diff --git a/cmake/BuildBlockFactory.cmake b/cmake/BuildBlockFactory.cmake
index bea3745ee..3da4d43f5 100644
--- a/cmake/BuildBlockFactory.cmake
+++ b/cmake/BuildBlockFactory.cmake
@@ -10,11 +10,15 @@ else()
   set(BLOCKFACTORY_USES_SIMULINK OFF)
 endif()
 
+find_or_build_package(sharedlibpp QUIET)
+
 ycm_ep_helper(BlockFactory TYPE GIT
               STYLE GITHUB
               REPOSITORY robotology/blockfactory.git
               TAG master
               COMPONENT dynamics
               FOLDER src
+              DEPENDS sharedlibpp
               CMAKE_ARGS -DUSES_MATLAB:BOOL=${BLOCKFACTORY_USES_SIMULINK}
+                         -DBLOCKFACTORY_USES_SYSTEM_SHAREDLIBPP:BOOL=ON
                          -DENABLE_WARNINGS:BOOL=OFF)
diff --git a/cmake/BuildQpSolversEigen.cmake b/cmake/BuildQpSolversEigen.cmake
new file mode 100644
index 000000000..57a46e6be
--- /dev/null
+++ b/cmake/BuildQpSolversEigen.cmake
@@ -0,0 +1,39 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+set(QpSolversEigen_DEPENDS "")
+find_or_build_package(sharedlibpp QUIET)
+list(APPEND QpSolversEigen_DEPENDS sharedlibpp)
+find_or_build_package(YCM QUIET)
+list(APPEND QpSolversEigen_DEPENDS YCM)
+find_or_build_package(OsqpEigen QUIET)
+list(APPEND QpSolversEigen_DEPENDS OsqpEigen)
+
+
+# proxqp only supports MSVC Toolset v143, i.e. Visual Studio 2022
+if(NOT MSVC OR MSVC_VERSION VERSION_GREATER_EQUAL 1930)
+  find_or_build_package(proxsuite QUIET)
+  list(APPEND QpSolversEigen_DEPENDS proxsuite)
+  set(QPSOLVERSEIGEN_ENABLE_PROXQP ON)
+else()
+  set(QPSOLVERSEIGEN_ENABLE_PROXQP OFF)
+endif()
+
+ycm_ep_helper(QpSolversEigen TYPE GIT
+              STYLE GITHUB
+              REPOSITORY ami-iit/qpsolvers-eigen.git
+              TAG main
+              COMPONENT dynamics
+              FOLDER src
+              CMAKE_ARGS -DBUILD_TESTING:BOOL=OFF
+                         -DQPSOLVERSEIGEN_USES_SYSTEM_SHAREDLIBPP:BOOL=ON
+                         -DQPSOLVERSEIGEN_USES_SYSTEM_YCM:BOOL=ON
+                         -DQPSOLVERSEIGEN_ENABLE_OSQP:BOOL=ON
+                         -DQPSOLVERSEIGEN_ENABLE_PROXQP:BOOL=${QPSOLVERSEIGEN_ENABLE_PROXQP}
+              DEPENDS ${QpSolversEigen_DEPENDS})
+
+set(QpSolversEigen_CONDA_PKG_NAME qpsolvers-eigen)
+set(QpSolversEigen_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/BuildWBToolbox.cmake b/cmake/BuildWBToolbox.cmake
index cfc1b2dac..249763464 100644
--- a/cmake/BuildWBToolbox.cmake
+++ b/cmake/BuildWBToolbox.cmake
@@ -9,8 +9,10 @@ find_or_build_package(YARP QUIET)
 find_or_build_package(ICUB QUIET)
 find_or_build_package(iDynTree QUIET)
 find_or_build_package(qpOASES QUIET)
+find_or_build_package(sharedlibpp QUIET)
 find_or_build_package(BlockFactory QUIET)
 find_or_build_package(OsqpEigen QUIET)
+find_or_build_package(QpSolversEigen QUIET)
 
 ycm_ep_helper(WBToolbox TYPE GIT
               STYLE GITHUB
@@ -27,6 +29,8 @@ ycm_ep_helper(WBToolbox TYPE GIT
                       iDynTree
                       qpOASES
                       BlockFactory
-                      OsqpEigen)
+                      OsqpEigen
+                      sharedlibpp
+                      QpSolversEigen)
 
 set(WBToolbox_CONDA_DEPENDENCIES eigen) 
diff --git a/cmake/Buildsharedlibpp.cmake b/cmake/Buildsharedlibpp.cmake
new file mode 100644
index 000000000..826e8b4b4
--- /dev/null
+++ b/cmake/Buildsharedlibpp.cmake
@@ -0,0 +1,18 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+include(YCMEPHelper)
+
+find_or_build_package(YCM QUIET)
+
+ycm_ep_helper(sharedlibpp TYPE GIT
+              STYLE GITHUB
+              REPOSITORY ami-iit/sharedlibpp.git
+              TAG main
+              COMPONENT dynamics
+              FOLDER src
+              DEPENDS YCM
+              CMAKE_ARGS)
+
+set(sharedlibpp_CONDA_PKG_NAME libsharedlibpp)
+set(sharedlibpp_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 431095572..e67fe4ebc 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -82,11 +82,11 @@ repositories:
   BlockFactory:
     type: git
     url: https://github.com/robotology/blockfactory.git
-    version: v0.8.6
+    version: v1.0.1
   WBToolbox:
     type: git
     url: https://github.com/robotology/wb-toolbox.git
-    version: v5.7.0
+    version: v6.0.0
   OsqpEigen:
     type: git
     url: https://github.com/robotology/osqp-eigen.git
@@ -275,3 +275,11 @@ repositories:
     type: git
     url: https://github.com/robotology/gz-sim-yarp-plugins.git
     version: v0.3.0
+  sharedlibpp:
+    type: git
+    url: https://github.com/ami-iit/sharedlibpp.git
+    version: v0.0.3
+  QpSolversEigen:
+    type: git
+    url: https://github.com/ami-iit/qpsolvers-eigen.git
+    version: v0.0.1