diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
index 032ddc616..073c3272e 100644
--- a/.github/workflows/linux.yml
+++ b/.github/workflows/linux.yml
@@ -16,7 +16,7 @@ jobs:
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['3.10', '3.11', '3.12']
+        PYTHON_VERSION: ['3.10', '3.11', '3.12', '3.13']
         BUILD_TYPE: ['Release']
         include:
           - PYTHON_VERSION: '3.12'
@@ -69,10 +69,9 @@ jobs:
 
         git config --global advice.detachedHead false
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.13'
       run: |
-        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<=1.0" "stable_baselines3>=2.0,<2.5"
+        "${PYTHON_EXECUTABLE}" -m pip install torch -f https://download.pytorch.org/whl/torch
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.1" "stable_baselines3>=2.0,<2.5"
     - name: Install latest numpy version at build-time for run-time binary compatibility
       run: |
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch
@@ -95,7 +94,6 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE -DBoost_USE_STATIC_LIBS=ON \
               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         make install -j4
 
@@ -133,7 +131,7 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
     - name: Run examples for gym jiminy add-on modules
-      if: matrix.BUILD_TYPE != 'Debug'
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.13'
       run: |
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index 054a2cc69..49feb7d0a 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -16,7 +16,7 @@ jobs:
     strategy:
       matrix:
         OS: ['macos-15']  # 'macos-13': Intel (x86), 'macos-14+': Apple Silicon (arm64)
-        PYTHON_VERSION: ['3.10', '3.11', '3.12']  # `setup-python` does not support Python<3.10 on Apple Silicon
+        PYTHON_VERSION: ['3.10', '3.11', '3.12', '3.13']  # `setup-python` does not support Python<3.10 on Apple Silicon
         BUILD_TYPE: ['Release']
         include:
           - OS: 'macos-13'
@@ -72,10 +72,14 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
         "${PYTHON_EXECUTABLE}" -m pip install delocate twine
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.13'
       run: |
-        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<=1.0" "stable_baselines3>=2.0,<2.5"
+        # FIXME: Pre-release 2.6 is needed to install torch for Python 3.13 on MacOS
+        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
+          "${PYTHON_EXECUTABLE}" -m pip install --pre torch --index-url https://download.pytorch.org/whl/nightly/cpu
+        else
+          "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
+        fi
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.1" "stable_baselines3>=2.0,<2.5"
     - name: Install latest numpy version at build-time for run-time binary compatibility
       run: |
         if [[ "${{ matrix.BUILD_TYPE }}" != 'Debug' && "${{ matrix.OS }}" != 'macos-13' ]] ; then
@@ -114,7 +118,6 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         make -j4
 
@@ -214,7 +217,7 @@ jobs:
         "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v
 
     - name: Run examples for gym jiminy add-on modules
-      if: matrix.BUILD_TYPE != 'Debug'
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.13'
       run: |
         export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
 
diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
index e001351af..21694bdba 100644
--- a/.github/workflows/manylinux.yml
+++ b/.github/workflows/manylinux.yml
@@ -13,7 +13,7 @@ jobs:
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['cp310', 'cp311', 'cp312']
+        PYTHON_VERSION: ['cp310', 'cp311', 'cp312', 'cp313']
         OS: [ubuntu-24.04]
         include:
           - OS: ubuntu-24.04
@@ -87,7 +87,6 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == 'cp313' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
         make -j4
 
diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index 90a1c2313..f0087e75e 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -75,8 +75,8 @@ jobs:
         if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
           sudo apt install ninja-build
         fi
-        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<=1.0" "stable_baselines3>=2.0,<2.5"
+        "${PYTHON_EXECUTABLE}" -m pip install torch -f https://download.pytorch.org/whl/torch
+        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.1" "stable_baselines3>=2.0,<2.5"
 
