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diff --git a/docs/faq/index.html b/docs/faq/index.html
diff --git a/docs/install/index.html b/docs/install/index.html
diff --git a/docs/quick_install/index.html b/docs/quick_install/index.html
@@ -375,7 +375,7 @@
 
           <li class="md-nav__item">
   <a href="#ubuntu-2004" class="md-nav__link">
-    Ubuntu 20.04
+    Ubuntu &gt;=20.04
   </a>
 
 </li>
@@ -481,7 +481,7 @@
 
           <li class="md-nav__item">
   <a href="#ubuntu-2004" class="md-nav__link">
-    Ubuntu 20.04
+    Ubuntu &gt;=20.04
   </a>
 
 </li>
@@ -525,22 +525,37 @@ <h1>Installation</h1>
     display: none;
   }
 </style>
+
 <h2 id="scripts-for-quick-installation-of-robotdart">Scripts for Quick Installation of RobotDART<a class="headerlink" href="#scripts-for-quick-installation-of-robotdart" title="Permanent link">&para;</a></h2>
-<p>In this page we provide standalone scripts for installing RobotDART for <code>Ubuntu</code> (20.04) and <code>OSX</code>. The scripts will install all the required dependencies and RobotDART. Notably, all dependencies that need to be compiled by source and RobotDART will be installed inside the <code>/opt</code> folder. This way, one can be rest assured that their system will be clean.</p>
-<h3 id="ubuntu-2004">Ubuntu 20.04<a class="headerlink" href="#ubuntu-2004" title="Permanent link">&para;</a></h3>
-<p>To quickly install RobotDART on <code>Ubuntu 20.04</code>, we just need to run <code>./scripts/install_ubuntu.sh</code> from the root of the repo. In more detail:</p>
+<p>In this page we provide standalone scripts for installing RobotDART for <code>Ubuntu</code> (&gt;=20.04) and <code>OSX</code>. The scripts will install all the required dependencies and RobotDART. Notably, all dependencies that need to be compiled by source and RobotDART will be installed inside the <code>/opt</code> folder. This way, one can be rest assured that their system will be clean.</p>
+<h3 id="ubuntu-2004">Ubuntu &gt;=20.04<a class="headerlink" href="#ubuntu-2004" title="Permanent link">&para;</a></h3>
+<p>To quickly install RobotDART on <code>Ubuntu &gt;=20.04</code>, we just need to run <code>./scripts/install_ubuntu.sh</code> from the root of the repo. In more detail:</p>
 <ul>
 <li><code>git clone https://github.com/resibots/robot_dart.git</code></li>
 <li><code>cd robot_dart</code></li>
 <li><code>./scripts/install_ubuntu.sh</code></li>
 </ul>
-<p>This will install everything needed! Once the script is successfully executed, one should add the following to their <code>~/.bashrc</code> or <code>~/.zshrc</code> file:</p>
+<p>This will install everything needed! Once the script is successfully executed, one should add the following to their <code>~/.bashrc</code> or <code>~/.zshrc</code> file (you may need to swap the python version to yours<sup id="fnref:1"><a class="footnote-ref" href="#fn:1">1</a></sup>):</p>
 <div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a><span class="nb">export</span><span class="w"> </span><span class="nv">PATH</span><span class="o">=</span>/opt/magnum/bin:<span class="nv">$PATH</span>
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a><span class="nb">export</span><span class="w"> </span><span class="nv">LD_LIBRARY_PATH</span><span class="o">=</span>/opt/dart/lib:/opt/magnum/lib:/opt/robot_dart/lib:<span class="nv">$LD_LIBRARY_PATH</span>
-<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a><span class="nb">export</span><span class="w"> </span><span class="nv">PYTHONPATH</span><span class="o">=</span>/opt/dart/lib/python3/dist-packages:/opt/robot_dart/lib/python3.8/site-packages:<span class="nv">$PYTHONPATH</span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a><span class="nb">export</span><span class="w"> </span><span class="nv">LD_LIBRARY_PATH</span><span class="o">=</span>/opt/magnum/lib:/opt/robot_dart/lib:<span class="nv">$LD_LIBRARY_PATH</span>
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a><span class="nb">export</span><span class="w"> </span><span class="nv">PYTHONPATH</span><span class="o">=</span>/opt/robot_dart/lib/python3.10/site-packages:<span class="nv">$PYTHONPATH</span>
 </code></pre></div>
+<!-- ```bash
+export PATH=/opt/magnum/bin:$PATH
+export LD_LIBRARY_PATH=/opt/dart/lib:/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH
+export PYTHONPATH=/opt/dart/lib/python3/dist-packages:/opt/robot_dart/lib/python3.8/site-packages:$PYTHONPATH
+``` -->
+
 <h3 id="osx">OSX<a class="headerlink" href="#osx" title="Permanent link">&para;</a></h3>
 <p><strong>Coming soon</strong></p>
+<div class="footnote">
+<hr />
+<ol>
+<li id="fn:1">
+<p>You can run <code>python --version</code> to see your version. We only keep the major.minor (ignoring the patch version)&#160;<a class="footnote-backref" href="#fnref:1" title="Jump back to footnote 1 in the text">&#8617;</a></p>
+</li>
+</ol>
+</div>
 
