diff --git a/.github/actions/build-push/action.yml b/.github/actions/build-push/action.yml
index 9a4fe49da..14f932088 100644
--- a/.github/actions/build-push/action.yml
+++ b/.github/actions/build-push/action.yml
@@ -7,6 +7,12 @@ inputs:
     options:
       - 'Development dependencies'
       - 'Protocol dependencies'
+  base_tag:
+    description: 'The tag of the base ubuntu image.'
+    required: false
+    options:
+      - '22.04'
+      - '20.04'
   secret:
     description: 'GitHub Container Registry secret'
     required: true
@@ -31,13 +37,20 @@ runs:
       run: |
         if [ "${{ inputs.image }}" = "Development dependencies" ]; then
           DOCKERFILE=Dockerfile.base
-          IMAGE_NAME=${{ github.repository }}/development-dependencies:latest
+          IMAGE_NAME=${{ github.repository }}/development-dependencies
         else
           DOCKERFILE=Dockerfile.proto
           IMAGE_NAME=${{ github.repository }}/proto-dependencies
         fi
-        docker buildx build --file "${DOCKERFILE}" \
-          --platform=linux/arm64,linux/amd64 \
-          --push --tag ghcr.io/${IMAGE_NAME} \
-          .
+        if [ "${{ inputs.base_tag }}" == "22.04" ]; then
+          docker buildx build --file ${DOCKERFILE} \
+            --build-arg BASE_TAG=${{ inputs.base_tag }} \
+            --platform=linux/arm64,linux/amd64 \
+            --push -t ghcr.io/${IMAGE_NAME}:22.04 -t ghcr.io/${IMAGE_NAME}:latest .
+        else
+          docker buildx build --file ${DOCKERFILE} \
+            --build-arg BASE_TAG=${{ inputs.base_tag }} \
+            --platform=linux/arm64,linux/amd64 \
+            --push -t ghcr.io/${IMAGE_NAME}:20.04 .
+        fi
       shell: bash
diff --git a/.github/workflows/build-push.yml b/.github/workflows/build-push.yml
index d416c697f..ee7772b76 100644
--- a/.github/workflows/build-push.yml
+++ b/.github/workflows/build-push.yml
@@ -8,9 +8,9 @@ on:
   workflow_dispatch:
 
 jobs:
-  build-publish-proto-dependencies:
+  build-publish-proto-dependencies-focal-fossa:
     runs-on: ubuntu-latest
-    name: Build and publish proto dependencies image
+    name: Build and publish proto dependencies image on ubuntu 20.04
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v2
@@ -19,12 +19,42 @@ jobs:
         uses: ./.github/actions/build-push
         with:
           image: "Protocol dependencies"
+          base_tag: 20.04
           secret: ${{ secrets.GITHUB_TOKEN }}
 
-  build-publish-development-dependencies:
-    needs: build-publish-proto-dependencies
+  build-publish-proto-dependencies-jammy-jellyfish:
     runs-on: ubuntu-latest
-    name: Build and publish development dependencies image
+    name: Build and publish proto dependencies image on ubuntu 22.04
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v2
+
+      - name: Build and Push
+        uses: ./.github/actions/build-push
+        with:
+          image: "Protocol dependencies"
+          base_tag: 22.04
+          secret: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-development-dependencies-focal-fossa:
+    needs: build-publish-proto-dependencies-focal-fossa
+    runs-on: ubuntu-latest
+    name: Build and publish development dependencies image on ubuntu 20.04
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v2
+
+      - name: Build and Push
+        uses: ./.github/actions/build-push
+        with:
+          image: "Development dependencies"
+          base_tag: 20.04
+          secret: ${{ secrets.GITHUB_TOKEN }}
+
+  build-publish-development-dependencies-jammy-jellyfish:
+    needs: build-publish-proto-dependencies-jammy-jellyfish
+    runs-on: ubuntu-latest
+    name: Build and publish development dependencies image on ubuntu 22.04
     steps:
       - name: Checkout Repository
         uses: actions/checkout@v2
@@ -33,4 +63,5 @@ jobs:
         uses: ./.github/actions/build-push
         with:
           image: "Development dependencies"
+          base_tag: 22.04
           secret: ${{ secrets.GITHUB_TOKEN }}
diff --git a/CHANGELOG.md b/CHANGELOG.md
index d71a4a1ae..73483fc43 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,7 @@
 # CHANGELOG
 
 Release Versions:
+- [6.3.0](#630)
 - [6.2.0](#620)
 - [6.1.0](#610)
 - [6.0.0](#600)
@@ -14,6 +15,18 @@ Release Versions:
 - [2.0.0](#200)
 - [1.0.0](#100)
 
