diff --git a/CMakeLists.txt b/CMakeLists.txt
index 696744f..9a00788 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -294,4 +294,4 @@ if(BUILD_PYTHON_BINDINGS AND BINDINGS_SRC)
   )
 endif()
 
-# ===============================================================================================
\ No newline at end of file
+# ===============================================================================================
diff --git a/Include/CircusApplication.h b/Include/CircusApplication.h
index ee3bde4..c42d626 100644
--- a/Include/CircusApplication.h
+++ b/Include/CircusApplication.h
@@ -1,12 +1,16 @@
 #pragma once
 #include <QApplication>
 
+#include "sigwatch.h"
 namespace spqr {
 
 class CircusApplication : public QApplication {
    public:
     CircusApplication(int& argc, char** argv);
     ~CircusApplication();
+
+   private:
+    UnixSignalWatcher sigwatch;
 };
 
 }  // namespace spqr
diff --git a/Include/Sensor.h b/Include/Sensor.h
index 661ffe7..8faabac 100644
--- a/Include/Sensor.h
+++ b/Include/Sensor.h
@@ -23,4 +23,4 @@ class Sensor {
 
    private:
     mutable std::shared_mutex mtx_;
-};
\ No newline at end of file
+};
diff --git a/Include/sigwatch.h b/Include/sigwatch.h
new file mode 100644
index 0000000..1a913af
--- /dev/null
+++ b/Include/sigwatch.h
@@ -0,0 +1,58 @@
+/*
+ * Unix signal watcher for Qt.
+ *
+ * Copyright (C) 2014 Simon Knopp
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * 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 AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef SIGWATCH_H
+#define SIGWATCH_H
+
+#include <signal.h>
+
+#include <QObject>
+
+class UnixSignalWatcherPrivate;
+
+/*!
+ * \brief The UnixSignalWatcher class converts Unix signals to Qt signals.
+ *
+ * To watch for a given signal, e.g. \c SIGINT, call \c watchForSignal(SIGINT)
+ * and \c connect() your handler to unixSignal().
+ */
+
+class UnixSignalWatcher : public QObject {
+    Q_OBJECT
+   public:
+    explicit UnixSignalWatcher(QObject *parent = 0);
+    ~UnixSignalWatcher();
+
+    void watchForSignal(int signal);
+
+   signals:
+    void unixSignal(int signal);
+
+   private:
+    UnixSignalWatcherPrivate *const d_ptr;
+    Q_DECLARE_PRIVATE(UnixSignalWatcher)
+    Q_PRIVATE_SLOT(d_func(), void _q_onNotify(int))
+};
+
+#endif  // SIGWATCH_H
diff --git a/README.md b/README.md
index 4c3fabd..b157d4b 100644
--- a/README.md
+++ b/README.md
@@ -28,7 +28,7 @@ This instructs pixi to create the environment specified in [pixi.toml](pixi.toml
 ### Run
 The pixi manifest declares a task named `main` that runs the python entrypoint (see [pixi.toml](pixi.toml) tasks). Run
 ```
-pixi run main
+pixi run circus-main
 ```
 
 ### Links
diff --git a/Resources/config/framework_config.yaml b/Resources/config/framework_config.yaml
index be64ac1..b72fcce 100644
--- a/Resources/config/framework_config.yaml
+++ b/Resources/config/framework_config.yaml
@@ -1,4 +1,4 @@
-image: test_image
+image: booster-env-base
 volumes:
-  - "/home/daniaffch/Dev/spqrbooster2026/src/SimBridge/bridge/build:/app/BridgeSubscriber"
-  - "/home/daniaffch/Dev/spqrbooster2026/src/SimBridge/fake_framework/build:/app/fake_framework"
+  - "/home/ubuntu/Robocup/spqrbooster2026/src/SimBridge/bridge/build:/app/BridgeSubscriber"
+  - "/home/ubuntu/Robocup/spqrbooster2026/src/SimBridge/fake_framework/build:/app/fake_framework"
diff --git a/Src/AppWindow.cpp b/Src/AppWindow.cpp
index df39db8..304134b 100644
--- a/Src/AppWindow.cpp
+++ b/Src/AppWindow.cpp
@@ -12,11 +12,6 @@
 namespace spqr {
 
 AppWindow::AppWindow(int& argc, char** argv) {
-    std::signal(SIGTERM, signalHandler);
-    std::signal(SIGINT, signalHandler);
-    std::signal(SIGSEGV, signalHandler);
-    std::signal(SIGABRT, signalHandler);
-
     resize(spqr::initialWindowWidth, spqr::initialWindowHeight);
     setWindowTitle(spqr::appName);
 