 
 

diff --git a/docs/search/search_index.json b/docs/search/search_index.json
diff --git a/docs/sitemap.xml.gz b/docs/sitemap.xml.gz
diff --git a/scripts/install_osx.sh b/scripts/install_osx.sh
@@ -1,18 +1,6 @@
 set -x
-# sudo apt-add-repository -y ppa:dartsim/ppa
-# sudo apt update
-# sudo apt install -y build-essential cmake pkg-config git
-# sudo apt install -y libeigen3-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev libbullet-dev libode-dev liboctomap-dev
-# sudo apt install -y libtinyxml-dev libtinyxml2-dev
-# sudo apt install -y liburdfdom-dev liburdfdom-headers-dev python3-pip python3-numpy
-# sudo apt install -y libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
-# sudo apt install -y libassimp-dev pybind11-dev
-# sudo apt install -y libopenal-dev libglfw3-dev libsdl2-dev libopenexr-dev
-# sudo apt install -y libdevil-dev libpng-dev libfaad-dev libfreetype6-dev libglm-dev
-# sudo apt install -y python-is-python3
 
-
-brew install cmake eigen fcl tinyxml tinyxml2 urdfdom assimp boost numpy
+brew install cmake eigen fcl tinyxml tinyxml2 urdfdom assimp boost numpy fmt
 python -m pip install numpy pytest
 
 # Remove previous attempts
@@ -69,7 +57,7 @@ cd ../..
 git clone  --depth 1 https://github.com/mosra/magnum-integration.git
 cd magnum-integration
 mkdir -p build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON -DMAGNUM_WITH_BULLET=ON -DMAGNUM_WITH_GLM=ON ..
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON -DMAGNUM_WITH_BULLET=ON -DMAGNUM_WITH_GLM=OFF ..
 make -j
 sudo make install
 cd ../..
@@ -78,16 +66,16 @@ pwd
 export PATH=/opt/magnum/bin:$PATH
 export LD_LIBRARY_PATH=/opt/magnum/lib:$LD_LIBRARY_PATH
 
-# sudo ln -s /usr/bin/python3 /usr/bin/python
 pwd
 cd ../
 pwd
 rm -rf temp_robot_dart
 cd ..
 pwd
+
 # RobotDART
 ./waf configure --prefix /opt/robot_dart --python --dart /opt/dart --corrade_install_dir /opt/magnum --magnum_install_dir /opt/magnum --magnum_plugins_install_dir /opt/magnum --magnum_integration_install_dir /opt/magnum
 ./waf -j8
 ./waf examples -j8
-#sudo ./waf install
+sudo ./waf install
 
diff --git a/scripts/install_ubuntu.sh b/scripts/install_ubuntu.sh
@@ -1,61 +1,75 @@
+CLEAN=0
+
+CLEAN=${4:-$CLEAN}
+
 sudo apt-add-repository -y ppa:dartsim/ppa
 sudo apt update
 sudo apt install -y build-essential cmake pkg-config git
-sudo apt install -y libeigen3-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev libbullet-dev libode-dev liboctomap-dev
-sudo apt install -y libtinyxml-dev libtinyxml2-dev
-sudo apt install -y liburdfdom-dev liburdfdom-headers-dev python3-pip python3-numpy
+sudo apt install -y libboost-regex-dev libboost-system-dev libboost-test-dev
+sudo apt install -y libdart-all-dev
 sudo apt install -y libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
 sudo apt install -y libassimp-dev pybind11-dev
 sudo apt install -y libopenal-dev libglfw3-dev libsdl2-dev libopenexr-dev
 sudo apt install -y libdevil-dev libpng-dev libfaad-dev libfreetype6-dev libglm-dev
-sudo apt install -y python-is-python3
+sudo apt install -y python3-pip python3-numpy python-is-python3
 
-# Remove previous attempts
-rm -rf /opt/magnum
-rm -rf /opt/dart
-rm -rf /opt/robot_dart
+if [ $CLEAN -ne 0 ]; then
+    echo "-- Cleaning.."
+    # Remove previous attempts
+    sudo rm -rf /opt/magnum
+    # rm -rf /opt/dart
+    sudo rm -rf /opt/robot_dart
+fi
 
 # Make temp folder
 mkdir -p temp_robot_dart
 cd temp_robot_dart
 
-# DART
-git clone https://github.com/dartsim/dart.git
-cd dart && git checkout v6.12.1
-mkdir build && cd build
-cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/dart ..
-make -j8
-sudo make install
-
-export LD_LIBRARY_PATH=/opt/dart/lib:$LD_LIBRARY_PATH
-export PYTHONPATH=/opt/dart/lib/python3/dist-packages:$PYTHONPATH
+if [ $CLEAN -ne 0 ]; then
+    rm -rf corrade
+    rm -rf magnum
+    rm -rf magnum-plugins
+    rm -rf magnum-integration
+fi
 
