diff --git a/.github/workflows/build_pkg.yml b/.github/workflows/build_pkg.yml
index e6b690813..5bcce07fc 100644
--- a/.github/workflows/build_pkg.yml
+++ b/.github/workflows/build_pkg.yml
@@ -41,7 +41,7 @@ jobs:
           fetch-depth: 0 # Fetch all history for all tags and branches
 
       - name: Setup Conda Environment
-        uses: mamba-org/setup-micromamba@v1.9.0
+        uses: mamba-org/setup-micromamba@v2.0.1
         with:
           environment-file: ./devtools/conda.recipe/build_env.yml
           environment-name: build_env
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index 156c4e416..3f88b2b38 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -47,7 +47,7 @@ jobs:
           fetch-depth: 0 # Fetch all history for all tags and branches
 
       - name: Setup Conda Environment
-        uses: mamba-org/setup-micromamba@v1.9.0
+        uses: mamba-org/setup-micromamba@v2.0.1
         with:
           environment-file: ./doc/rtd_environment.yml
           environment-name: rtd
diff --git a/.github/workflows/pytest.yml b/.github/workflows/pytest.yml
index 3588e9b4e..70704748f 100644
--- a/.github/workflows/pytest.yml
+++ b/.github/workflows/pytest.yml
@@ -33,13 +33,13 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest]
-        py: ['3.9', '3.10', '3.11']
+        py: ['3.9', '3.10', '3.11', '3.12']
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: '0' # Fetch all history for all tags and branches
 
-      - uses: CagtayFabry/pydeps2env@v1.2.0
+      - uses: marscher/pydeps2env@v999
         with:
           files: 'pyproject.toml'
           channels: 'conda-forge defaults'
@@ -47,14 +47,16 @@ jobs:
           build_system: 'include'
 
       - name: Setup Conda Environment
-        uses: mamba-org/setup-micromamba@v1.9.0
+        uses: mamba-org/setup-micromamba@v2.0.1
         with:
+          micromamba-version: "2.0.2-0"
           environment-file: ./environment.yml
           environment-name: weldx
           init-shell: >-
             bash
             powershell
-          cache-environment: true
+          # persist on the same day.
+          cache-environment-key: environment-${{ steps.date.outputs.date }}
           create-args: >-
             python=${{ matrix.py }}
             wheel
@@ -133,13 +135,13 @@ jobs:
       fail-fast: false
       matrix:
         os: [windows-latest]
-        py: ['3.9']
+        py: ['3.10']
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: '0' # Fetch all history for all tags and branches
 
-      - uses: CagtayFabry/pydeps2env@v1.2.0
+      - uses: marscher/pydeps2env@v999
         with:
           files: 'pyproject.toml'
           channels: 'conda-forge defaults'
@@ -147,14 +149,15 @@ jobs:
           build_system: 'include'
 
       - name: Setup Conda Environment
-        uses: mamba-org/setup-micromamba@v1.9.0
+        uses: mamba-org/setup-micromamba@v2.0.1
         with:
           environment-file: ./environment.yml
           environment-name: weldx
           init-shell: >-
             bash
             powershell
-          cache-environment: true
+          # persist on the same day.
+          cache-environment-key: environment-${{ steps.date.outputs.date }}
           create-args: >-
             python=${{ matrix.py }}
             wheel
diff --git a/.github/workflows/pytest_asdf.yml b/.github/workflows/pytest_asdf.yml
index e16d32052..fef72fe85 100644
--- a/.github/workflows/pytest_asdf.yml
+++ b/.github/workflows/pytest_asdf.yml
@@ -33,7 +33,7 @@ jobs:
           setup_requires: 'include'
 
       - name: Setup Conda Environment
-        uses: mamba-org/setup-micromamba@v1.9.0
+        uses: mamba-org/setup-micromamba@v2.0.1
         with:
           environment-file: ./environment.yml
           environment-name: weldx
diff --git a/.github/workflows/static_analysis.yml b/.github/workflows/static_analysis.yml
index 85288e8d4..d66d625f9 100644
--- a/.github/workflows/static_analysis.yml
+++ b/.github/workflows/static_analysis.yml
@@ -49,13 +49,13 @@ jobs:
           key: ${{ runner.os }}-${{ hashFiles('./environment.yml') }}
 
