diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 1aa632b8a..81208cef3 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -1,14 +1,22 @@
 version: 2
 updates:
   - package-ecosystem: "github-actions"
-    directory: "/.github/"
+    directory: "/"
     schedule:
       interval: "daily"
   - package-ecosystem: "docker"
-    directory: "/src/docker"
+    directories:
+      - "/src/docker/*"
     schedule:
       interval: "daily"
+    groups:
+      docker-base-images:
+        group-by: dependency-name
   - package-ecosystem: "docker-compose"
-    directory: "/compose-files"
+    directories:
+      - "/compose-files/*"
     schedule:
-      interval: "daily"
\ No newline at end of file
+      interval: "daily"
+    groups:
+      compose-images:
+        group-by: dependency-name
diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
deleted file mode 100644
index 182afd013..000000000
--- a/.github/workflows/codeql-analysis.yml
+++ /dev/null
@@ -1,70 +0,0 @@
-# For most projects, this workflow file will not need changing; you simply need
-# to commit it to your repository.
-#
-# You may wish to alter this file to override the set of languages analyzed,
-# or to provide custom queries or build logic.
-#
-# ******** NOTE ********
-# We have attempted to detect the languages in your repository. Please check
-# the `language` matrix defined below to confirm you have the correct set of
-# supported CodeQL languages.
-#
-name: "CodeQL"
-
-on:
-  push:
-    branches: [ master ]
-  pull_request:
-    # The branches below must be a subset of the branches above
-    branches: [ master ]
-  schedule:
-    - cron: '32 9 * * 5'
-
-jobs:
-  analyze:
-    name: Analyze
-    runs-on: ubuntu-20.04
-    permissions:
-      actions: read
-      contents: read
-      security-events: write
-
-    strategy:
-      fail-fast: false
-      matrix:
-        language: [ 'python' ]
-        # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ]
-        # Learn more about CodeQL language support at https://git.io/codeql-language-support
-
-    steps:
-    - name: Checkout repository
-      uses: actions/checkout@v4
-
-    # Initializes the CodeQL tools for scanning.
-    - name: Initialize CodeQL
-      uses: github/codeql-action/init@v3
-      with:
-        languages: ${{ matrix.language }}
-        # If you wish to specify custom queries, you can do so here or in a config file.
-        # By default, queries listed here will override any specified in a config file.
-        # Prefix the list here with "+" to use these queries and those in the config file.
-        # queries: ./path/to/local/query, your-org/your-repo/queries@main
-
-    # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
-    # If this step fails, then you should remove it and run the build manually (see below)
-    - name: Autobuild
-      uses: github/codeql-action/autobuild@v3
-
-    # ℹ️ Command-line programs to run using the OS shell.
-    # 📚 https://git.io/JvXDl
-
-    # ✏️ If the Autobuild fails above, remove it and uncomment the following three lines
-    #    and modify them (or add more) to build your code if your project
-    #    uses a compiled language
-
-    #- run: |
-    #   make bootstrap
-    #   make release
-
-    - name: Perform CodeQL Analysis
-      uses: github/codeql-action/analyze@v3
diff --git a/.github/workflows/pants-cache.yaml b/.github/workflows/pants-cache.yaml
index 287114670..ea370b6e2 100644
--- a/.github/workflows/pants-cache.yaml
+++ b/.github/workflows/pants-cache.yaml
@@ -8,11 +8,17 @@ on:
     branches:
       - master
 
+env:
+  PANTS_CONFIG_FILES: pants.ci.toml
+  PEX_ROOT: ${{ github.workspace }}/.pex
+  PANTS_SETUP_CACHE_DIR: ${{ github.workspace }}/.cache/pants/setup
+  PANTS_NAMED_CACHES_DIR: ${{ github.workspace }}/.cache/pants/named_caches
+  PANTS_LOCAL_STORE_DIR: ${{ github.workspace }}/.cache/pants/lmdb_store
+  TMPDIR: ${{ github.workspace }}/.tmp
+
 jobs:
   build:
-    env:
-      PANTS_CONFIG_FILES: pants.ci.toml
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     strategy:
       matrix:
         python-version: ['3.12']
@@ -21,35 +27,36 @@ jobs:
       with:
         fetch-depth: 0
         lfs: true
+    - name: Prepare workspace tmpdir
+      run: |
+        mkdir -p "$GITHUB_WORKSPACE/.tmp"
+        chmod 1777 "$GITHUB_WORKSPACE/.tmp"
     - name: Get Pants version
       id: pants_version
       run: |
-        # Capture the "pants_version = " line from config.