 # Magnum related
-cd ../..
+if [ ! -d "corrade" ]
+then
 git clone https://github.com/mosra/corrade.git
+fi
 cd corrade
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum ..
 make -j8
 sudo make install
 
 cd ../..
+if [ ! -d "magnum" ]
+then
 git clone https://github.com/mosra/magnum.git
+fi
 cd magnum
 mkdir build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -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 -DMAGNUM_WITH_WINDOWLESSGLXAPPLICATION=ON  -DMAGNUM_WITH_WINDOWLESSEGLAPPLICATION=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_WITH_GL_INFO=ON -DMAGNUM_WITH_AL_INFO=ON ..
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -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 -DMAGNUM_WITH_WINDOWLESSGLXAPPLICATION=ON  -DMAGNUM_WITH_WINDOWLESSEGLAPPLICATION=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_WITH_GL_INFO=ON -DMAGNUM_WITH_AL_INFO=ON -DMAGNUM_TARGET_EGL=ON ..
 make -j8
 sudo make install
 
 cd ../..
+if [ ! -d "magnum-plugins" ]
+then
 git clone https://github.com/mosra/magnum-plugins.git
+fi
 cd magnum-plugins
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_ASSIMPIMPORTER=ON -DMAGNUM_WITH_DDSIMPORTER=ON -DMAGNUM_WITH_JPEGIMPORTER=ON -DMAGNUM_WITH_OPENGEXIMPORTER=ON -DMAGNUM_WITH_PNGIMPORTER=ON -DMAGNUM_WITH_TINYGLTFIMPORTER=ON -DMAGNUM_WITH_STBTRUETYPEFONT=ON ..
 make -j
 sudo make install
 
+cd ../..
+if [ ! -d "magnum-integration" ]
+then
 git clone https://github.com/mosra/magnum-integration.git
+fi
 cd magnum-integration
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON -DMAGNUM_WITH_BULLET=ON -DMAGNUM_WITH_GLM=ON ..
@@ -65,14 +79,13 @@ sudo make install
 export PATH=/opt/magnum/bin:$PATH
 export LD_LIBRARY_PATH=/opt/magnum/lib:$LD_LIBRARY_PATH
 
-# sudo ln -s /usr/bin/python3 /usr/bin/python
-
 cd ../../..
-rm -rf temp_robot_dart
+if [ $CLEAN -ne 0 ]; then
+    rm -rf temp_robot_dart
+fi
 
 # RobotDART
-./waf configure --prefix /opt/robot_dart --python --dart /opt/dart --corrade_install_dir /opt/magnum --magnum_install_dir /opt/magnum --magnum_plugins_install_dir /opt/magnum --magnum_integration_install_dir /opt/magnum
+./waf configure --prefix /opt/robot_dart --python --corrade_install_dir /opt/magnum --magnum_install_dir /opt/magnum --magnum_plugins_install_dir /opt/magnum --magnum_integration_install_dir /opt/magnum
 ./waf -j8
 ./waf examples -j8
 sudo ./waf install
-
diff --git a/src/docs/docs/faq.md b/src/docs/docs/faq.md
@@ -70,7 +70,7 @@ See the [robots page](robots.md) for details.
 
 To enable graphics in your code, you need to do the following:
 
-- Install [Magnum](http://magnum.graphics). See the [installation page](install.md) for details.
+- Install [Magnum](http://magnum.graphics). See the [installation page](quick_install.md) for details.
 - Create and set a graphics object in the simulation object. Here's an example:
 
 === "C++"
@@ -355,7 +355,6 @@ We can save the depth images as well:
 
 ## **How can I spawn multiple robots in parallel?**
 
-
 ### Robot Pool (only in C++)
 
 The best way to do so is to create a Robot pool. With a robot pool you:
@@ -388,12 +387,20 @@ The `creator` function is the function responsible for loading your robot. This
 === "C++"
 {{ROBOT_POOL_EVAL}}
 
+### Python
+
+We have not implemented this feature in `Python` yet. One can emulate the `RobotPool` behavior or create a custom parallel robot loader.
+
 ## **I need to simulate many worlds with camera sensors in parallel. How can I do this?**
 
-On [magnum_contexts.cpp](https://github.com/resibots/robot_dart/blob/master/src/examples/magnum_contexts.cpp) you can find an example showcasing the use of many worlds with camera sensors in parallel. The main takeaway is that we need to pre-allocate OpenGL contexts so that each thread can take one and use it to render their worlds.
+Below you can find an example showcasing the use of many worlds with camera sensors in parallel.
 
 === "C++"
 {{CAMERAS_PARALLEL}}
+=== "Python"
+{{CAMERAS_PARALLEL_PYTHON}}
+
+In C++ you are also able to pre-allocate a custom number of OpenGL contexts so that you can take advantage of stronger GPUs.
 
 ## **I do not know how to use waf. How can I detect RobotDART from CMake?**