       - name: Setup Conda Environment
-        uses: mamba-org/setup-micromamba@v1.9.0
+        uses: mamba-org/setup-micromamba@v2.0.1
         with:
           environment-file: ./environment.yml
           environment-name: weldx
           cache-environment: true
           create-args: >-
-            python=3.9
+            python=3.10
             mypy
       - name: activate env
         run: micromamba activate weldx
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index d704d57e1..76d7d02fa 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -12,7 +12,7 @@ exclude: '.*.weldx$|.*.wx$|.*.asdf$'
 repos:
   # ----- general formatting -----
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: trailing-whitespace
         args: [--markdown-linebreak-ext=md]
@@ -20,7 +20,7 @@ repos:
       - id: check-yaml
         exclude: devtools/conda.recipe/meta.yaml  # doesn't play nice with jinja
   - repo: https://github.com/executablebooks/mdformat
-    rev: 0.7.17
+    rev: 0.7.18
     hooks:
       - id: mdformat
         additional_dependencies:
@@ -29,7 +29,7 @@ repos:
           - mdformat-config
   # ----- Python formatting -----
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.6.3
+    rev: v0.7.2
     hooks:
     # Run ruff linter.
     - id: ruff
@@ -39,11 +39,11 @@ repos:
     # Run ruff formatter.
     - id: ruff-format
   - repo: https://github.com/tox-dev/pyproject-fmt
-    rev: 2.2.1
+    rev: v2.5.0
     hooks:
     - id: pyproject-fmt
   - repo: https://github.com/abravalheri/validate-pyproject
-    rev: v0.19
+    rev: v0.22
     hooks:
       - id: validate-pyproject
   # ----- Jupyter Notebooks -----
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2a86ea0aa..0f59ffc71 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,13 @@
 
 ## 0.6.9 (unreleased)
 
+### Changes
+
+- added support for homogeneous transformation matrices \[{pull}`949`\]:
+  - added `create_cs_from_homogeneous_transformation` to `CoordinateSystemManager`
+  - added `from_homogeneous_transformation` to `LocalCoordinateSystem`
+  - added `as_homogeneous_matrix` to `LocalCoordinateSystem`
+
 ### Fixes
 
 - rename (fix typo) argument to `lcs_child_in_parent` in `CoordinateSystemManager.add_cs`  \[{pull}`936`\].
@@ -12,6 +19,7 @@
 
 - pin `weldx-widgets>=0.2.3` for viz \[{pull}`939`\].
 - pin `pint>=0.21` \[{pull}`941`\].
+- pin `python<3.13` \[{pull}`896`\].
 
 ## 0.6.8 (07.06.2024)
 
diff --git a/doc/json_mime_render_plugin/pyproject.toml b/doc/json_mime_render_plugin/pyproject.toml
index 788035bed..4900aeca5 100644
--- a/doc/json_mime_render_plugin/pyproject.toml
+++ b/doc/json_mime_render_plugin/pyproject.toml
@@ -3,10 +3,10 @@ name = "myst-nb-json-renderer"
 version = "1"
 classifiers = [
   "Programming Language :: Python :: 3 :: Only",
-  "Programming Language :: Python :: 3.8",
   "Programming Language :: Python :: 3.9",
   "Programming Language :: Python :: 3.10",
   "Programming Language :: Python :: 3.11",
   "Programming Language :: Python :: 3.12",
+  "Programming Language :: Python :: 3.13",
 ]
 entry-points."myst_nb.mime_renderers".json_mime = "myst_nb_json_render_plugin:MimeRenderPlugin"
diff --git a/pyproject.toml b/pyproject.toml
index 4fd4335f2..1e61ed9b6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,7 +21,7 @@ authors = [
   { name = "Volker Hirthammer", email = "volker.hirthammer@bam.de" },
   { name = "Martin K. Scherer", email = "martin.scherer@bam.de" },
 ]
-requires-python = ">=3.9,<3.12"
+requires-python = ">=3.9,<3.13"
 classifiers = [
   "Development Status :: 4 - Beta",
   "Intended Audience :: Education",
@@ -34,6 +34,7 @@ classifiers = [
   "Programming Language :: Python :: 3.9",
   "Programming Language :: Python :: 3.10",
   "Programming Language :: Python :: 3.11",
+  "Programming Language :: Python :: 3.12",
   "Topic :: Scientific/Engineering :: Physics",  # TODO: add more topics here!
 ]
 dynamic = [
diff --git a/weldx/tests/transformations/test_cs_manager.py b/weldx/tests/transformations/test_cs_manager.py
index 768e16ada..48aeb2eb7 100644
--- a/weldx/tests/transformations/test_cs_manager.py
+++ b/weldx/tests/transformations/test_cs_manager.py
@@ -2749,6 +2749,10 @@ def test_coordinate_system_manager_create_coordinate_system():
     orientations = np.matmul(rot_mat_x, rot_mat_y)
     coords = Q_([[1, 0, 0], [-1, 0, 2], [3, 5, 7], [-4, -5, -6]], "mm")
 
