= 1.0.4
@@ -62,7 +62,7 @@ commands =
 [testenv:loader-pinocchio]
 changedir = {toxinidir}/tests/loaders
 deps =
-    pin >=2.6.14
+    pin >= 3.1.0
 commands =
     python -m unittest test_pinocchio.py --failfast