+## 6.3.0
+
+Version 6.3.0 contains behind-the-scenes structural improvements to Dockerfiles and GitHub workflows
+and clarifies the license requirements of the library and its dependencies.
+
+### Fixes and improvements
+
+- Build and push both 20.04 and 22.04 images (#314, #315, #316)
+- Don't build pinocchio tests in development image (#317)
+- Simplify and consolidate Dockerfiles and scripts (#319)
+- Better license management (#320)
+
 ## 6.2.0
 
 Version 6.2.0 contains minor changes to the Python bindings and robot model installation dependencies.
diff --git a/Dockerfile.base b/Dockerfile.base
index e309f99bf..ff0155395 100644
--- a/Dockerfile.base
+++ b/Dockerfile.base
@@ -1,4 +1,5 @@
-FROM ubuntu:20.04 as core-build-dependencies
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as core-build-dependencies
 ENV DEBIAN_FRONTEND=noninteractive
 
 # install core compilation and access dependencies for building the libraries
@@ -47,7 +48,7 @@ RUN apt-get update && apt-get install -y \
 WORKDIR /tmp
 ARG EIGEN_TAG=3.4.0
 RUN wget -c https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_TAG}/eigen-${EIGEN_TAG}.tar.gz -O - | tar -xz \
-    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && cmake .. && make install \
+    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && cmake -DEIGEN_MPL2_ONLY .. && make install \
     && cd ../.. && rm -r eigen-${EIGEN_TAG} || exit 1
 
 ARG OSQP_TAG=0.6.2
@@ -64,7 +65,7 @@ ARG PINOCCHIO_TAG=2.6.9
 RUN git clone --depth 1 -b v${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio \
     && cd pinocchio && mkdir build && cd build \
     && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_PYTHON_INTERFACE=OFF \
-    && make -j1 && make install && cd ../.. && rm -r pinocchio || exit 1
+    -DBUILD_TESTING=OFF && make -j $(nproc --ignore=1) && make install && cd ../.. && rm -r pinocchio || exit 1
 
 RUN ldconfig
 
@@ -87,13 +88,36 @@ RUN pip3 install numpy setuptools pybind11
 # install google dependencies
 COPY --from=google-dependencies /usr/include/gtest /usr/include/gtest
 COPY --from=google-dependencies /usr/local/lib/libgtest* /usr/local/lib/
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/include/google /usr/local/include/google
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/lib/libproto* /usr/local/lib/
-COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies /usr/local/bin/protoc /usr/local/bin
+
+
+FROM development-dependencies as proto-dependencies-20.04
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:20.04 /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:20.04 /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:20.04 /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM development-dependencies as proto-dependencies-22.04
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:22.04 /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:22.04 /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:22.04 /usr/local/bin/protoc /usr/local/bin
 RUN ldconfig
 
 
-FROM development-dependencies as ssh-configuration
+FROM development-dependencies as proto-dependencies-latest
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:latest /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:latest /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/epfl-lasa/control-libraries/proto-dependencies:latest /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM proto-dependencies-${BASE_TAG} as license-information
+RUN mkdir -p /usr/share/doc/control-libraries
+COPY ./licenses /usr/share/doc/control-libraries/licenses
+
+
+FROM license-information as ssh-configuration
+
 RUN apt-get update && apt-get install -y \
     sudo \
     libssl-dev \
diff --git a/Dockerfile.proto b/Dockerfile.proto
index 6936ae380..e468f892e 100644
--- a/Dockerfile.proto
+++ b/Dockerfile.proto
@@ -1,4 +1,5 @@
-FROM ubuntu:20.04 as build-stage
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as build-stage
 ENV DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update && apt-get install -y \
@@ -22,11 +23,11 @@ RUN wget -O protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
 WORKDIR /tmp/protobuf-3."${PROTOBUF_VERSION}"
 RUN ./autogen.sh \
     && ./configure \
-    && make \
+    && make -j $(nproc --ignore=1) \
     && make install
 
 
-FROM ubuntu:22.04 as google-dependencies
+FROM ubuntu:${BASE_TAG} as google-dependencies
 COPY --from=build-stage /usr/local/include/google /usr/local/include/google
 COPY --from=build-stage /usr/local/lib/libproto* /usr/local/lib/
 COPY --from=build-stage /usr/local/bin/protoc /usr/local/bin
diff --git a/README.md b/README.md
index 68819083c..5adb1c0df 100644
--- a/README.md
+++ b/README.md
@@ -21,7 +21,7 @@
 A set of libraries to facilitate the creation of full control loop algorithms,
 including trajectory planning, kinematics, dynamics and control.
 
-Documentation is available at <a href="https://epfl-lasa.github.io/control-libraries/versions/">epfl-lasa.github.io/control-libraries</a>.
+Documentation is available at <a href="https://epfl-lasa.github.io/control-libraries">epfl-lasa.github.io/control-libraries</a>.
 
 ## Core libraries
 
@@ -35,7 +35,7 @@ documentation, see the [protocol](./protocol) folder.
 