-        PANTS_VERSION=$(grep -E '^pants_version\s*=' pants.toml)
-        echo "::set-output name=pants_version::$PANTS_VERSION"
+        PANTS_VERSION=$(awk -F'"' '/^pants_version\s*=/{print $2}' pants.toml)
+        echo "pants_version=$PANTS_VERSION" >> "$GITHUB_OUTPUT"
     - name: Checkout LFS objects
       run: git lfs checkout
     - uses: pat-s/always-upload-cache@v3  # default actions/cache is not saving cache on failure (e.g. when ./pants lint :: fails)
       id: cache_pants_setup
       with:
         path: |
-          ~/.cache/pants/setup
+          ${{ env.PANTS_SETUP_CACHE_DIR }}
         key: pants-setup-${{ steps.pants_version.outputs.pants_version }}
     - uses: pat-s/always-upload-cache@v3
       id: cached_named_caches
       with:
         path: |
-          ~/.cache/pants/named_caches
-        # The Python backend uses named_caches for Pip/PEX state,
-        # so it is appropriate to invalidate on requirements.txt changes.
-        key: pants-named-caches-${{ runner.os }}-${{ hashFiles('pants.toml') }}-${{ hashFiles('requirements.txt') }}
+          ${{ env.PANTS_NAMED_CACHES_DIR }}
+        # The Python backend uses named_caches for Pip/PEX state, so include the lockfile inputs in the key.
+        key: pants-named-caches-${{ runner.os }}-py${{ matrix.python-version }}-${{ hashFiles('pants.toml', '3rdparty/*.txt') }}
         # Note that falling back to a restore key may give a useful partial result that will save time
         # over completely clean state, but will cause the cache entry to grow without bound over time.
         # See https://pants.readme.io/docs/using-pants-in-ci for tips on how to periodically clean it up.
         # Alternatively you may want to avoid using restore keys.
         restore-keys: |
-          pants-named-caches-${{ runner.os }}-${{ hashFiles('pants.toml') }}-${{ hashFiles('requirements.txt') }}
-          pants-named-caches-${{ runner.os }}-${{ hashFiles('pants.toml') }}-
+          pants-named-caches-${{ runner.os }}-py${{ matrix.python-version }}-${{ hashFiles('pants.toml') }}-
           pants-named-caches-${{ runner.os }}-
     # If you're not using a fine-grained remote caching service (see https://www.pantsbuild.org/docs/remote-caching),
     # then you may also want to preserve the local Pants cache (lmdb_store). However this must invalidate for
@@ -59,10 +66,12 @@ jobs:
       id: cache_lmdb_store
       with:
         path: |
-          ~/.cache/pants/lmdb_store
-        key: pants-lmdb-store-${{ runner.os }}-${{ hashFiles('**/*') }}
+          ${{ env.PANTS_LOCAL_STORE_DIR }}
+        key: pants-lmdb-store-${{ runner.os }}-py${{ matrix.python-version }}-${{ hashFiles('pants.toml', '3rdparty/*.txt') }}