     #####################################################################################
 
diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
index 2cb887f96..b1b18ee18 100644
--- a/.github/workflows/win.yml
+++ b/.github/workflows/win.yml
@@ -24,7 +24,7 @@ jobs:
 
     strategy:
       matrix:
-        PYTHON_VERSION: ['3.10', '3.11', '3.12']
+        PYTHON_VERSION: ['3.10', '3.11', '3.12', '3.13']
         BUILD_TYPE: ['Release']
         include:
           - PYTHON_VERSION: '3.12'
@@ -58,10 +58,10 @@ jobs:
         python -m pip install setuptools wheel "pip>=20.3"
         python -m pip install pefile machomachomangler
     - name: Install pre-compiled binaries for additional gym-jiminy dependencies
-      if: matrix.PYTHON_VERSION != '3.13'
       run: |
-        python -m pip install "torch" -f https://download.pytorch.org/whl/torch
-        python -m pip install "gymnasium>=0.28,<=1.0" "stable_baselines3>=2.0,<2.5"
+        # FIXME: Pre-release 2.6 is needed to install torch for Python 3.13 on Windows
+        python -m pip install --pre torch --index-url https://download.pytorch.org/whl/nightly/cpu
+        python -m pip install "gymnasium>=0.28,<1.1" "stable_baselines3>=2.0,<2.5"
     - name: Install latest numpy version at build-time for run-time binary compatibility
       run: |
         python -m pip install --upgrade "numpy>=1.24" numba torch
@@ -100,7 +100,6 @@ jobs:
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_REQUIRED_VERSION="${{ matrix.PYTHON_VERSION }}" `
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
-              -DINSTALL_GYM_JIMINY=${{ ((matrix.PYTHON_VERSION == '3.13') && 'OFF') || 'ON' }} `
               -DCMAKE_CXX_FLAGS="${env:CXX_FLAGS} $(
               ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $(
               ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
@@ -124,15 +123,17 @@ jobs:
         ${env:Path} += ";$InstallDir/lib"
 
         # Generate stubs
-        # FIXME: stubgen does not work with Numpy 2.X
-        # (see https://github.com/python/mypy/issues/17396)
-        python -m pip install "numpy<2.0"
-        stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src
-        python "$RootDir/build_tools/stubgen.py" `
-          -o $RootDir/build/stubs --ignore-invalid=all jiminy_py
-        Copy-Item -Force -Path "$RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi" `
-                  -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi"
-        python -m pip install --upgrade "numpy>=1.24" numba torch
+        if ("${{ matrix.PYTHON_VERSION }}" -ne "3.13") {
+          # FIXME: stubgen does not work with Numpy 2.X
+          # (see https://github.com/python/mypy/issues/17396)
+          python -m pip install "numpy<2.0"
+          stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src
+          python "$RootDir/build_tools/stubgen.py" `
+            -o $RootDir/build/stubs --ignore-invalid=all jiminy_py
+          Copy-Item -Force -Path "$RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi" `
+                    -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi"
+          python -m pip install --upgrade "numpy>=1.24" numba torch
+        fi
 
         # Generate wheels
         Set-Location -Path "$RootDir/build"
@@ -202,7 +203,7 @@ jobs:
         python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v
 
     - name: Run examples for gym jiminy add-on modules
-      if: matrix.BUILD_TYPE != 'Debug'
+      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.13'
       run: |
         $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
 
diff --git a/core/src/engine/engine.cc b/core/src/engine/engine.cc
index 3469c6146..efa21788c 100644
--- a/core/src/engine/engine.cc
+++ b/core/src/engine/engine.cc
@@ -1505,11 +1505,12 @@ namespace jiminy
             telemetrySender_->registerConstant(key, saveToBinary(robot, isPersistent));
         }
 
-        // Log the ground profile if requested
+        // Log the (simplified) ground profile if requested
         if (engineOptions_->telemetry.isPersistent)
         {
-            hpp::fcl::CollisionGeometryPtr_t heightmap = discretizeHeightmap(
-                engineOptions_->world.groundProfile, -10.0, 10.0, 0.04, -10.0, 10.0, 0.04);
+            const HeightmapFunction & groundProfile = engineOptions_->world.groundProfile;
+            hpp::fcl::CollisionGeometryPtr_t heightmap =
+                discretizeHeightmap(groundProfile, -10.0, 10.0, 0.04, -10.0, 10.0, 0.04, true);
             telemetrySender_->registerConstant("groundProfile", saveToBinary(heightmap));
         }
 