@@ -86,14 +81,6 @@ void AppWindow::loadScene(const QString& yamlFile) {
     }
 }
 
-void AppWindow::signalHandler(int signal) {
-    TeamManager::instance().clear();
-    RobotManager::instance().stopCommunicationServer();
-
-    std::signal(signal, SIG_DFL);
-    std::raise(signal);
-}
-
 AppWindow::~AppWindow() {
     if (sim != nullptr && sim->isRunning())
         sim->stop();
diff --git a/Src/CircusApplication.cpp b/Src/CircusApplication.cpp
index cabf8b4..2c52a58 100644
--- a/Src/CircusApplication.cpp
+++ b/Src/CircusApplication.cpp
@@ -4,6 +4,18 @@
 
 #include "curl/curl.h"
 
+void installsigwatch(UnixSignalWatcher* sigwatch) {
+    sigwatch->watchForSignal(SIGABRT);
+    sigwatch->watchForSignal(SIGFPE);
+    sigwatch->watchForSignal(SIGILL);
+    sigwatch->watchForSignal(SIGINT);
+    sigwatch->watchForSignal(SIGSEGV);
+    sigwatch->watchForSignal(SIGTERM);
+    sigwatch->watchForSignal(SIGQUIT);
+    sigwatch->watchForSignal(SIGHUP);
+    sigwatch->watchForSignal(SIGSYS);
+}
+
 namespace spqr {
 CircusApplication::CircusApplication(int& argc, char** argv) : QApplication(argc, argv) {
     QSurfaceFormat format;
@@ -17,6 +29,9 @@ CircusApplication::CircusApplication(int& argc, char** argv) : QApplication(argc
     format.setProfile(QSurfaceFormat::CompatibilityProfile);
     QSurfaceFormat::setDefaultFormat(format);
     curl_global_init(CURL_GLOBAL_DEFAULT);
+
+    installsigwatch(&sigwatch);
+    QObject::connect(&sigwatch, SIGNAL(unixSignal(int)), this, SLOT(quit()));
 }
 
 CircusApplication::~CircusApplication() {
diff --git a/Src/main.cpp b/Src/main.cpp
index 9b4b687..02caaa2 100644
--- a/Src/main.cpp
+++ b/Src/main.cpp
@@ -1,11 +1,19 @@
 
+#include <linux/prctl.h>
+#include <stdio.h>
+#include <sys/prctl.h>
+#include <sys/wait.h>
+#include <unistd.h>
+
 #include <QSurfaceFormat>
+#include <csignal>
+#include <iostream>
 
 #include "AppWindow.h"
 #include "CircusApplication.h"
 #include "Constants.h"
 
-int main(int argc, char** argv) {
+int runCircusApp(int argc, char** argv) {
     spqr::CircusApplication app(argc, argv);
     app.setApplicationName(spqr::appName);
 
