diff --git a/CHANGELOG.md b/CHANGELOG.md
index 62a476391..282755704 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -17,6 +17,7 @@ Release Versions:
 ## Upcoming changes (in development)
 
 - Build and push both 20.04 and 22.04 images (#314, #315, #316)
+- Don't build pinocchio tests in development image (#317)
 
 ## 6.2.0
 
diff --git a/Dockerfile.base b/Dockerfile.base
index 180d7bc1b..6f06db745 100644
--- a/Dockerfile.base
+++ b/Dockerfile.base
@@ -65,7 +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
 
diff --git a/Dockerfile.proto b/Dockerfile.proto
index 0e8049c61..e468f892e 100644
--- a/Dockerfile.proto
+++ b/Dockerfile.proto
@@ -23,7 +23,7 @@ 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
 
 
diff --git a/VERSION b/VERSION
index bee943381..42cc526d6 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-6.2.3
+6.2.4
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index 6b425fdde..30b8184e7 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 6.2.3 CONFIG REQUIRED)
+find_package(control_libraries 6.2.4 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index 6e4c9745f..475833593 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 = 6.2.3
+PROJECT_NUMBER = 6.2.4
 
 # 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/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
index 45a554c10..423fd0254 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 6.2.3)
+project(clproto VERSION 6.2.4)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/python/setup.py b/python/setup.py
index 29554278b..bb2e63285 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__ = "6.2.3"
+__version__ = "6.2.4"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index c890a946f..611ab314f 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 6.2.3)
+project(control_libraries VERSION 6.2.4)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)