 ## Python bindings
 
-There exist Python bindings for the control library modules and the protocol module. See the [python](./python)</a>
+There exist Python bindings for the control library modules and the protocol module. See the [python](./python)
 folder for installation instructions.
 
 ## Demos
@@ -43,6 +43,11 @@ folder for installation instructions.
 For examples and demos in C++ and Python, refer to the [demos](./demos) folder.
 TODO link ros demos repo
 
+## License
+
+This project is provided free and open-source under the GPLv3 license.
+See the [licenses](./licenses) folder for more information.
+
 ## External resources
 
 - C++ remote development in CLion [here](https://github.com/eeberhard/docker-clion-cpp-env)
diff --git a/VERSION b/VERSION
index 6abaeb2f9..798e38995 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-6.2.0
+6.3.0
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index c1dccec78..be9486b1f 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 6.2.0 CONFIG REQUIRED)
+find_package(control_libraries 6.3.0 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/demos/Dockerfile b/demos/Dockerfile
index 2683ef2e4..8eaef602e 100644
--- a/demos/Dockerfile
+++ b/demos/Dockerfile
@@ -1,4 +1,5 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest
+ARG BASE_TAG=latest
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:${BASE_TAG} as build
 ARG BRANCH=develop
 
 WORKDIR /source
@@ -9,6 +10,9 @@ RUN pip3 install control-libraries/python
 
 RUN rm -rf /source
 
+
+FROM build as demos
+
 USER developer
 WORKDIR ${HOME}/control_loop_examples
 COPY ./ ./
diff --git a/demos/run-demo.sh b/demos/run-demo.sh
index daea9971d..7e760fa57 100755
--- a/demos/run-demo.sh
+++ b/demos/run-demo.sh
@@ -1,14 +1,16 @@
 #!/usr/bin/env bash
 
-IMAGE_NAME=epfl-lasa/control-libraries/control-loop-examples
-IMAGE_TAG=latest
+BASE_TAG="latest"
 
+IMAGE_NAME=epfl-lasa/control-libraries/control-loop-examples
 BRANCH=$(git branch --show-current)
 
-HELP_MESSAGE="Usage: run-demo.sh [-b <branch>] [-r] [-v]
+HELP_MESSAGE="Usage: run-demo.sh [-b <branch>] [--base-tag <base-tag>] [-r] [-v]
 Options:
   -b, --branch <branch>    Specify the branch of control libraries
                            that should be used to build the image.
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image using the docker
                            --no-cache option.
   -v, --verbose            Use the verbose option during the building
@@ -21,6 +23,7 @@ while [[ $# -gt 0 ]]; do
   opt="$1"
   case $opt in
     -b|--branch) BRANCH=$2; shift 2;;
+    --base-tag) BASE_TAG=$2; shift 2;;
     -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
     -h|--help) echo "${HELP_MESSAGE}" ; exit 0 ;;
@@ -32,8 +35,9 @@ done
 
 echo "Using control libraries branch ${BRANCH}"
 BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
+BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . -t "${IMAGE_NAME}:${IMAGE_TAG}" || exit 1
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
+DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . -t "${IMAGE_NAME}":"${BASE_TAG}" || exit 1
 