         # Same caveat as above regarding the issues with restore keys.
-        restore-keys: pants-lmdb-store-${{ runner.os }}-
+        restore-keys: |
+          pants-lmdb-store-${{ runner.os }}-py${{ matrix.python-version }}-
+          pants-lmdb-store-${{ runner.os }}-
     - name: Prune pants cache
       run: |
         ./build-support/nuke-cache.sh
@@ -75,8 +84,8 @@ jobs:
         pants --version
     - name: install system dependencies
       run: |
-        sudo ./build-support/install_kinect_prerequisites.sh
-        sudo apt install jq cargo
+        sudo apt-get update
+        sudo apt-get install -y --no-install-recommends cargo
     - name: Get dependencies
       run: |
         pants export
@@ -85,4 +94,5 @@ jobs:
       with:
         name: pants-log
         path: .pants.d/pants.log
-      if: always()  # We want the log even on failures.
\ No newline at end of file
+        if-no-files-found: ignore
+      if: always()  # We want the log even on failures.
diff --git a/.github/workflows/pants.yaml b/.github/workflows/pants.yaml
index 5445c543b..4c04d3661 100644
--- a/.github/workflows/pants.yaml
+++ b/.github/workflows/pants.yaml
@@ -51,18 +51,18 @@ jobs:
     - uses: pantsbuild/actions/init-pants@v5-scie-pants
       with:
         gha-cache-key: cache0-py${{ matrix.python-version }}
-        named-caches-hash: ${{ hashFiles('/3rdparty/constraints.txt') }}
+        named-caches-hash: ${{ hashFiles('3rdparty/constraints.txt') }}
         cache-lmdb-store: 'true'  # defaults to 'false'
         base-branch: master
     - name: Check BUILD files
       run: |
-        pants --changed-since=HEAD update-build-files --check
+        pants --changed-since=origin/master update-build-files --check
     - name: Lint
       run: |
         pants --changed-since=origin/master lint
     - uses: ros-tooling/setup-ros@v0.7
     - name: install system dependencies
-      run: | # cargo is required to build fastuuid (no wheels for Python 3.11)
+      run: | # cargo is required when fastuuid falls back to a source build
         echo "Disk space before installing system dependencies:"
         sudo df -h / /mnt "$GITHUB_WORKSPACE"
         sudo apt-get update
@@ -147,7 +147,7 @@ jobs:
     - uses: pantsbuild/actions/init-pants@v5-scie-pants
       with:
         gha-cache-key: cache0-py${{ matrix.python-version }}
-        named-caches-hash: ${{ hashFiles('/3rdparty/constraints.txt') }}
+        named-caches-hash: ${{ hashFiles('3rdparty/constraints.txt') }}
         cache-lmdb-store: 'true'  # defaults to 'false'
         base-branch: master
     - name: Build Docker images
diff --git a/3rdparty/constraints.txt b/3rdparty/constraints.txt
index f8a72800d..b2a80d608 100644
--- a/3rdparty/constraints.txt
+++ b/3rdparty/constraints.txt
@@ -4,20 +4,20 @@
 //
 // --- BEGIN PANTS LOCKFILE METADATA: DO NOT EDIT OR REMOVE ---
 // {
-//   "version": 3,
+//   "version": 6,
 //   "valid_for_interpreter_constraints": [
 //     "CPython==3.12.*"
 //   ],
 //   "generated_with_requirements": [
 //     "Cython~=3.2.2",
 //     "Flask~=3.1.2",
-//     "Pillow~=12.0.0",
+//     "Pillow~=12.1.1",
 //     "PyYAML~=6.0.3",
 //     "aiofiles~=25.1.0",
 //     "aiologger~=0.7.0",
 //     "aiorun~=2025.1.1",
 //     "apispec-webframeworks~=1.2.0",
-//     "apispec[yaml]~=6.9.0",
+//     "apispec[yaml]~=6.10.0",
 //     "autopep8~=2.3.2",
 //     "ciso8601~=2.3.3",
 //     "colorlog~=6.10.1",
@@ -31,9 +31,9 @@
 //     "numpy-quaternion[numba,scipy]~=2024.0.13",
 //     "numpy~=2.3.5",
 //     "open3d==0.19.0",
