diff --git a/ci/install_dart_latest.sh b/ci/install_dart_latest.sh
index ce2a104f..8e10e431 100755
--- a/ci/install_dart_latest.sh
+++ b/ci/install_dart_latest.sh
@@ -1,9 +1,3 @@
-mkdir -p ~/.deps
-cd ~/.deps
-
-python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
-mkdir -p ~/.dart_install/$python_dist_dir
-
 # Select Compiler
 if [ "$COMPILER" = "gcc" ]; then
 export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
@@ -12,26 +6,58 @@ if [ "$COMPILER" = "clang" ]; then
 export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
 fi
 
+PREFIX=/usr
+DEPS_FOLDER=~/.deps
+DART_TAG=v6.13.1
+SUDOCMD=sudo
+
+PREFIX=${1:-$PREFIX}
+DEPS_FOLDER=${2:-$DEPS_FOLDER}
+DART_TAG=${3:-$DART_TAG}
+SUDOCMD=${4:-$SUDOCMD}
+
+python_dist_dir=$(python -c "from distutils.sysconfig import get_python_lib; print(get_python_lib(plat_specific=True, prefix=''))")
+${SUDOCMD} mkdir -p ${PREFIX}/$python_dist_dir
+
+mkdir -p ${DEPS_FOLDER}
+cd ${DEPS_FOLDER}
+
+if [ ! -d "dart" ]
+then
 git clone https://github.com/dartsim/dart.git
+fi
 cd dart
 git checkout $DART_TAG
-mkdir build
+git pull
+mkdir -p build
 cd build
 
 # Build DART
 if [ "$BUILD_PYTHON" = "ON" ]; then
-cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
+cmake -DDART_TREAT_WARNINGS_AS_ERRORS=OFF -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 else
-cmake -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=/home/runner/.dart_install ..
+cmake -DDART_TREAT_WARNINGS_AS_ERRORS=OFF -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 fi
 make -j4
-sudo make install
+${SUDOCMD} make install
 
+# We are inside the CI
+if [ "$PREFIX" = "/home/runner/.dart_install" ]; then
 sudo ldconfig
 cd $CI_HOME
 
 # Hack for dartpy installation
 python_file=/usr/lib/python3/dist-packages/dartpy.cpython-310-x86_64-linux-gnu.so
 if [ -f "$python_file" ]; then
-cp $python_file ~/.dart_install/$python_dist_dir
+cp $python_file ${PREFIX}/$python_dist_dir
+fi
+
+else
+# Hack for dartpy installation
+python_dot_version=$(python -c "import sys; print('.'.join(str(s) for s in sys.version_info[:2]))")
+python_version=$(python -c "import sys; print(''.join(str(s) for s in sys.version_info[:2]))")
+python_global_install=/usr/lib/python${python_dot_version}/site-packages/dartpy.cpython-${python_version}-x86_64-linux-gnu.so
+if [ -f "$python_global_install" ]; then
+${SUDOCMD} mv $python_global_install ${PREFIX}/$python_dist_dir
+fi
 fi
diff --git a/ci/install_magnum.sh b/ci/install_magnum.sh
index a80aa1ab..654c41ba 100755
--- a/ci/install_magnum.sh
+++ b/ci/install_magnum.sh
@@ -7,8 +7,12 @@ export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
 fi
 
 PREFIX=/usr
+DEPS_FOLDER=~/.deps
+SUDOCMD=sudo
 
 PREFIX=${1:-$PREFIX}
+DEPS_FOLDER=${2:-$DEPS_FOLDER}
+SUDOCMD=${3:-$SUDOCMD}
 
 unameOut="$(uname -s)"
 case "${unameOut}" in
@@ -30,43 +34,84 @@ if [ "$machine" == "Mac" ]; then
     PNGIMPORTER=OFF
 fi
 
-mkdir -p ~/.deps
-cd ~/.deps
+mkdir -p ${DEPS_FOLDER}
+cd ${DEPS_FOLDER}
 # install Corrade
+if [ ! -d "corrade" ]
+then
 git clone https://github.com/mosra/corrade.git
 cd corrade
-mkdir build && cd build
+else
+cd corrade
+git pull
+fi
+mkdir -p build && cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 make -j
-sudo make install
+${SUDOCMD} make install
 cd ../..
 