diff --git a/python/gym_jiminy/common/gym_jiminy/common/quantities/generic.py b/python/gym_jiminy/common/gym_jiminy/common/quantities/generic.py
index 42fd6732d..ed5e148da 100644
--- a/python/gym_jiminy/common/gym_jiminy/common/quantities/generic.py
+++ b/python/gym_jiminy/common/gym_jiminy/common/quantities/generic.py
@@ -1633,7 +1633,10 @@ def initialize(self) -> None:
         joint_to_motor_ratios = []
         self.kinematic_indices.clear()
         for motor in self.robot.motors:
-            joint = self.pinocchio_model.joints[motor.joint_index]
+            # Note that pinocchio model may be theoretical or extended, which
+            # means that `motor.joint_index` cannot be used reliably.
+            joint_index = self.pinocchio_model.getJointId(motor.joint_name)
+            joint = self.pinocchio_model.joints[joint_index]
             joint_type = jiminy.get_joint_type(joint)
             if joint_type == jiminy.JointModelType.ROTARY_UNBOUNDED:
                 raise ValueError(
diff --git a/python/gym_jiminy/common/gym_jiminy/common/wrappers/scale.py b/python/gym_jiminy/common/gym_jiminy/common/wrappers/scale.py
index 4965ed42c..232361a5f 100644
--- a/python/gym_jiminy/common/gym_jiminy/common/wrappers/scale.py
+++ b/python/gym_jiminy/common/gym_jiminy/common/wrappers/scale.py
@@ -217,6 +217,8 @@ def __init__(self,
                 copy_ops.append((dst, src))
             observation_flat.append(dst)
         if copy_ops:
+            # FIXME: Could be optimized by avoiding copying fields for which
+            # the union of extracted slices is covering the whole subspace.
             self._copyto_dst, self._copyto_src = map(tuple, zip(*copy_ops))
         else:
             self._copyto_dst, self._copyto_src = (), ()
@@ -234,7 +236,7 @@ def _initialize_observation_space(self) -> None:
     def transform_observation(self) -> None:
         # First, copy the value of some leaves.
         # Guarding function call is faster than calling no-op python bindings.
-        if not self._copyto_dst:
+        if self._copyto_dst:
             multi_array_copyto(self._copyto_dst, self._copyto_src)
 
         # Apply scaling factor sequentially on some chunks
diff --git a/python/gym_jiminy/common/setup.py b/python/gym_jiminy/common/setup.py
index c751e96ff..5fc85ba21 100644
--- a/python/gym_jiminy/common/setup.py
+++ b/python/gym_jiminy/common/setup.py
@@ -31,7 +31,7 @@
                   "@PROJECT_VERSION@.tar.gz"),
     maintainer="Alexis Duburcq",
     license="MIT",
-    python_requires=">=3.10,<3.13",
+    python_requires=">=3.10,<3.14",
     classifiers=[
         "Development Status :: 3 - Alpha",
         "Intended Audience :: Science/Research",
@@ -40,7 +40,8 @@
         "License :: OSI Approved :: MIT License",
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
-        "Programming Language :: Python :: 3.12"
+        "Programming Language :: Python :: 3.12",
+        "Programming Language :: Python :: 3.13"
     ],
     keywords="reinforcement-learning robotics gym jiminy",
     packages=find_namespace_packages(),
diff --git a/python/gym_jiminy/envs/setup.py b/python/gym_jiminy/envs/setup.py
index 35e261ae6..d4bc41f19 100644
--- a/python/gym_jiminy/envs/setup.py
+++ b/python/gym_jiminy/envs/setup.py
@@ -13,7 +13,7 @@
     author_email="alexis.duburcq@gmail.com",
     maintainer="Alexis Duburcq",
     license="MIT",
-    python_requires=">=3.10,<3.13",
+    python_requires=">=3.10,<3.14",
     classifiers=[
         "Development Status :: 3 - Alpha",
         "Intended Audience :: Science/Research",
@@ -22,7 +22,8 @@
         "License :: OSI Approved :: MIT License",
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
-        "Programming Language :: Python :: 3.12"
+        "Programming Language :: Python :: 3.12",
+        "Programming Language :: Python :: 3.13"
     ],
     keywords="reinforcement-learning robotics gym jiminy",
     packages=find_namespace_packages(),
diff --git a/python/gym_jiminy/rllib/setup.py b/python/gym_jiminy/rllib/setup.py
index b89276b22..d91340b42 100644
--- a/python/gym_jiminy/rllib/setup.py
+++ b/python/gym_jiminy/rllib/setup.py
@@ -14,7 +14,7 @@
     author_email="alexis.duburcq@gmail.com",
     maintainer="Alexis Duburcq",
     license="MIT",
-    python_requires=">=3.10,<3.13",
+    python_requires=">=3.10,<3.14",
     classifiers=[
         "Development Status :: 2 - Pre-Alpha",
         "Intended Audience :: Science/Research",
@@ -23,7 +23,8 @@
         "License :: OSI Approved :: MIT License",
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
-        "Programming Language :: Python :: 3.12"
+        "Programming Language :: Python :: 3.12",
+        "Programming Language :: Python :: 3.13"
     ],
     keywords="reinforcement-learning robotics gym jiminy",
     packages=find_namespace_packages(),
diff --git a/python/gym_jiminy/toolbox/setup.py b/python/gym_jiminy/toolbox/setup.py
index eb4baa4ea..373f6c75e 100644
--- a/python/gym_jiminy/toolbox/setup.py
+++ b/python/gym_jiminy/toolbox/setup.py
@@ -14,7 +14,7 @@
     author_email="alexis.duburcq@gmail.com",
     maintainer="Alexis Duburcq",
     license="MIT",
-    python_requires=">=3.10,<3.13",
+    python_requires=">=3.10,<3.14",
     classifiers=[
         "Development Status :: 3 - Alpha",
         "Intended Audience :: Science/Research",
@@ -23,7 +23,8 @@
         "License :: OSI Approved :: MIT License",
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
-        "Programming Language :: Python :: 3.12"
+        "Programming Language :: Python :: 3.12",
+        "Programming Language :: Python :: 3.13"
     ],
     keywords="reinforcement-learning robotics gym jiminy",
     packages=find_namespace_packages(),
diff --git a/python/gym_jiminy/unit_py/test_task_curriculum.py b/python/gym_jiminy/unit_py/test_task_curriculum.py
index 292cd0192..2eb765525 100644
--- a/python/gym_jiminy/unit_py/test_task_curriculum.py
+++ b/python/gym_jiminy/unit_py/test_task_curriculum.py
@@ -11,16 +11,21 @@
 import numpy as np
 import gymnasium as gym
 
