diff --git a/phonelibs/acados/aarch64/lib/libacados.so b/phonelibs/acados/aarch64/lib/libacados.so
new file mode 100755
index 0000000000..3ff6d608e9
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diff --git a/phonelibs/acados/aarch64/lib/libblasfeo.so b/phonelibs/acados/aarch64/lib/libblasfeo.so
new file mode 100755
index 0000000000..f74903e15f
Binary files /dev/null and b/phonelibs/acados/aarch64/lib/libblasfeo.so differ
diff --git a/phonelibs/acados/aarch64/lib/libhpipm.so b/phonelibs/acados/aarch64/lib/libhpipm.so
new file mode 100755
index 0000000000..847e90e9f4
Binary files /dev/null and b/phonelibs/acados/aarch64/lib/libhpipm.so differ
diff --git a/phonelibs/acados/aarch64/lib/libqpOASES_e.so b/phonelibs/acados/aarch64/lib/libqpOASES_e.so
new file mode 120000
index 0000000000..14048625a1
--- /dev/null
+++ b/phonelibs/acados/aarch64/lib/libqpOASES_e.so
@@ -0,0 +1 @@
+libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1 b/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1
new file mode 100755
index 0000000000..9df9262bf7
Binary files /dev/null and b/phonelibs/acados/aarch64/lib/libqpOASES_e.so.3.1 differ
diff --git a/phonelibs/acados/aarch64/t_renderer b/phonelibs/acados/aarch64/t_renderer
new file mode 100755
index 0000000000..dc3cdf554f
Binary files /dev/null and b/phonelibs/acados/aarch64/t_renderer differ
diff --git a/phonelibs/acados/build.sh b/phonelibs/acados/build.sh
index 144a38c6d3..2d5d05241b 100755
--- a/phonelibs/acados/build.sh
+++ b/phonelibs/acados/build.sh
@@ -18,7 +18,7 @@ if [ ! -d acados/ ]; then
 fi
 cd acados
 git fetch
-git checkout 9a1bab3f8fc4814a295fbf424fdc8125c63fdd08
+git checkout f63f0be563519a3df32463397f2bcd57b3958714
 git submodule update --recursive --init
 
 # build
@@ -36,5 +36,9 @@ rm $DIR/acados/lib/*.json
 cp -r $DIR/acados/include $DIR
 cp -r $DIR/acados/lib $INSTALL_DIR
 cp -r $DIR/acados/interfaces/acados_template/acados_template $DIR/../../pyextra
-
 #pip3 install -e $DIR/acados/interfaces/acados_template
+
+# build tera
+cd $DIR/acados/interfaces/acados_template/tera_renderer/
+cargo build --verbose --release
+cp target/release/t_renderer $INSTALL_DIR/
diff --git a/phonelibs/acados/larch64/lib/libacados.so b/phonelibs/acados/larch64/lib/libacados.so
new file mode 100644
index 0000000000..fd1adffaa4
Binary files /dev/null and b/phonelibs/acados/larch64/lib/libacados.so differ
diff --git a/phonelibs/acados/larch64/lib/libblasfeo.so b/phonelibs/acados/larch64/lib/libblasfeo.so
new file mode 100644
index 0000000000..a48afdd8c0
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diff --git a/phonelibs/acados/larch64/lib/libhpipm.so b/phonelibs/acados/larch64/lib/libhpipm.so
new file mode 100644
index 0000000000..a9b960becc
Binary files /dev/null and b/phonelibs/acados/larch64/lib/libhpipm.so differ
diff --git a/phonelibs/acados/larch64/lib/libqpOASES_e.so b/phonelibs/acados/larch64/lib/libqpOASES_e.so
new file mode 120000
index 0000000000..14048625a1
--- /dev/null
+++ b/phonelibs/acados/larch64/lib/libqpOASES_e.so
@@ -0,0 +1 @@
+libqpOASES_e.so.3.1
\ No newline at end of file
diff --git a/phonelibs/acados/larch64/lib/libqpOASES_e.so.3.1 b/phonelibs/acados/larch64/lib/libqpOASES_e.so.3.1
new file mode 100644
index 0000000000..bfefe662cc
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diff --git a/phonelibs/acados/larch64/t_renderer b/phonelibs/acados/larch64/t_renderer
new file mode 100755
index 0000000000..b4ff8bc319
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diff --git a/phonelibs/acados/x86_64/t_renderer b/phonelibs/acados/x86_64/t_renderer
new file mode 100755
index 0000000000..e2b3f8b993
Binary files /dev/null and b/phonelibs/acados/x86_64/t_renderer differ
diff --git a/pyextra/acados_template/utils.py b/pyextra/acados_template/utils.py
index b749909aeb..3f002b98cd 100644
--- a/pyextra/acados_template/utils.py
+++ b/pyextra/acados_template/utils.py
@@ -55,8 +55,10 @@ def get_acados_path():
 
 
 def get_tera_exec_path():
-    ACADOS_PATH = get_acados_path()
-    return os.path.join(ACADOS_PATH, 'bin/t_renderer')
+    TERA_PATH = os.environ.get('TERA_PATH')
+    if not TERA_PATH:
+        TERA_PATH = os.path.join(get_acados_path(), 'bin/t_renderer')
+    return TERA_PATH
 
 
 platform2tera = {