 # install Magnum
+if [ ! -d "magnum" ]
+then
 git clone https://github.com/mosra/magnum.git
 cd magnum
-mkdir build && cd build
+else
+cd magnum
+git pull
+fi
+mkdir -p build && cd build
 # Ubuntu/OSX
-cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_AUDIO=ON -DMAGNUM_WITH_DEBUGTOOLS=ON -DMAGNUM_WITH_GL=ON -DMAGNUM_WITH_MESHTOOLS=ON -DMAGNUM_WITH_PRIMITIVES=ON -DMAGNUM_WITH_SCENEGRAPH=ON -DMAGNUM_WITH_SHADERS=ON -DMAGNUM_WITH_TEXT=ON -DMAGNUM_WITH_TEXTURETOOLS=ON -DMAGNUM_WITH_TRADE=ON -DMAGNUM_WITH_GLFWAPPLICATION=ON -${WINDOWLESS}=ON -DMAGNUM_WITH_OPENGLTESTER=ON -DMAGNUM_WITH_ANYAUDIOIMPORTER=ON -DMAGNUM_WITH_ANYIMAGECONVERTER=ON -DMAGNUM_WITH_ANYIMAGEIMPORTER=ON -DMAGNUM_WITH_ANYSCENEIMPORTER=ON -DMAGNUM_WITH_MAGNUMFONT=ON -DMAGNUM_WITH_OBJIMPORTER=ON -DMAGNUM_WITH_TGAIMPORTER=ON -DMAGNUM_WITH_WAVAUDIOIMPORTER=ON -DMAGNUM_TARGET_EGL=${EGLTARGET} -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_AUDIO=ON -DMAGNUM_WITH_DEBUGTOOLS=ON -DMAGNUM_WITH_GL=ON -DMAGNUM_WITH_MESHTOOLS=ON -DMAGNUM_WITH_PRIMITIVES=ON -DMAGNUM_WITH_SCENEGRAPH=ON -DMAGNUM_WITH_SHADERS=ON -DMAGNUM_WITH_TEXT=ON -DMAGNUM_WITH_TEXTURETOOLS=ON -DMAGNUM_WITH_TRADE=ON -DMAGNUM_WITH_SDL2APPLICATION=ON -DMAGNUM_WITH_GLFWAPPLICATION=ON -${WINDOWLESS}=ON -DMAGNUM_WITH_OPENGLTESTER=ON -DMAGNUM_WITH_ANYAUDIOIMPORTER=ON -DMAGNUM_WITH_ANYIMAGECONVERTER=ON -DMAGNUM_WITH_ANYIMAGEIMPORTER=ON -DMAGNUM_WITH_ANYSCENEIMPORTER=ON -DMAGNUM_WITH_MAGNUMFONT=ON -DMAGNUM_WITH_OBJIMPORTER=ON -DMAGNUM_WITH_TGAIMPORTER=ON -DMAGNUM_WITH_WAVAUDIOIMPORTER=ON -DMAGNUM_TARGET_EGL=${EGLTARGET} -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 make -j
-sudo make install
+${SUDOCMD} make install
 cd ../..
 
+# install Magnum Bindings
+if [ ! -d "magnum-bindings" ]
+then
+git clone https://github.com/mosra/magnum-bindings.git
+cd magnum-bindings
+else
+cd magnum-bindings
+git pull
+fi
+mkdir -p build && cd build
+cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_GLFWAPPLICATION=ON -${WINDOWLESS}=ON -DMAGNUM_TARGET_EGL=${EGLTARGET} -DMAGNUM_WITH_PYTHON=ON -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
+make -j
+${SUDOCMD} make install
+cd src/python
+${SUDOCMD} python setup.py install --root=${PREFIX} --prefix=''
+cd ../../../..
+
 # install MagnumPlugins
+if [ ! -d "magnum-plugins" ]
+then
 git clone https://github.com/mosra/magnum-plugins.git
 cd magnum-plugins
-mkdir build && cd build
+else
+cd magnum-plugins
+git pull
+fi
+mkdir -p build && cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_ASSIMPIMPORTER=ON -DMAGNUM_WITH_DDSIMPORTER=ON -DMAGNUM_WITH_JPEGIMPORTER=ON -DMAGNUM_WITH_OPENGEXIMPORTER=ON -DMAGNUM_WITH_PNGIMPORTER=${PNGIMPORTER} -DMAGNUM_WITH_TINYGLTFIMPORTER=ON -DMAGNUM_WITH_STBTRUETYPEFONT=ON  -DCMAKE_INSTALL_PREFIX=${PREFIX} ..
 make -j
-sudo make install
+${SUDOCMD} make install
 cd ../..
 