-import ray
-from ray.tune.registry import register_env
-from ray.rllib.algorithms import PPOConfig
-from ray.rllib.core.rl_module.default_model_config import DefaultModelConfig
+try:
+    import ray
+    from ray.tune.registry import register_env
+    from ray.rllib.algorithms import PPOConfig
+    from ray.rllib.core.rl_module.default_model_config import DefaultModelConfig
+    IS_RAY_AVAILABLE = True
+except ImportError:
+    IS_RAY_AVAILABLE = False
 
 from gym_jiminy.common.wrappers import FlattenObservation
 from gym_jiminy.envs import AcrobotJiminyEnv
 from gym_jiminy.toolbox.wrappers.meta_envs import BaseTaskSettableWrapper
-from gym_jiminy.rllib.utilities import initialize, train
-from gym_jiminy.rllib.curriculum import build_task_scheduling_callback
+if IS_RAY_AVAILABLE:
+    from gym_jiminy.rllib.utilities import initialize, train
+    from gym_jiminy.rllib.curriculum import build_task_scheduling_callback
 
 
 # Fix the seed for CI stability
@@ -62,6 +67,7 @@ def get_score(self) -> float:
         return float(score)
 
 
+@unittest.skipIf(not IS_RAY_AVAILABLE, "Ray is not available.")
 class AcrobotTaskCurriculum(unittest.TestCase):
     """ TODO: Write documentation.
     """
diff --git a/python/jiminy_py/setup.py b/python/jiminy_py/setup.py
index b69220479..732e9d889 100644
--- a/python/jiminy_py/setup.py
+++ b/python/jiminy_py/setup.py
@@ -60,7 +60,7 @@ def finalize_options(self) -> None:
     author_email="alexis.duburcq@gmail.com",
     maintainer="Alexis Duburcq",
     license="MIT",
-    python_requires=">=3.10,<3.13",
+    python_requires=">=3.10,<3.14",
     classifiers=[
         "Development Status :: 4 - Beta",
         "Intended Audience :: Science/Research",
@@ -69,7 +69,8 @@ def finalize_options(self) -> None:
         "License :: OSI Approved :: MIT License",
         "Programming Language :: Python :: 3.10",
         "Programming Language :: Python :: 3.11",
-        "Programming Language :: Python :: 3.12"
+        "Programming Language :: Python :: 3.12",
+        "Programming Language :: Python :: 3.13"
     ],
     keywords="robotics physics simulator",
     distclass=BinaryDistribution,