-//     "openapi-spec-validator~=0.7.2",
+//     "openapi-spec-validator~=0.8.4",
 //     "opencv-contrib-python~=4.10.0.84",
-//     "opencv-stubs[opencv-contrib]==0.1.1",
+//     "opencv-stubs[opencv-contrib]==0.1.3",
 //     "orjson~=3.11.4",
 //     "packaging~=25.0",
 //     "pydub-stubs==0.25.1.6",
@@ -47,15 +47,15 @@
 //     "pytest~=9.0.1",
 //     "python-dateutil~=2.9.0.post0",
 //     "requests~=2.32.5",
-//     "setuptools~=80.9.0",
+//     "setuptools~=82.0.1",
 //     "sqlitedict~=2.1.0",
 //     "types-PyYAML==6.0.12.20250915",
 //     "types-aiofiles==25.1.0.20251011",
 //     "types-orjson==3.6.2",
 //     "types-playsound~=1.3.1.20241019",
-//     "types-python-dateutil==2.9.0.20251115",
-//     "types-requests==2.32.4.20250913",
-//     "types-setuptools==80.9.0.20250822",
+//     "types-python-dateutil==2.9.0.20260305",
+//     "types-requests==2.32.4.20260107",
+//     "types-setuptools==82.0.0.20260210",
 //     "types_flask_cors~=6.0.0.20250809",
 //     "typing-inspect~=0.9.0",
 //     "websocket-client~=1.9.0",
@@ -65,7 +65,12 @@
 //   "manylinux": "manylinux2014",
 //   "requirement_constraints": [],
 //   "only_binary": [],
-//   "no_binary": []
+//   "no_binary": [],
+//   "excludes": [],
+//   "overrides": [],
+//   "sources": [],
+//   "lock_style": "universal",
+//   "complete_platforms": []
 // }
 // --- END PANTS LOCKFILE METADATA ---
 
@@ -156,13 +161,33 @@
           "artifacts": [
             {
               "algorithm": "sha256",
-              "hash": "4c275f0a6dac0bcfcceee00b451a16b650f9184a57c624b0b6d12d82b8d15a61",
-              "url": "https://files.pythonhosted.org/packages/19/eb/d1dc13f3b2f9985777526c36096d9595ae0fa7ee7ff5e593abefe1636939/apispec-6.9.0-py3-none-any.whl"
+              "hash": "1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53",
+              "url": "https://files.pythonhosted.org/packages/78/b6/6307fbef88d9b5ee7421e68d78a9f162e0da4900bc5f5793f6d3d0e34fb8/annotated_types-0.7.0-py3-none-any.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "7a38ce7c3eedc7771e6e33295afdd8c4b0acdd9865b483f8cf6cc369c93e8d1e",
-              "url": "https://files.pythonhosted.org/packages/02/ad/30cd449f3a0cf213dd13d9af7ba869214d8c66d517939964d3f490307e46/apispec-6.9.0.tar.gz"
+              "hash": "aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89",
+              "url": "https://files.pythonhosted.org/packages/ee/67/531ea369ba64dcff5ec9c3402f9f51bf748cec26dde048a2f973a4eea7f5/annotated_types-0.7.0.tar.gz"
+            }
+          ],
+          "project_name": "annotated-types",
+          "requires_dists": [
+            "typing-extensions>=4.0.0; python_version < \"3.9\""
+          ],
+          "requires_python": ">=3.8",
+          "version": "0.7.0"
+        },
+        {
+          "artifacts": [
+            {
+              "algorithm": "sha256",
+              "hash": "8ff23e0de9a0ceb62ff70047241126315bd17b8d0565a567934c0156f4ddbb43",
+              "url": "https://files.pythonhosted.org/packages/20/88/e149b20246c4689e7d27163e4e3bb8946ef31617cfb3b9c427813483fe5b/apispec-6.10.0-py3-none-any.whl"
+            },
+            {
+              "algorithm": "sha256",
+              "hash": "0a888555cd4aa5fb7176041be15684154fd8961055e1672e703abf737e8761bf",
+              "url": "https://files.pythonhosted.org/packages/4a/f1/1f5a9332df3ecd90cc5ab69bc58a4174b8ba2ac1720c4c26b01d20751bf5/apispec-6.10.0.tar.gz"
             }
           ],
           "project_name": "apispec",
@@ -172,18 +197,18 @@
