diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index 0a329789b..cd48f10df 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -10,7 +10,7 @@ set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
 set_tag(manif_TAG 0.0.4.103)
 set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
-set_tag(proxsuite_TAG v0.6.3)
+set_tag(proxsuite_TAG v0.6.4)
 set_tag(casadi_TAG 3.6.5)
 set_tag(casadi-matlab-bindings_TAG v3.6.5.0)
 
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index b3fe9c48b..bb5ae2e68 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -10,7 +10,7 @@ set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
 set_tag(manif_TAG 0.0.4.103)
 set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
-set_tag(proxsuite_TAG v0.6.3)
+set_tag(proxsuite_TAG v0.6.4)
 set_tag(casadi_TAG 3.6.5)
 set_tag(casadi-matlab-bindings_TAG v3.6.5.0)
 
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 09091466a..1af18de93 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -250,7 +250,7 @@ repositories:
   proxsuite:
     type: git
     url: https://github.com/Simple-Robotics/proxsuite.git
-    version: v0.6.3
+    version: v0.6.4
   BayesFilters:
     type: git
     url: https://github.com/robotology/bayes-filters-lib.git
@@ -275,3 +275,7 @@ repositories:
     type: git
     url: https://github.com/ami-iit/yarp-device-keyboard-joypad.git
     version: v0.0.1
+  gz-sim-yarp-plugins:
+    type: git
+    url: https://github.com/robotology/gz-sim-yarp-plugins.git
+    version: v0.2.0