-docker run -it --rm "${IMAGE_NAME}:${IMAGE_TAG}"
\ No newline at end of file
+docker run -it --rm "${IMAGE_NAME}":${BASE_TAG}
\ No newline at end of file
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index b10983ef6..2759ed685 100644
--- a/doxygen/doxygen.conf
+++ b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 6.2.0
+PROJECT_NUMBER = 6.3.0
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/licenses/COPYING.BOOST b/licenses/COPYING.BOOST
new file mode 100644
index 000000000..127a5bc39
--- /dev/null
+++ b/licenses/COPYING.BOOST
@@ -0,0 +1,23 @@
+Boost Software License - Version 1.0 - August 17th, 2003
+
+Permission is hereby granted, free of charge, to any person or organization
+obtaining a copy of the software and accompanying documentation covered by
+this license (the "Software") to use, reproduce, display, distribute,
+execute, and transmit the Software, and to prepare derivative works of the
+Software, and to permit third-parties to whom the Software is furnished to
+do so, all subject to the following:
+
+The copyright notices in the Software and this entire statement, including
+the above license grant, this restriction and the following disclaimer,
+must be included in all copies of the Software, in whole or in part, and
+all derivative works of the Software, unless such copies or derivative
+works are solely in the form of machine-executable object code generated by
+a source language processor.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT
+SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
+FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+DEALINGS IN THE SOFTWARE.
\ No newline at end of file
diff --git a/licenses/COPYING.EIGEN b/licenses/COPYING.EIGEN
new file mode 100644
index 000000000..570135f7c
--- /dev/null
+++ b/licenses/COPYING.EIGEN
@@ -0,0 +1,374 @@
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.
+
diff --git a/licenses/COPYING.GTEST b/licenses/COPYING.GTEST
new file mode 100644
index 000000000..65c76c50c
--- /dev/null
+++ b/licenses/COPYING.GTEST
@@ -0,0 +1,28 @@
+Copyright 2008, Google Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/licenses/COPYING.OSQP b/licenses/COPYING.OSQP
new file mode 100644
index 000000000..b646567c3
--- /dev/null
+++ b/licenses/COPYING.OSQP
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "{}"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright 2021 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
\ No newline at end of file
diff --git a/licenses/COPYING.OSQP_EIGEN b/licenses/COPYING.OSQP_EIGEN
new file mode 100644
index 000000000..abd200f7e
--- /dev/null
+++ b/licenses/COPYING.OSQP_EIGEN
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2022, Fondazione Istituto Italiano di Tecnologia
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/licenses/COPYING.PINOCCHIO b/licenses/COPYING.PINOCCHIO
new file mode 100644
index 000000000..f31652670
--- /dev/null
+++ b/licenses/COPYING.PINOCCHIO
@@ -0,0 +1,29 @@
+BSD 2-Clause License
+
+Copyright (c) 2014-2021, CNRS
+Copyright (c) 2018-2021, INRIA
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Pinocchio project.
\ No newline at end of file
diff --git a/licenses/COPYING.PROTOBUF b/licenses/COPYING.PROTOBUF
new file mode 100644
index 000000000..97a6e3d19
--- /dev/null
+++ b/licenses/COPYING.PROTOBUF
@@ -0,0 +1,32 @@
+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.
\ No newline at end of file
diff --git a/licenses/COPYING.PYBIND11 b/licenses/COPYING.PYBIND11
new file mode 100644
index 000000000..014f7c7ef
--- /dev/null
+++ b/licenses/COPYING.PYBIND11
@@ -0,0 +1,26 @@
+Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/licenses/COPYING.URDFDOM b/licenses/COPYING.URDFDOM
new file mode 100644
index 000000000..43cd737c1
--- /dev/null
+++ b/licenses/COPYING.URDFDOM
@@ -0,0 +1,33 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
\ No newline at end of file
diff --git a/licenses/NOTICE.OSQP b/licenses/NOTICE.OSQP
new file mode 100644
index 000000000..fb3ebf88e
--- /dev/null
+++ b/licenses/NOTICE.OSQP
@@ -0,0 +1,13 @@
+OSQP
+Copyright (c) 2019 Bartolomeo Stellato, Goran Banjac, Paul Goulart, Stephen Boyd
+
+This product includes software developed at Stanford University and at the University of Oxford.
+
+
+The following external modules are included in this software library
+
+QDLDL
+Copyright (c) 2018, Paul Goulart, Bartolomeo Stellato, Goran Banjac.
+
+AMD
+Copyright (c) 1996-2015, Timothy A. Davis, Patrick R. Amestoy, and Iain S. Duff.
\ No newline at end of file
diff --git a/licenses/README.md b/licenses/README.md
new file mode 100644
index 000000000..25120fa2e
--- /dev/null
+++ b/licenses/README.md
@@ -0,0 +1,40 @@
+# License
+
+The source files in this repository are made freely available under the GNU General Public License v3.0 (GPLv3).
+
+Any distribution of this software, in its original or modified form, or of derived works which include this software,
+must retain the GPLv3 license and make all source code available with a statement of modifications, if applicable.
+
+## Dependencies
+
+The compilation of these source files into binary form and their subsequent execution relies on several open source
+softwares. Any distribution of these dependencies must adhere to their respective license agreements. For convenience,
+the dependencies are summarized below, and their respective license texts are copied in this directory.
+
+### Compilation Dependencies
+
+This project makes use of open source software provided by Google Inc. under the BSD-3-Clause "New" or "Revised"
+License (BSD3) for testing and compilation.
+
+- [Google Test](https://github.com/google/googletest/blob/main/LICENSE) - BSD3, see [COPYING.GTEST](./COPYING.GTEST)
+- [Google Protobuf](https://github.com/protocolbuffers/protobuf) - BSD3, see [COPYING.PROTOBUF](./COPYING.PROTOBUF)
+
+The Python bindings of the library are compiled with pybind11, which is also made available under BSD3 license.
+
+- [Pybind11](https://github.com/pybind/pybind11) - BSD3, see [COPYING.PYBIND11](./COPYING.PYBIND11)
+
+## Runtime dependencies
+
+Execution of the compiled software requires Eigen, which is made available under the Mozilla Public License 2.0 (MPL2).
+
+- [Eigen](https://eigen.tuxfamily.org) - see [COPYING.EIGEN](./COPYING.EIGEN)
+
+The `robot_model` and `controllers` modules have additional runtime dependencies: Boost defines a custom permissive
+license file; the OSQP library is available under the Apache License 2.0 (Apache-2.0); urdfdom and osqp-eigen are
+available under BSD3; Pinocchio is available under the BSD-2-Clause license (BSD2).
+
+- [Boost](https://www.boost.org) - custom license, see [COPYING.BOOST](./COPYING.BOOST)
+- [urdfdom](https://github.com/ros/urdfdom) - BSD3, see [COPYING.URDFDOM](./COPYING.URDFDOM)
+- [osqp](https://github.com/osqp/osqp) - Apache-2.0, see [COPYING.OSQP](./COPYING.OSQP) and [NOTICE.OSQP](./NOTICE.OSQP)
+- [osqp-eigen](https://github.com/robotology/osqp-eigen) - BSD3, see [COPYING.OSQP_EIGEN](./COPYING.OSQP_EIGEN)
+- [Pinocchio](https://github.com/stack-of-tasks/pinocchio) - BSD2, see [COPYING.PINOCCHIO](./COPYING.PINOCCHIO)
diff --git a/protocol/Dockerfile.protocol b/protocol/Dockerfile.protocol
index e29453872..6dbfc780e 100644
--- a/protocol/Dockerfile.protocol
+++ b/protocol/Dockerfile.protocol
@@ -1,4 +1,5 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as dependencies
+ARG BASE_TAG=latest
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:${BASE_TAG} as source
 ARG BRANCH=develop
 