+    transformation_matrix = np.resize(np.identity(4), (4, 4, 4))
+    transformation_matrix[:, :3, :3] = orientations
+    transformation_matrix[:, :3, 3] = coords.m
+
     csm = tf.CoordinateSystemManager("root")
     lcs_default = tf.LocalCoordinateSystem()
 
@@ -2790,6 +2794,18 @@ def test_coordinate_system_manager_create_coordinate_system():
         time=time,
     )
 
+    # from homogeneous transformation ---------------------
+    csm.create_cs_from_homogeneous_transformation(
+        "lcs_homogeneous_default", "root", transformation_matrix, coords.u, time
+    )
+    check_coordinate_system(
+        csm.get_cs("lcs_homogeneous_default"),
+        orientations,
+        coords,
+        True,
+        time=time,
+    )
+
 
 def test_coordinate_system_manager_transform_data():
     """Test the coordinate system managers transform_data function."""
diff --git a/weldx/transformations/cs_manager.py b/weldx/transformations/cs_manager.py
index 1cb4ff002..b8f305376 100644
--- a/weldx/transformations/cs_manager.py
+++ b/weldx/transformations/cs_manager.py
@@ -17,10 +17,11 @@
 from weldx.exceptions import WeldxDeprecationWarning, WeldxException
 from weldx.geometry import SpatialData
 from weldx.time import Time, types_time_like, types_timestamp_like
+from weldx.types import UnitLike
 from weldx.util import check_matplotlib_available, dataclass_nested_eq
 
 from .local_cs import LocalCoordinateSystem
-from .types import types_coordinates, types_orientation
+from .types import types_coordinates, types_homogeneous, types_orientation
 
 # only import heavy-weight packages on type checking
 if TYPE_CHECKING:  # pragma: no cover
@@ -830,6 +831,51 @@ def create_cs_from_axis_vectors(
             coordinate_system_name, reference_system_name, lcs, lcs_child_in_parent
         )
 
+    def create_cs_from_homogeneous_transformation(
+        self,
+        coordinate_system_name: str,
+        reference_system_name: str,
+        transformation_matrix: types_homogeneous,
+        translation_unit: UnitLike,
+        time: types_time_like = None,
+        time_ref: types_timestamp_like = None,
+        lcs_child_in_parent: bool = True,
+    ):
+        """Create a coordinate system from a homogeneous transformation matrix and add
+        it to the coordinate system manager.
+
+        This function uses the `LocalCoordinateSystem.from_homogeneous_transformation`
+        method of the `LocalCoordinateSystem` class.
+
+        Parameters
+        ----------
+        coordinate_system_name :
+            Name of the new coordinate system.
+        reference_system_name :
+            Name of the parent system. This must have been already added.
+        transformation_matrix :
+            Describes the homogeneous transformation matrix that includes the rotation
+            and the translation (coordinates).
+        translation_unit :
+            Unit describing the value of the translation. Necessary, because the
+            homogeneous transformation matrix is unitless.
+        time :
+            Time data for time dependent coordinate systems.
+        time_ref :
+            Reference time for time dependent coordinate systems
+        lcs_child_in_parent :
+            If set to `True`, the passed `LocalCoordinateSystem` instance describes
+            the new system orientation towards is parent. If `False`, it describes
+            how the parent system is positioned in its new child system.
+
+        """
+        lcs = LocalCoordinateSystem.from_homogeneous_transformation(
+            transformation_matrix, translation_unit, time, time_ref
+        )
+        self.add_cs(
+            coordinate_system_name, reference_system_name, lcs, lcs_child_in_parent
+        )
+
     def delete_cs(self, coordinate_system_name: str, delete_children: bool = False):
         """Delete a coordinate system from the coordinate system manager.
 
diff --git a/weldx/transformations/local_cs.py b/weldx/transformations/local_cs.py
index ac976d776..ae4dfb9e6 100644
--- a/weldx/transformations/local_cs.py
+++ b/weldx/transformations/local_cs.py
@@ -18,8 +18,13 @@
 from weldx.core import TimeSeries
 from weldx.exceptions import WeldxException
 from weldx.time import Time, TimeDependent, types_time_like, types_timestamp_like
-from weldx.transformations.types import types_coordinates, types_orientation
+from weldx.transformations.types import (
+    types_coordinates,
+    types_homogeneous,
+    types_orientation,
+)
 from weldx.transformations.util import normalize
+from weldx.types import UnitLike
 