@@ -14,3 +22,35 @@ int main(int argc, char** argv) {
 
     return app.exec();
 }
+
+int main(int argc, char** argv) {
+    pid_t pid = fork();
+
+    if (pid < 0) {
+        perror("fork");
+    }
+
+    if (pid == 0) {
+        prctl(PR_SET_PDEATHSIG, SIGHUP);
+        return runCircusApp(argc, argv);
+    } else {
+        // ignore all signal sent to him except of the uncatchable ones
+        sigset_t mask;
+        sigfillset(&mask);
+        sigprocmask(SIG_SETMASK, &mask, NULL);
+
+        int status;
+        waitpid(pid, &status, 0);
+
+        FILE* dockerList = popen("docker ps -aq", "r");
+        char buffer[128];
+
+        if (fgets(buffer, sizeof(buffer), dockerList) != nullptr) {
+            std::cout << "Dockers still running: forcing their closure.\n";
+        }
+
+        pclose(dockerList);
+        system("docker rm -f $(docker ps -aq) > /dev/null 2>&1");
+        return WEXITSTATUS(status);
+    }
+}
diff --git a/Src/sigwatch.cpp b/Src/sigwatch.cpp
new file mode 100644
index 0000000..d57903c
--- /dev/null
+++ b/Src/sigwatch.cpp
@@ -0,0 +1,163 @@
+/*
+ * Unix signal watcher for Qt.
+ *
+ * Copyright (C) 2014 Simon Knopp
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * 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 AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "sigwatch.h"
+
+#include <errno.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <QDebug>
+#include <QMap>
+#include <QSocketNotifier>
+
+/*!
+ * \brief The UnixSignalWatcherPrivate class implements the back-end signal
+ * handling for the UnixSignalWatcher.
+ *
+ * \see http://qt-project.org/doc/qt-5.0/qtdoc/unix-signals.html
+ */
+class UnixSignalWatcherPrivate : public QObject {
+    UnixSignalWatcher *const q_ptr;
+    Q_DECLARE_PUBLIC(UnixSignalWatcher)
+
+   public:
+    UnixSignalWatcherPrivate(UnixSignalWatcher *q);
+    ~UnixSignalWatcherPrivate();
+
+    void watchForSignal(int signal);
+    static void signalHandler(int signal);
+
+    void _q_onNotify(int sockfd);
+
+   private:
+    static int sockpair[2];
+    QSocketNotifier *notifier;
+    QList<int> watchedSignals;
+};
+
+int UnixSignalWatcherPrivate::sockpair[2];
+
+UnixSignalWatcherPrivate::UnixSignalWatcherPrivate(UnixSignalWatcher *q) : q_ptr(q) {
+    // Create socket pair
+    if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sockpair)) {
+        qDebug() << "UnixSignalWatcher: socketpair: " << ::strerror(errno);
+        return;
+    }
+
+    // Create a notifier for the read end of the pair
+    notifier = new QSocketNotifier(sockpair[1], QSocketNotifier::Read);
+    QObject::connect(notifier, SIGNAL(activated(int)), q, SLOT(_q_onNotify(int)));
+    notifier->setEnabled(true);
+}
+
+UnixSignalWatcherPrivate::~UnixSignalWatcherPrivate() {
+    delete notifier;
+}
+
+/*!
+ * Registers a handler for the given Unix \a signal. The handler will write to
+ * a socket pair, the other end of which is connected to a QSocketNotifier.
+ * This provides a way to break out of the asynchronous context from which the
+ * signal handler is called and back into the Qt event loop.
+ */
+void UnixSignalWatcherPrivate::watchForSignal(int signal) {
+    if (watchedSignals.contains(signal)) {
+        qDebug() << "Already watching for signal" << signal;
+        return;
+    }
+
+    // Register a sigaction which will write to the socket pair
+    struct sigaction sigact;
+    sigact.sa_handler = UnixSignalWatcherPrivate::signalHandler;
+    sigact.sa_flags = 0;
+    ::sigemptyset(&sigact.sa_mask);
+    sigact.sa_flags |= SA_RESTART;
+    if (::sigaction(signal, &sigact, NULL)) {
+        qDebug() << "UnixSignalWatcher: sigaction: " << ::strerror(errno);
+        return;
+    }
+
+    watchedSignals.append(signal);
+}
+
+/*!
+ * Called when a Unix \a signal is received. Write to the socket to wake up the
+ * QSocketNotifier.
+ */
+void UnixSignalWatcherPrivate::signalHandler(int signal) {
+    ssize_t nBytes = ::write(sockpair[0], &signal, sizeof(signal));
+    Q_UNUSED(nBytes);
+}
+
+/*!
+ * Called when the signal handler has written to the socket pair. Emits the Unix
+ * signal as a Qt signal.
+ */
+void UnixSignalWatcherPrivate::_q_onNotify(int sockfd) {
+    Q_Q(UnixSignalWatcher);
+
+    int signal;
+    ssize_t nBytes = ::read(sockfd, &signal, sizeof(signal));
+    Q_UNUSED(nBytes);
+    qDebug() << "Caught signal:" << ::strsignal(signal);
+    emit q->unixSignal(signal);
+}
+
+/*!
+ * Create a new UnixSignalWatcher as a child of the given \a parent.
+ */
+UnixSignalWatcher::UnixSignalWatcher(QObject *parent)
+    : QObject(parent), d_ptr(new UnixSignalWatcherPrivate(this)) {}
+
+/*!
+ * Destroy this UnixSignalWatcher.
+ */
+UnixSignalWatcher::~UnixSignalWatcher() {
+    delete d_ptr;
+}
+
+/*!
+ * Register a signal handler for the given \a signal.
+ *
+ * After calling this method you can \c connect() to the unixSignal() Qt signal
+ * to be notified when the Unix signal is received.
+ */
+void UnixSignalWatcher::watchForSignal(int signal) {
+    Q_D(UnixSignalWatcher);
+    d->watchForSignal(signal);
+}
+
+/*!
+ * \fn void UnixSignalWatcher::unixSignal(int signal)
+ * Emitted when the given Unix \a signal is received.
+ *
+ * watchForSignal() must be called for each Unix signal that you want to receive
+ * via the unixSignal() Qt signal. If a watcher is watching multiple signals,
+ * unixSignal() will be emitted whenever *any* of the watched Unix signals are
+ * received, and the \a signal argument can be inspected to find out which one
+ * was actually received.
+ */
+
+#include "moc_sigwatch.cpp"
diff --git a/Src/sigwatch.pro b/Src/sigwatch.pro
new file mode 100644
index 0000000..f715d42
--- /dev/null
+++ b/Src/sigwatch.pro
@@ -0,0 +1,8 @@
+TEMPLATE = app
+QT       = core
+
+TARGET   = sigwatch-demo
+
+SOURCES += sigwatch.cpp
+
+HEADERS += sigwatch.h
diff --git a/dockerfiles/Dockerfile b/dockerfiles/Dockerfile
index d709f2c..5683734 100644
--- a/dockerfiles/Dockerfile
+++ b/dockerfiles/Dockerfile
@@ -6,4 +6,4 @@ RUN apt-get update && apt-get install -y \
     libtinyxml2-dev && \
     rm -rf /var/lib/apt/lists/*
 