 WORKDIR /source
@@ -12,19 +13,13 @@ WORKDIR /tmp/protocol/protobuf
 RUN make all
 
 
-FROM dependencies as build
-ARG BUILD_TESTING=ON
+FROM source as build
 
 WORKDIR /tmp/protocol/clproto_cpp/build
-RUN cmake -DBUILD_TESTING=${BUILD_TESTING} .. && make -j all
+RUN cmake -DBUILD_TESTING=ON .. && make -j all
 
 
 FROM build as testing
 
 RUN CTEST_OUTPUT_ON_FAILURE=1 make test
-
-
-FROM build as install
-
-RUN make install
 RUN rm -rf /tmp/protocol/
diff --git a/protocol/build-test.sh b/protocol/build-test.sh
index ee6c2ad6e..a6707103e 100755
--- a/protocol/build-test.sh
+++ b/protocol/build-test.sh
@@ -1,16 +1,15 @@
 #!/usr/bin/env bash
 
-MULTISTAGE_TARGET="testing"
-IMAGE_NAME=epfl-lasa/control-libraries/clproto
-IMAGE_TAG="${MULTISTAGE_TARGET}"
-BRANCH=$(git branch --show-current)
+BASE_TAG="latest"
 
-BUILD_TESTING="ON"
+BRANCH=$(git branch --show-current)
 
-HELP_MESSAGE="Usage: build-test.sh [-b <branch>] [-r] [-v]
+HELP_MESSAGE="Usage: build-test.sh [-b <branch>] [--base-tag <base-tag>] [-r] [-v]
 Options:
   -b, --branch <branch>    Specify the branch of control libraries
                            that should be used to build the image.
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image using the docker
                            --no-cache option.
   -v, --verbose            Use the verbose option during the building
@@ -23,6 +22,7 @@ while [[ $# -gt 0 ]]; do
   opt="$1"
   case $opt in
     -b|--branch) BRANCH=$2; shift 2;;
+    --base-tag) BASE_TAG=$2; shift 2;;
     -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
     -h|--help) echo "${HELP_MESSAGE}"; exit 0 ;;
@@ -32,11 +32,12 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
+IMAGE_NAME=epfl-lasa/control-libraries/protocol/testing:"${BASE_TAG}"
+BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
+BUILD_FLAGS+=(-t "${IMAGE_NAME}")
+
 echo "Using control libraries branch ${BRANCH}"
 BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
-BUILD_FLAGS+=(--build-arg BUILD_TESTING="${BUILD_TESTING}")
-BUILD_FLAGS+=(--target "${MULTISTAGE_TARGET}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${IMAGE_TAG}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies || exit 1
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
 DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.protocol "${BUILD_FLAGS[@]}"
diff --git a/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
index fa29d70fa..bac244778 100644
--- a/protocol/clproto_cpp/CMakeLists.txt
+++ b/protocol/clproto_cpp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 6.2.0)
+project(clproto VERSION 6.3.0)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/protocol/dev-server.sh b/protocol/dev-server.sh
index 289fc9d91..9fae16c16 100755
--- a/protocol/dev-server.sh
+++ b/protocol/dev-server.sh
@@ -1,13 +1,14 @@
 #!/usr/bin/env bash
 
-IMAGE_NAME=epfl-lasa/control-libraries/protocol-dependencies
-CONTAINER_NAME=epfl-lasa-control-libraries-protocol-dependencies-ssh
+BASE_TAG="latest"
+
+CONTAINER_NAME=epfl-lasa-control-libraries-protocol-development-ssh
 BRANCH=$(git branch --show-current)
 
 SSH_PORT=2244
 SSH_KEY_FILE="${HOME}/.ssh/id_rsa.pub"
 
-HELP_MESSAGE="Usage: ./dev-server.sh [-b <branch>] [-p <port>] [-k <file>] [-r]
+HELP_MESSAGE="Usage: ./dev-server.sh [-b <branch>] [-p <port>] [-k <file>] [--base-tag <base-tag>] [-r]
 
 Build and run a docker container as an SSH toolchain server for remote development.
 
