diff --git a/.github/workflows/ci_linux.yml b/.github/workflows/ci_linux.yml
index 757dcf2c..f008e416 100644
--- a/.github/workflows/ci_linux.yml
+++ b/.github/workflows/ci_linux.yml
@@ -18,12 +18,12 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-22.04]
         build_type: [Release]
         build_python: [ON]
         compiler: [gcc, clang]
         magnum_gui: [ON, OFF]
-        dart_tag: ["v6.12.1"]
+        dart_tag: ["v6.13.1"]
     env:
       COMPILER: ${{ matrix.compiler }}
       BUILD_TYPE: ${{ matrix.build_type }}
@@ -63,9 +63,9 @@ jobs:
           fi
           cd ${{github.workspace}}
           if [ "$BUILD_PYTHON" = "ON" ]; then
-            ./waf configure --python --prefix=/usr --dart=~/.dart_install ;
+            ./waf configure --tests --python --prefix=/usr --dart=~/.dart_install ;
           else
-            ./waf configure --prefix=/usr --dart=~/.dart_install ;
+            ./waf configure --tests --prefix=/usr --dart=~/.dart_install ;
           fi
           ./waf
       - name: Run tests
diff --git a/ci/install_dart_latest.sh b/ci/install_dart_latest.sh
index cf566d43..52d1718c 100755
--- a/ci/install_dart_latest.sh
+++ b/ci/install_dart_latest.sh
@@ -12,16 +12,16 @@ if [ "$COMPILER" = "clang" ]; then
 export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
 fi
 
-# Build pybind11 if needed; for clang we need at least v2.5.0
-if [ "$COMPILER" = "clang" ]; then
-    git clone https://github.com/pybind/pybind11 -b 'v2.5.0' --single-branch --depth 1
-    cd pybind11
-    mkdir build && cd build
-    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
-    make -j4
-    sudo make install
-    cd ../..
-fi
+# # Build pybind11 if needed; for clang we need at least v2.5.0
+# if [ "$COMPILER" = "clang" ]; then
+#     git clone https://github.com/pybind/pybind11 -b 'v2.5.0' --single-branch --depth 1
+#     cd pybind11
+#     mkdir build && cd build
+#     cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
+#     make -j4
+#     sudo make install
+#     cd ../..
+# fi
 
 git clone https://github.com/dartsim/dart.git
 cd dart
@@ -45,7 +45,7 @@ sudo ldconfig
 cd $CI_HOME
 
 # Hack for dartpy installation
-python_file=/usr/lib/python3/dist-packages/dartpy.cpython-38-x86_64-linux-gnu.so
+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
 fi
diff --git a/ci/install_packages.sh b/ci/install_packages.sh
index 637a9d34..6c2d7c79 100755
--- a/ci/install_packages.sh
+++ b/ci/install_packages.sh
@@ -2,14 +2,14 @@ sudo apt-get -qq update
 sudo apt-get -y install software-properties-common mlocate
 sudo apt-add-repository -y ppa:dartsim/ppa
 sudo apt-get -qq update
-sudo apt-get install -y --no-install-recommends build-essential cmake pkg-config git libeigen3-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev libbullet-dev libode-dev liboctomap-dev libtinyxml-dev libtinyxml2-dev liburdfdom-dev liburdfdom-headers-dev python3-pip python3-numpy libpython3-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev libassimp-dev
+sudo apt-get install -y --no-install-recommends build-essential cmake pkg-config git libeigen3-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev libboost-filesystem-dev libboost-test-dev libbullet-dev libode-dev liboctomap-dev libtinyxml-dev libtinyxml2-dev liburdfdom-dev liburdfdom-headers-dev python3-pip python3-numpy libpython3-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev libassimp-dev libfmt-dev pybind11-dev
 
 sudo ln -s /usr/bin/python3 /usr/bin/python
 
-# if gcc, we can safely use the official package, for clang we need to build it
-if [ "$COMPILER" = "gcc" ]; then
-    sudo apt-get install -y --no-install-recommends pybind11-dev
-fi
+# # if gcc, we can safely use the official package, for clang we need to build it
+# if [ "$COMPILER" = "gcc" ]; then
+#     sudo apt-get install -y --no-install-recommends pybind11-dev
+# fi
 
 if [ "$MAGNUM_GUI" = "ON" ]; then
     sudo apt-get install -y --no-install-recommends libopenal-dev libglfw3-dev libsdl2-dev libdevil-dev libpng-dev libfaad-dev libfreetype6-dev libglm-dev
diff --git a/ci/install_pybind11.sh b/ci/install_pybind11.sh
index 532d9e07..5c766d45 100755
--- a/ci/install_pybind11.sh
+++ b/ci/install_pybind11.sh
@@ -1,10 +1,10 @@
-# Build pybind11 if needed; for clang we need at least v2.5.0
-if [ "$COMPILER" = "clang" ]; then
-    git clone https://github.com/pybind/pybind11 -b 'v2.5.0' --single-branch --depth 1
-    cd pybind11
-    mkdir build && cd build
-    cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
-    make -j4
-    sudo make install
-    cd ../..
-fi
+# # Build pybind11 if needed; for clang we need at least v2.5.0
+# if [ "$COMPILER" = "clang" ]; then
+#     git clone https://github.com/pybind/pybind11 -b 'v2.5.0' --single-branch --depth 1
+#     cd pybind11
+#     mkdir build && cd build
+#     cmake .. -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF
+#     make -j4
+#     sudo make install
+#     cd ../..
+# fi
diff --git a/wscript b/wscript
index 53c2dafc..7f302501 100644
--- a/wscript
+++ b/wscript
@@ -103,7 +103,7 @@ def configure_robot_dart(conf):
     conf.check(features='cxx cxxprogram', lib=['pthread'], uselib_store='PTHREAD')
     conf.check_eigen(required=True, min_version=(3,2,92))
     conf.check_dart(required=True)
-    if conf.env['DART_REQUIRES_BOOST']:
+    if conf.env['DART_REQUIRES_BOOST'] or conf.options.tests:
         conf.check_boost(lib='regex system filesystem unit_test_framework', min_version='1.58')
     conf.check_corrade(components='Utility PluginManager', required=False)
     conf.env['magnum_dep_libs'] = 'MeshTools Primitives Shaders SceneGraph GlfwApplication Text MagnumFont'