-CMD ["bash", "-c", "/app/fake_framework/fake_framework & /app/BridgeSubscriber/BridgeSubscriber"]
\ No newline at end of file
+CMD ["bash", "-c", "/app/fake_framework/fake_framework & /app/BridgeSubscriber/BridgeSubscriber"]
diff --git a/docs/getting_started/introduction.md b/docs/getting_started/introduction.md
index f6ecaa6..e10b99d 100644
--- a/docs/getting_started/introduction.md
+++ b/docs/getting_started/introduction.md
@@ -1 +1 @@
-# Introduction
\ No newline at end of file
+# Introduction
diff --git a/docs/getting_started/quick_start_guide.md b/docs/getting_started/quick_start_guide.md
index b1100c4..f2fc45f 100644
--- a/docs/getting_started/quick_start_guide.md
+++ b/docs/getting_started/quick_start_guide.md
@@ -1 +1 @@
-# Quick Start Guide
\ No newline at end of file
+# Quick Start Guide
diff --git a/pixi.lock b/pixi.lock
index 510e401..37593e6 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -11,7 +11,7 @@ environments:
       - conda: https://prefix.dev/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
       - conda: https://prefix.dev/conda-forge/linux-64/c-ares-1.34.5-hb9d3cd8_0.conda
-      - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2025.8.3-hbd8a1cb_0.conda
+      - conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2025.11.12-hbd8a1cb_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/cyrus-sasl-2.1.28-hd9c7081_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/dbus-1.16.2-h3c4dab8_0.conda
@@ -22,59 +22,59 @@ environments:
       - conda: https://prefix.dev/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
       - conda: https://prefix.dev/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
       - conda: https://prefix.dev/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
-      - conda: https://prefix.dev/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
+      - conda: https://prefix.dev/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
       - conda: https://prefix.dev/conda-forge/linux-64/freetype-2.14.1-ha770c72_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/graphite2-1.3.14-hecca717_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/harfbuzz-12.1.0-h15599e2_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/harfbuzz-12.2.0-h15599e2_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/icu-75.1-he02047a_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.44-h1423503_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/ld_impl_linux-64-2.45-h1aa0949_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libboost-1.88.0-hed09d94_5.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libboost-1.88.0-hed09d94_6.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libccd-double-2.1-h59595ed_3.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libclang-cpp21.1-21.1.3-default_h99862b1_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libclang13-21.1.3-default_h746c552_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libclang-cpp21.1-21.1.5-default_h99862b1_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libclang13-21.1.5-default_h746c552_1.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libcups-2.3.3-hb8b1518_5.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libcurl-8.16.0-h4e3cde8_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libdeflate-1.24-h86f0d12_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libcurl-8.17.0-h4e3cde8_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libdeflate-1.25-h17f619e_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libdrm-2.4.125-hb03c661_1.