@@ -32,6 +33,8 @@ Options:
   -k, --key-file <path>    Specify the path of the RSA
                            public key file.
                            (default: ${SSH_KEY_FILE})
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image with the --no-cache option.
   -h, --help               Show this help message."
 
@@ -41,6 +44,7 @@ while [ "$#" -gt 0 ]; do
   -b|--branch) BRANCH=$2; shift 2;;
   -p|--port) SSH_PORT=$2; shift 2;;
   -k|--key-file) SSH_KEY_FILE=$2; shift 2;;
+  --base-tag) BASE_TAG=$2; shift 2;;
   -h|--help) echo "${HELP_MESSAGE}"; exit 0;;
   -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift 1;;
   *) echo 'Error in command line parsing' >&2
@@ -62,11 +66,14 @@ if [[ "${OSTYPE}" != "darwin"* ]]; then
   COMMAND_FLAGS+=(--gid "${GROUP_ID}")
 fi
 
+IMAGE_NAME=epfl-lasa/control-libraries/protocol/development:"${BASE_TAG}"
+BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
+BUILD_FLAGS+=(-t "${IMAGE_NAME}")
+
 echo "Using control libraries branch ${BRANCH}"
 BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
-BUILD_FLAGS+=(--target dependencies)
-BUILD_FLAGS+=(-t "${IMAGE_NAME}")
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies || exit 1
+BUILD_FLAGS+=(--target source)
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
 DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.protocol "${BUILD_FLAGS[@]}" || exit 1
 
 docker container stop "${CONTAINER_NAME}" >/dev/null 2>&1
diff --git a/python/Dockerfile.python b/python/Dockerfile.python
index 21ab57833..98618d398 100644
--- a/python/Dockerfile.python
+++ b/python/Dockerfile.python
@@ -1,4 +1,5 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as python-install
+ARG BASE_TAG=latest
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:${BASE_TAG} as source
 ARG BRANCH=develop
 
 WORKDIR /source
@@ -6,6 +7,9 @@ RUN git clone --depth 1 --branch ${BRANCH} https://github.com/epfl-lasa/control-
 RUN bash control-libraries/source/install.sh --auto
 RUN bash control-libraries/protocol/install.sh --auto
 
+
+FROM source as build
+
 RUN rm -rf control-libraries/python/include control-libraries/python/source
 COPY include control-libraries/python/include
 COPY source control-libraries/python/source
@@ -14,7 +18,7 @@ ENV OSQP_INCLUDE_DIR /usr/local/include/osqp
 RUN pip3 install control-libraries/python
 
 
-FROM python-install as build-testing
+FROM build as testing
 
 USER developer
 WORKDIR ${HOME}
diff --git a/python/dev-server.sh b/python/dev-server.sh
index f243d6240..c090ab53c 100755
--- a/python/dev-server.sh
+++ b/python/dev-server.sh
@@ -1,14 +1,14 @@
 #!/usr/bin/env bash
 
-IMAGE_NAME=epfl-lasa/control-libraries/python/development
-CONTAINER_NAME=epfl-lasa-control-libraries-python-development-ssh
+BASE_TAG="latest"
 
+CONTAINER_NAME=epfl-lasa-control-libraries-python-development-ssh
 BRANCH=$(git branch --show-current)
 
 SSH_PORT=2233
 SSH_KEY_FILE="${HOME}/.ssh/id_rsa.pub"
 
-HELP_MESSAGE="Usage: ./dev-server.sh [-p <port>] [-k <file>] [-r] [-v]
+HELP_MESSAGE="Usage: ./dev-server.sh [-b <branch>] [-p <port>] [-k <file>] [--base-tag <base-tag>] [-r] [-v]
 
 Build and run a docker container as an SSH toolchain server for remote development.
 