 # install MagnumIntegration
+if [ ! -d "magnum-integration" ]
+then
 git clone https://github.com/mosra/magnum-integration.git
 cd magnum-integration
-mkdir build && cd build
+else
+cd magnum-integration
+git pull
+fi
+mkdir -p build && cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON  -DCMAKE_INSTALL_PREFIX=${PREFIX} -DDART_DIR=$DART_DIR ..
 make -j
-sudo make install
+${SUDOCMD} make install
 cd ../..
 
 if [ "$PREFIX" = "/usr" ]; then
diff --git a/waf_tools/corrade.py b/waf_tools/corrade.py
index 88372226..5f36d35e 100644
--- a/waf_tools/corrade.py
+++ b/waf_tools/corrade.py
@@ -48,6 +48,10 @@ def find_in_string(data, text):
         includes_check = [conf.options.corrade_install_dir + '/include']
         libs_check = [conf.options.corrade_install_dir + '/lib']
         bins_check = [conf.options.corrade_install_dir + '/bin']
+    elif conf.options.magnum:
+        includes_check = [conf.options.magnum + '/include']
+        libs_check = [conf.options.magnum + '/lib']
+        bins_check = [conf.options.magnum + '/bin']
 
     requested_components = kw.get('components', None)
     if requested_components == None:
diff --git a/waf_tools/magnum.py b/waf_tools/magnum.py
index 4a4677d9..88e241ac 100644
--- a/waf_tools/magnum.py
+++ b/waf_tools/magnum.py
@@ -134,6 +134,10 @@ def fatal(required, msg):
         includes_check = [conf.options.magnum_install_dir + '/include'] + includes_check
         libs_check = [conf.options.magnum_install_dir + '/lib'] + libs_check
         bins_check = [conf.options.magnum_install_dir + '/bin'] + bins_check
+    elif conf.options.magnum:
+        includes_check = [conf.options.magnum + '/include'] + includes_check
+        libs_check = [conf.options.magnum + '/lib'] + libs_check
+        bins_check = [conf.options.magnum + '/bin'] + bins_check
 
     requested_components = kw.get('components', None)
     if requested_components == None:
diff --git a/waf_tools/magnum_integration.py b/waf_tools/magnum_integration.py
index 4425f5a2..39980605 100644
--- a/waf_tools/magnum_integration.py
+++ b/waf_tools/magnum_integration.py
@@ -107,6 +107,10 @@ def find_in_string(data, text):
         includes_check = [conf.options.magnum_integration_install_dir + '/include'] + includes_check
         libs_check = [conf.options.magnum_integration_install_dir + '/lib'] + libs_check
         bins_check = [conf.options.magnum_integration_install_dir + '/bin'] + bins_check
+    elif conf.options.magnum:
+        includes_check = [conf.options.magnum + '/include'] + includes_check
+        libs_check = [conf.options.magnum + '/lib'] + libs_check
+        bins_check = [conf.options.magnum + '/bin'] + bins_check
 
     # OSX/Mac uses .dylib and GNU/Linux .so
     suffix = 'dylib' if conf.env['DEST_OS'] == 'darwin' else 'so'
diff --git a/waf_tools/magnum_plugins.py b/waf_tools/magnum_plugins.py
index 09c79ea2..39ae742e 100644
--- a/waf_tools/magnum_plugins.py
+++ b/waf_tools/magnum_plugins.py
@@ -113,6 +113,10 @@ def find_in_string(data, text):
         includes_check = [conf.options.magnum_plugins_install_dir + '/include'] + includes_check
         libs_check = [conf.options.magnum_plugins_install_dir + '/lib'] + libs_check
         bins_check = [conf.options.magnum_plugins_install_dir + '/bin'] + bins_check
+    elif conf.options.magnum:
+        includes_check = [conf.options.magnum + '/include'] + includes_check
+        libs_check = [conf.options.magnum + '/lib'] + libs_check
+        bins_check = [conf.options.magnum + '/bin'] + bins_check
 
     # OSX/Mac uses .dylib and GNU/Linux .so
     suffix = 'dylib' if conf.env['DEST_OS'] == 'darwin' else 'so'
diff --git a/wscript b/wscript
index 5f7d1cbd..306ebc91 100644
--- a/wscript
+++ b/wscript
@@ -45,6 +45,7 @@ def options(opt):
     opt.add_option('--python', action='store_true', help='compile python bindings', dest='pybind')
     opt.add_option('--no-robot_dart', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only')
     opt.add_option('--no-pic', action='store_true', help='do not compile with position independent code', dest='no_pic')
+    opt.add_option('--magnum', type='string', help='path to all magnum related deps installation path', dest='magnum')
 
 
 def configure(conf):