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libedit-3.1.20250104-pl5321h7949ede_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libegl-1.7.0-ha4b6fd6_2.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libev-4.33-hd590300_2.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libexpat-2.7.1-hecca717_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libffi-3.4.6-h2dba641_1.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libffi-3.5.2-h9ec8514_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libfreetype-2.14.1-ha770c72_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libfreetype6-2.14.1-h73754d4_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libgcc-15.1.0-h767d61c_5.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libgcc-ng-15.1.0-h69a702a_5.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libgcc-15.2.0-h767d61c_7.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libgcc-ng-15.2.0-h69a702a_7.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libgl-1.7.0-ha4b6fd6_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libglib-2.86.0-h1fed272_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libglib-2.86.1-h32235b2_2.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libglvnd-1.7.0-ha4b6fd6_2.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libglx-1.7.0-ha4b6fd6_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libgomp-15.1.0-h767d61c_5.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libgomp-15.2.0-h767d61c_7.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libiconv-1.18-h3b78370_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libjpeg-turbo-3.1.0-hb9d3cd8_0.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libllvm21-21.1.4-hf7376ad_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libjpeg-turbo-3.1.2-hb03c661_0.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libllvm21-21.1.5-hf7376ad_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/liblzma-5.8.1-hb9d3cd8_2.conda
-      - conda: https://prefix.dev/conda-forge/linux-64/libmujoco-3.3.2-h31df9c7_4.conda
+      - conda: https://prefix.dev/conda-forge/linux-64/libmujoco-3.3.7-h31df9c7_0.conda
       - conda: https://prefix.dev/conda-forge/linux-64/libnghttp2-1.67.0-had1ee68_0.conda
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   timestamp: 1744128058734
-- conda: https://prefix.dev/conda-forge/noarch/ca-certificates-2025.10.5-hbd8a1cb_0.conda
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-  md5: f9e5fbc24009179e8b0409624691758a
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-  size: 155907
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-  depends:
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-  license: ISC
-  size: 154402
-  timestamp: 1754210968730
+  size: 152432
+  timestamp: 1762967197890
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-  - qt6-main >=6.9.3,<6.10.0a0
-  - libmujoco >=3.3.2,<3.3.3.0a0
+  - libcurl >=8.17.0,<9.0a0
+  - qt6-main >=6.10.0,<6.11.0a0
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   - python_abi 3.12.* *_cp312
   - yaml-cpp >=0.8.0,<0.9.0a0
-  - libcurl >=8.16.0,<9.0a0
+  - libcurl >=8.17.0,<9.0a0
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-  - libmujoco >=3.3.2,<3.3.3.0a0
+  - libmujoco >=3.3.3,<3.3.4.0a0
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+  md5: a7970cd949a077b7cb9696379d338681
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+  - font-ttf-ubuntu