@@ -33,6 +33,8 @@ Options:
   -k, --key-file [path]    Specify the path of the RSA
                            public key file.
                            (default: ${SSH_KEY_FILE})
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image using the docker
                            --no-cache option.
   -v, --verbose            Use the verbose option during the building
@@ -45,6 +47,7 @@ while [ "$#" -gt 0 ]; do
   -p|--port) SSH_PORT=$2; shift 2;;
   -b|--branch) BRANCH=$2; shift 2;;
   -k|--key-file) SSH_KEY_FILE=$2; shift 2;;
+  --base-tag) BASE_TAG=$2; shift 2;;
   -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
   -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
   -h|--help) echo "${HELP_MESSAGE}"; exit 0;;
@@ -67,14 +70,16 @@ if [[ "${OSTYPE}" != "darwin"* ]]; then
   COMMAND_FLAGS+=(--gid "${GROUP_ID}")
 fi
 
+IMAGE_NAME=epfl-lasa/control-libraries/python/development:"${BASE_TAG}"
+BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
+BUILD_FLAGS+=(-t "${IMAGE_NAME}")
+
 echo "Using control libraries branch ${BRANCH}"
 BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
+BUILD_FLAGS+=(--target build)
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest
-DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.python \
-  "${BUILD_FLAGS[@]}" \
-  --target python-install \
-  --tag "${IMAGE_NAME}" || exit 1
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
+DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.python "${BUILD_FLAGS[@]}" || exit 1
 
 docker container stop "${CONTAINER_NAME}" >/dev/null 2>&1
 docker rm --force "${CONTAINER_NAME}" >/dev/null 2>&1
diff --git a/python/run.sh b/python/run.sh
index 628fa48cf..705ab2e04 100755
--- a/python/run.sh
+++ b/python/run.sh
@@ -1,12 +1,15 @@
 #!/usr/bin/env bash
 
-IMAGE_NAME=epfl-lasa/control-libraries/python/test
+BASE_TAG="latest"
+
 BRANCH=$(git branch --show-current)
 
-HELP_MESSAGE="Usage: run.sh [-b <branch>] [-r] [-v]
+HELP_MESSAGE="Usage: run.sh [-b <branch>] [--base-tag <base-tag>] [-r] [-v]
 Options:
   -b, --branch <branch>    Specify the branch of control libraries
                            that should be used to build the image.
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image using the docker
                            --no-cache option.
   -v, --verbose            Use the verbose option during the building
@@ -19,6 +22,7 @@ while [[ $# -gt 0 ]]; do
   opt="$1"
   case $opt in
     -b|--branch) BRANCH=$2;shift 2;;
+    --base-tag) BASE_TAG=$2; shift 2;;
     -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
     -h|--help) echo "${HELP_MESSAGE}" ; exit 0 ;;
@@ -28,16 +32,17 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
+IMAGE_NAME=epfl-lasa/control-libraries/python/testing:"${BASE_TAG}"
+BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
+BUILD_FLAGS+=(-t "${IMAGE_NAME}")
+
 echo "Using control libraries branch ${BRANCH}"
 BUILD_FLAGS+=(--build-arg BRANCH="${BRANCH}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest
-DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.python \
-  "${BUILD_FLAGS[@]}" \
-  --target build-testing \
-  --tag "${IMAGE_NAME}" || exit 1
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
+DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.python "${BUILD_FLAGS[@]}" || exit 1
 
 docker run -it --rm \
   --volume "$(pwd)"/test:/home/developer/test:rw \
-  --name "${IMAGE_NAME//[\/.]/-}" \
+  --name "${IMAGE_NAME//[\/.:]/-}" \
   "${IMAGE_NAME}"
diff --git a/python/setup.py b/python/setup.py
index fb793314e..213209c9b 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -9,7 +9,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "6.2.0"
+__version__ = "6.3.0"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index 3cbca89cc..7fa52f4cb 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 6.2.0)
+project(control_libraries VERSION 6.3.0)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)
diff --git a/source/Dockerfile.source b/source/Dockerfile.source
index 583b0d476..8d5e98fc9 100644
--- a/source/Dockerfile.source
+++ b/source/Dockerfile.source
@@ -1,5 +1,5 @@
-FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:latest as build
-ARG BUILD_TESTING=ON
+ARG BASE_TAG=latest
+FROM ghcr.io/epfl-lasa/control-libraries/development-dependencies:${BASE_TAG} as build
 ARG BUILD_CONTROLLERS=ON
 ARG BUILD_DYNAMICAL_SYSTEMS=ON
 ARG BUILD_ROBOT_MODEL=ON
@@ -11,7 +11,7 @@ WORKDIR /tmp/control_lib/build
 RUN cmake -DBUILD_CONTROLLERS="${BUILD_CONTROLLERS}" \
     -DBUILD_DYNAMICAL_SYSTEMS="${BUILD_DYNAMICAL_SYSTEMS}" \
     -DBUILD_ROBOT_MODEL="${BUILD_ROBOT_MODEL}" \
-    -DBUILD_TESTING="${BUILD_TESTING}" .. \
+    -DBUILD_TESTING=ON .. \
   && make -j all
 