 __all__ = ("LocalCoordinateSystem",)
 
@@ -540,6 +545,45 @@ def from_axis_vectors(
         t_axes = (1, 0) if mat.ndim == 2 else (1, 2, 0)
         return cls(mat.transpose(t_axes), coordinates, time, time_ref)
 
+    @classmethod
+    def from_homogeneous_transformation(
+        cls,
+        transformation_matrix: types_homogeneous,
+        translation_unit: UnitLike,
+        time: types_time_like = None,
+        time_ref: types_timestamp_like = None,
+    ) -> LocalCoordinateSystem:
+        """Construct a local coordinate system from a homogeneous transformation matrix.
+
+        Parameters
+        ----------
+        transformation_matrix :
+            Describes the homogeneous transformation matrix that includes the rotation
+            and the translation (coordinates).
+        translation_unit :
+            Unit describing the value of the translation. Necessary, because the
+            homogeneous transformation matrix is unitless.
+        time :
+            Time data for time dependent coordinate systems (Default value = None)
+        time_ref :
+            Optional reference timestamp if ``time`` is a time delta.
+
+        Returns
+        -------
+        LocalCoordinateSystem
+            Local coordinate system
+
+        """
+        if isinstance(transformation_matrix, xr.DataArray):
+            transformation_matrix = np.array(transformation_matrix.data)
+        if transformation_matrix.ndim == 3:
+            orientation = transformation_matrix[:, :3, :3]
+            coordinates = Q_(transformation_matrix[:, :3, 3], translation_unit)
+        else:
+            orientation = transformation_matrix[:3, :3]
+            coordinates = Q_(transformation_matrix[:3, 3], translation_unit)
+        return cls(orientation, coordinates=coordinates, time=time, time_ref=time_ref)
+
     @property
     def orientation(self) -> xr.DataArray:
         """Get the coordinate systems orientation matrix.
@@ -690,6 +734,44 @@ def as_rotation(self) -> Rot:  # pragma: no cover
         """
         return Rot.from_matrix(self.orientation.values)
 
+    def as_homogeneous_matrix(self, translation_unit: UnitLike) -> np.ndarray:
+        """Get a homogeneous transformation matrix from the coordinate system
+        orientation.
+
+        Parameters
+        ----------
+        translation_unit : UnitLike
+            Unit the translation part of the homogeneous transformation matrix
+            should represent.
+
+        Returns
+        -------
+        numpy.ndarray
+            Numpy array representing the homogeneous transformation matrix.
+
+        """
+
+        if self.is_time_dependent:
+            time_dim = self.time.shape[0]
+        else:
+            time_dim = 1
+
+        rotation = np.resize(self.orientation.data, (time_dim, 3, 3))
+        coordinates = self.coordinates
+        if not isinstance(coordinates, TimeSeries):
+            translation = np.resize(
+                coordinates.data.to(translation_unit).m, (time_dim, 3)
+            )
+            homogeneous_matrix = np.resize(np.identity(4), (time_dim, 4, 4))
+            homogeneous_matrix[:, :3, :3] = rotation
+            homogeneous_matrix[:, :3, 3] = translation
+
+            return np.squeeze(homogeneous_matrix)
+        else:
+            raise NotImplementedError(
+                "Cannot convert LCS with `TimeSeries` coordinates to homogeneous matrix"
+            )
+
     def _interp_time_orientation(self, time: Time) -> xr.DataArray:
         """Interpolate the orientation in time."""
         if "time" not in self.orientation.dims:  # don't interpolate static
diff --git a/weldx/transformations/types.py b/weldx/transformations/types.py
index 2e724913d..945fcd069 100644
--- a/weldx/transformations/types.py
+++ b/weldx/transformations/types.py
@@ -2,6 +2,7 @@
 
 from typing import Union
 
+import numpy as np
 import numpy.typing as npt
 import pint
 import xarray as xr
@@ -9,9 +10,11 @@
 
 types_coordinates = Union[xr.DataArray, npt.ArrayLike, pint.Quantity]
 types_orientation = Union[xr.DataArray, npt.ArrayLike, Rotation]
+types_homogeneous = Union[xr.DataArray, np.ndarray]
 
 
 __all__ = [
     "types_coordinates",
     "types_orientation",
+    "types_homogeneous",
 ]