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+  - font-ttf-dejavu-sans-mono
   - font-ttf-source-code-pro
-  - font-ttf-ubuntu
   license: BSD-3-Clause
   license_family: BSD
-  size: 4102
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-- conda: https://prefix.dev/conda-forge/linux-64/qt6-main-6.9.3-h5c1c036_0.conda
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-  md5: cc0bffcaf6410aba9c6581dfdc18012d
+- conda: https://prefix.dev/conda-forge/linux-64/qt6-main-6.10.0-hca0d9c9_0.conda
+  sha256: 90de4d45516c923d4c2c4308e7489eff4989d42526c4c8e47fd78e7f091ccf22
+  md5: 2bda3d1b362656df389ffc7b7e6ee4ef
   depends:
   - __glibc >=2.17,<3.0.a0
   - alsa-lib >=1.2.14,<1.3.0a0
@@ -1822,11 +1820,11 @@ packages:
   - double-conversion >=3.3.1,<3.4.0a0
   - fontconfig >=2.15.0,<3.0a0
   - fonts-conda-ecosystem
-  - harfbuzz >=12.0.0
+  - harfbuzz >=12.2.0
   - icu >=75.1,<76.0a0
   - krb5 >=1.21.3,<1.22.0a0
-  - libclang-cpp21.1 >=21.1.2,<21.2.0a0
-  - libclang13 >=21.1.2
+  - libclang-cpp21.1 >=21.1.5,<21.2.0a0
+  - libclang13 >=21.1.5
   - libcups >=2.3.3,<2.4.0a0
   - libdrm >=2.4.125,<2.5.0a0
   - libegl >=1.7.0,<2.0a0
@@ -1834,26 +1832,26 @@ packages:
   - libfreetype6 >=2.14.1
   - libgcc >=14
   - libgl >=1.7.0,<2.0a0
-  - libglib >=2.86.0,<3.0a0
-  - libjpeg-turbo >=3.1.0,<4.0a0
-  - libllvm21 >=21.1.2,<21.2.0a0
+  - libglib >=2.86.1,<3.0a0
+  - libjpeg-turbo >=3.1.2,<4.0a0
+  - libllvm21 >=21.1.5,<21.2.0a0
   - libpng >=1.6.50,<1.7.0a0
   - libpq >=18.0,<19.0a0
-  - libsqlite >=3.50.4,<4.0a0
+  - libsqlite >=3.51.0,<4.0a0
   - libstdcxx >=14
   - libtiff >=4.7.1,<4.8.0a0
-  - libvulkan-loader >=1.4.313.0,<2.0a0
+  - libvulkan-loader >=1.4.328.1,<2.0a0
   - libwebp-base >=1.6.0,<2.0a0
   - libxcb >=1.17.0,<2.0a0
-  - libxkbcommon >=1.11.0,<2.0a0
+  - libxkbcommon >=1.13.0,<2.0a0
   - libxml2
   - libxml2-16 >=2.14.6
   - libzlib >=1.3.1,<2.0a0
-  - openssl >=3.5.3,<4.0a0
+  - openssl >=3.5.4,<4.0a0
   - pcre2 >=10.46,<10.47.0a0
   - wayland >=1.24.0,<2.0a0
   - xcb-util >=0.4.1,<0.5.0a0
-  - xcb-util-cursor >=0.1.5,<0.2.0a0
+  - xcb-util-cursor >=0.1.6,<0.2.0a0
   - xcb-util-image >=0.4.0,<0.5.0a0
   - xcb-util-keysyms >=0.4.1,<0.5.0a0
   - xcb-util-renderutil >=0.3.10,<0.4.0a0
@@ -1870,11 +1868,10 @@ packages:
   - xorg-libxxf86vm >=1.1.6,<2.0a0
   - zstd >=1.5.7,<1.6.0a0
   constrains:
-  - qt 6.9.3
+  - qt 6.10.0
   license: LGPL-3.0-only
-  license_family: LGPL
-  size: 54537863
-  timestamp: 1759251856141
+  size: 57296986
+  timestamp: 1763438655913
 - conda: https://prefix.dev/conda-forge/osx-arm64/qt6-main-6.9.3-hb266e41_0.conda
   sha256: d00722613930f7b048417dcd8335b7525d105350376976f60c734385ad11e854
   md5: 9c4c7c477173f43b4239d85bcf1df658
@@ -1944,46 +1941,48 @@ packages:
   license: Zlib
   size: 122269
   timestamp: 1742246179980
-- conda: https://prefix.dev/conda-forge/linux-64/tk-8.6.13-noxft_hd72426e_102.conda
-  sha256: a84ff687119e6d8752346d1d408d5cf360dee0badd487a472aa8ddedfdc219e1
-  md5: a0116df4f4ed05c303811a837d5b39d8
+- conda: https://prefix.dev/conda-forge/linux-64/tk-8.6.13-noxft_ha0e22de_103.conda
+  sha256: 1544760538a40bcd8ace2b1d8ebe3eb5807ac268641f8acdc18c69c5ebfeaf64
+  md5: 86bc20552bf46075e3d92b67f089172d
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=13
   - libzlib >=1.3.1,<2.0a0
+  constrains:
+  - xorg-libx11 >=1.8.12,<2.0a0
   license: TCL
   license_family: BSD
-  size: 3285204
-  timestamp: 1748387766691
-- conda: https://prefix.dev/conda-forge/osx-arm64/tk-8.6.13-h892fb3f_2.conda