 
@@ -19,9 +19,3 @@ FROM build as testing
 
 RUN CTEST_OUTPUT_ON_FAILURE=1 make test
 RUN rm -rf /tmp/control_lib/
-
-
-FROM build as install
-
-RUN make install
-RUN rm -rf /tmp/control_lib/
diff --git a/source/build-test.sh b/source/build-test.sh
index e0d1b125b..c249b30a2 100755
--- a/source/build-test.sh
+++ b/source/build-test.sh
@@ -1,16 +1,15 @@
 #!/usr/bin/env bash
 
-MULTISTAGE_TARGET="testing"
-IMAGE_NAME=epfl-lasa/control-libraries/source
-IMAGE_TAG="${MULTISTAGE_TARGET}"
+BASE_TAG="latest"
 
-BUILD_TESTING="ON"
 BUILD_CONTROLLERS="ON"
 BUILD_DYNAMICAL_SYSTEMS="ON"
 BUILD_ROBOT_MODEL="ON"
 
-HELP_MESSAGE="Usage: build-test.sh [-r] [-v]
+HELP_MESSAGE="Usage: build-test.sh [--base-tag <base-tag>] [-r] [-v]
 Options:
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -r, --rebuild            Rebuild the image using the docker
                            --no-cache option.
   -v, --verbose            Use the verbose option during the building
@@ -22,6 +21,7 @@ BUILD_FLAGS=()
 while [[ $# -gt 0 ]]; do
   opt="$1"
   case $opt in
+    --base-tag) BASE_TAG=$2; shift 2;;
     -r|--rebuild) BUILD_FLAGS+=(--no-cache); shift ;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift ;;
     -h|--help) echo "${HELP_MESSAGE}"; exit 0 ;;
@@ -31,12 +31,13 @@ while [[ $# -gt 0 ]]; do
   esac
 done
 
-BUILD_FLAGS=(--target "${MULTISTAGE_TARGET}")
-BUILD_FLAGS+=(--build-arg "BUILD_TESTING=${BUILD_TESTING}")
+IMAGE_NAME=epfl-lasa/control-libraries/source/testing:"${BASE_TAG}"
+
+BUILD_FLAGS+=(--build-arg "BASE_TAG=${BASE_TAG}")
 BUILD_FLAGS+=(--build-arg "BUILD_CONTROLLERS=${BUILD_CONTROLLERS}")
 BUILD_FLAGS+=(--build-arg "BUILD_DYNAMICAL_SYSTEMS=${BUILD_DYNAMICAL_SYSTEMS}")
 BUILD_FLAGS+=(--build-arg "BUILD_ROBOT_MODEL=${BUILD_ROBOT_MODEL}")
-BUILD_FLAGS+=(-t "${IMAGE_NAME}:${IMAGE_TAG}")
+BUILD_FLAGS+=(-t "${IMAGE_NAME}")
 
-docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies
+docker pull ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}" || exit 1
 DOCKER_BUILDKIT=1 docker build . --file ./Dockerfile.source "${BUILD_FLAGS[@]}"
diff --git a/source/dev-server.sh b/source/dev-server.sh
index 9312a7f1f..c9b7745a5 100755
--- a/source/dev-server.sh
+++ b/source/dev-server.sh
@@ -1,12 +1,12 @@
 #!/usr/bin/env bash
 
-IMAGE_NAME=ghcr.io/epfl-lasa/control-libraries/development-dependencies
+BASE_TAG="latest"
 CONTAINER_NAME=control-libraries-development-dependencies-ssh
 
 SSH_PORT=2222
 SSH_KEY_FILE="${HOME}/.ssh/id_rsa.pub"
 
-HELP_MESSAGE="Usage: ./dev-server.sh [-p <port>] [-k <file>]
+HELP_MESSAGE="Usage: ./dev-server.sh [-p <port>] [-k <file>] [--base-tag <base-tag>]
 
 Build and run a docker container as an SSH toolchain server for remote development.
 
@@ -29,12 +29,15 @@ Options:
   -k, --key-file [path]    Specify the path of the RSA
                            public key file.
                            (default: ${SSH_KEY_FILE})
+  --base-tag <base-tag>    Tag of the development image.
+                           (default: ${BASE_TAG})
   -h, --help               Show this help message."
 
 while [ "$#" -gt 0 ]; do
   case "$1" in
   -p|--port) SSH_PORT=$2; shift 2;;
   -k|--key-file) SSH_KEY_FILE=$2; shift 2;;
+  --base-tag) BASE_TAG=$2; shift 2;;
   -h|--help) echo "${HELP_MESSAGE}"; exit 0;;
   *) echo 'Error in command line parsing' >&2
      echo -e "\n${HELP_MESSAGE}"
@@ -42,6 +45,8 @@ while [ "$#" -gt 0 ]; do
   esac
 done
 
+IMAGE_NAME=ghcr.io/epfl-lasa/control-libraries/development-dependencies:"${BASE_TAG}"
+
 PUBLIC_KEY=$(cat "${SSH_KEY_FILE}")
 
 COMMAND_FLAGS=()