-  sha256: cb86c522576fa95c6db4c878849af0bccfd3264daf0cc40dd18e7f4a7bfced0e
-  md5: 7362396c170252e7b7b0c8fb37fe9c78
+  size: 3284905
+  timestamp: 1763054914403
+- conda: https://prefix.dev/conda-forge/osx-arm64/tk-8.6.13-h892fb3f_3.conda
+  sha256: ad0c67cb03c163a109820dc9ecf77faf6ec7150e942d1e8bb13e5d39dc058ab7
+  md5: a73d54a5abba6543cb2f0af1bfbd6851
   depends:
   - __osx >=11.0
   - libzlib >=1.3.1,<2.0a0
   license: TCL
   license_family: BSD
-  size: 3125538
-  timestamp: 1748388189063
+  size: 3125484
+  timestamp: 1763055028377
 - conda: https://prefix.dev/conda-forge/noarch/tzdata-2025b-h78e105d_0.conda
   sha256: 5aaa366385d716557e365f0a4e9c3fca43ba196872abbbe3d56bb610d131e192
   md5: 4222072737ccff51314b5ece9c7d6f5a
   license: LicenseRef-Public-Domain
   size: 122968
   timestamp: 1742727099393
-- conda: https://prefix.dev/conda-forge/linux-64/wayland-1.24.0-h3e06ad9_0.conda
-  sha256: ba673427dcd480cfa9bbc262fd04a9b1ad2ed59a159bd8f7e750d4c52282f34c
-  md5: 0f2ca7906bf166247d1d760c3422cb8a
+- conda: https://prefix.dev/conda-forge/linux-64/wayland-1.24.0-hd6090a7_1.conda
+  sha256: 3aa04ae8e9521d9b56b562376d944c3e52b69f9d2a0667f77b8953464822e125
+  md5: 035da2e4f5770f036ff704fa17aace24
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libexpat >=2.7.0,<3.0a0
-  - libffi >=3.4.6,<3.5.0a0
-  - libgcc >=13
-  - libstdcxx >=13
+  - libexpat >=2.7.1,<3.0a0
+  - libffi >=3.5.2,<3.6.0a0
+  - libgcc >=14
+  - libstdcxx >=14
   license: MIT
   license_family: MIT
-  size: 330474
-  timestamp: 1751817998141
+  size: 329779
+  timestamp: 1761174273487
 - conda: https://prefix.dev/conda-forge/linux-64/xcb-util-0.4.1-h4f16b4b_2.conda
   sha256: ad8cab7e07e2af268449c2ce855cbb51f43f4664936eff679b1f3862e6e4b01d
   md5: fdc27cb255a7a2cc73b7919a968b48f0
@@ -1995,20 +1994,20 @@ packages:
   license_family: MIT
   size: 20772
   timestamp: 1750436796633
-- conda: https://prefix.dev/conda-forge/linux-64/xcb-util-cursor-0.1.5-hb9d3cd8_0.conda
-  sha256: c7b35db96f6e32a9e5346f97adc968ef2f33948e3d7084295baebc0e33abdd5b
-  md5: eb44b3b6deb1cab08d72cb61686fe64c
+- conda: https://prefix.dev/conda-forge/linux-64/xcb-util-cursor-0.1.6-hb03c661_0.conda
+  sha256: c2be9cae786fdb2df7c2387d2db31b285cf90ab3bfabda8fa75a596c3d20fc67
+  md5: 4d1fc190b99912ed557a8236e958c559
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
+  - libgcc >=14
   - libxcb >=1.13
-  - libxcb >=1.16,<2.0.0a0
+  - libxcb >=1.17.0,<2.0a0
   - xcb-util-image >=0.4.0,<0.5.0a0
   - xcb-util-renderutil >=0.3.10,<0.4.0a0
   license: MIT
   license_family: MIT
-  size: 20296
-  timestamp: 1726125844850
+  size: 20829
+  timestamp: 1763366954390
 - conda: https://prefix.dev/conda-forge/linux-64/xcb-util-image-0.4.0-hb711507_2.conda
   sha256: 94b12ff8b30260d9de4fd7a28cca12e028e572cbc504fd42aa2646ec4a5bded7
   md5: a0901183f08b6c7107aab109733a3c91
@@ -2050,17 +2049,17 @@ packages:
   license_family: MIT
   size: 51689
   timestamp: 1718844051451
-- conda: https://prefix.dev/conda-forge/linux-64/xkeyboard-config-2.45-hb9d3cd8_0.conda
-  sha256: a5d4af601f71805ec67403406e147c48d6bad7aaeae92b0622b7e2396842d3fe
-  md5: 397a013c2dc5145a70737871aaa87e98
+- conda: https://prefix.dev/conda-forge/linux-64/xkeyboard-config-2.46-hb03c661_0.conda
+  sha256: aa03b49f402959751ccc6e21932d69db96a65a67343765672f7862332aa32834
+  md5: 71ae752a748962161b4740eaff510258
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
+  - libgcc >=14
   - xorg-libx11 >=1.8.12,<2.0a0
   license: MIT
   license_family: MIT
-  size: 392406
-  timestamp: 1749375847832
+  size: 396975
+  timestamp: 1759543819846
 - conda: https://prefix.dev/conda-forge/linux-64/xorg-libice-1.1.2-hb9d3cd8_0.conda
   sha256: c12396aabb21244c212e488bbdc4abcdef0b7404b15761d9329f5a4a39113c4b
   md5: fb901ff28063514abb6046c9ec2c4a45
@@ -2094,16 +2093,16 @@ packages:
   license_family: MIT
   size: 835896
   timestamp: 1741901112627
-- conda: https://prefix.dev/conda-forge/linux-64/xorg-libxau-1.0.12-hb9d3cd8_0.conda
-  sha256: ed10c9283974d311855ae08a16dfd7e56241fac632aec3b92e3cfe73cff31038
-  md5: f6ebe2cb3f82ba6c057dde5d9debe4f7
+- conda: https://prefix.dev/conda-forge/linux-64/xorg-libxau-1.0.12-hb03c661_1.conda
+  sha256: 6bc6ab7a90a5d8ac94c7e300cc10beb0500eeba4b99822768ca2f2ef356f731b
+  md5: b2895afaf55bf96a8c8282a2e47a5de0
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
+  - libgcc >=14
   license: MIT
   license_family: MIT
-  size: 14780
-  timestamp: 1734229004433
+  size: 15321
+  timestamp: 1762976464266
 - conda: https://prefix.dev/conda-forge/linux-64/xorg-libxcomposite-0.4.6-hb9d3cd8_2.conda
   sha256: 753f73e990c33366a91fd42cc17a3d19bb9444b9ca5ff983605fa9e953baf57f
   md5: d3c295b50f092ab525ffe3c2aa4b7413
@@ -2142,16 +2141,16 @@ packages:
   license_family: MIT
   size: 13217
   timestamp: 1727891438799
-- conda: https://prefix.dev/conda-forge/linux-64/xorg-libxdmcp-1.1.5-hb9d3cd8_0.conda
-  sha256: 6b250f3e59db07c2514057944a3ea2044d6a8cdde8a47b6497c254520fade1ee
-  md5: 8035c64cb77ed555e3f150b7b3972480
+- conda: https://prefix.dev/conda-forge/linux-64/xorg-libxdmcp-1.1.5-hb03c661_1.conda
+  sha256: 25d255fb2eef929d21ff660a0c687d38a6d2ccfbcbf0cc6aa738b12af6e9d142
+  md5: 1dafce8548e38671bea82e3f5c6ce22f
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
+  - libgcc >=14
   license: MIT
   license_family: MIT
-  size: 19901
-  timestamp: 1727794976192
+  size: 20591
+  timestamp: 1762976546182
 - conda: https://prefix.dev/conda-forge/linux-64/xorg-libxext-1.3.6-hb9d3cd8_0.conda
   sha256: da5dc921c017c05f38a38bd75245017463104457b63a1ce633ed41f214159c14
   md5: febbab7d15033c913d53c7a2c102309d
@@ -2163,17 +2162,17 @@ packages:
   license_family: MIT
   size: 50060
   timestamp: 1727752228921
-- conda: https://prefix.dev/conda-forge/linux-64/xorg-libxfixes-6.0.1-hb9d3cd8_0.conda
-  sha256: 2fef37e660985794617716eb915865ce157004a4d567ed35ec16514960ae9271
-  md5: 4bdb303603e9821baf5fe5fdff1dc8f8
+- conda: https://prefix.dev/conda-forge/linux-64/xorg-libxfixes-6.0.2-hb03c661_0.conda
+  sha256: 83c4c99d60b8784a611351220452a0a85b080668188dce5dfa394b723d7b64f4
+  md5: ba231da7fccf9ea1e768caf5c7099b84
   depends:
   - __glibc >=2.17,<3.0.a0
-  - libgcc >=13
-  - xorg-libx11 >=1.8.10,<2.0a0
+  - libgcc >=14
+  - xorg-libx11 >=1.8.12,<2.0a0
   license: MIT
   license_family: MIT
-  size: 19575
-  timestamp: 1727794961233
+  size: 20071
+  timestamp: 1759282564045
 - conda: https://prefix.dev/conda-forge/linux-64/xorg-libxi-1.8.2-hb9d3cd8_0.conda
   sha256: 1a724b47d98d7880f26da40e45f01728e7638e6ec69f35a3e11f92acd05f9e7a
   md5: 17dcc85db3c7886650b8908b183d6876
diff --git a/pixi.toml b/pixi.toml
index 06f45ab..4817a47 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -40,7 +40,8 @@ libboost-devel = ">=1.88.0,<2"
 [package.target.osx-arm64.host-dependencies]
 
 [tasks]
-test = "python -c 'import circuspy; circuspy.test()'" 
+test = "python -c 'import circuspy; circuspy.test()'"
+docker-clean = "docker rm -f $(docker ps -aq)"
 
 [activation]
 # Add DYLD_LIBRARY_PATH on macOS so the MuJoCo dylib is found when running binaries directly