             "apispec[marshmallow]; extra == \"docs\"",
             "apispec[tests]; extra == \"dev\"",
             "marshmallow>=3.18.0; extra == \"marshmallow\"",
-            "openapi-spec-validator==0.7.2; extra == \"tests\"",
+            "openapi-spec-validator==0.8.4; extra == \"tests\"",
             "packaging>=21.3",
             "pre-commit<5.0,>=3.5; extra == \"dev\"",
             "pytest; extra == \"tests\"",
             "pyyaml==6.0.3; extra == \"docs\"",
             "sphinx-issues==5.0.1; extra == \"docs\"",
-            "sphinx-rtd-theme==3.0.2; extra == \"docs\"",
-            "sphinx==8.2.3; extra == \"docs\"",
+            "sphinx-rtd-theme==3.1.0; extra == \"docs\"",
+            "sphinx==9.1.0; extra == \"docs\"",
             "tox; extra == \"dev\""
           ],
           "requires_python": ">=3.10",
-          "version": "6.9.0"
+          "version": "6.10.0"
         },
         {
           "artifacts": [
@@ -298,102 +323,102 @@
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               "algorithm": "sha256",
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+              "hash": "027692e4402ad994f1c42e52a4997a9763c646b73e4096e4d5d6db8af1d6f0fa",
+              "url": "https://files.pythonhosted.org/packages/9a/3c/c17fb3ca2d9c3acff52e30b309f538586f9f5b9c9cf454f3845fc9af4881/certifi-2026.2.25-py3-none-any.whl"
             },
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               "algorithm": "sha256",
-              "hash": "d8ab5478f2ecd78af242878415affce761ca6bc54a22a27e026d7c25357c3316",
-              "url": "https://files.pythonhosted.org/packages/a2/8c/58f469717fa48465e4a50c014a0400602d3c437d7c0c468e17ada824da3a/certifi-2025.11.12.tar.gz"
+              "hash": "e887ab5cee78ea814d3472169153c2d12cd43b14bd03329a39a9c6e2e80bfba7",
+              "url": "https://files.pythonhosted.org/packages/af/2d/7bf41579a8986e348fa033a31cdd0e4121114f6bce2457e8876010b092dd/certifi-2026.2.25.tar.gz"
             }
           ],
           "project_name": "certifi",
           "requires_dists": [],
           "requires_python": ">=3.7",
-          "version": "2025.11.12"
+          "version": "2026.2.25"
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@@ -4507,6 +4663,7 @@
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index 1e0f213b9..f7babe305 100644
--- a/3rdparty/flake8_lockfile.txt
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 //
 // --- BEGIN PANTS LOCKFILE METADATA: DO NOT EDIT OR REMOVE ---
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+//   "sources": [],
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 // }
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diff --git a/3rdparty/mypy_lockfile.txt b/3rdparty/mypy_lockfile.txt
index 2511ed5f8..73b6a57e1 100644
--- a/3rdparty/mypy_lockfile.txt
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 //
 // --- BEGIN PANTS LOCKFILE METADATA: DO NOT EDIT OR REMOVE ---
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+//   "excludes": [],
+//   "overrides": [],
+//   "sources": [],
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 // }
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index 322803c19..53155493d 100644
--- a/3rdparty/pytest_lockfile.txt
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@@ -4,7 +4,7 @@
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+//   "overrides": [],
+//   "sources": [],
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+              "url": "https://files.pythonhosted.org/packages/d1/81/4ce2fdd909c5a0ed1f6dedb88aa57ab79b6d1fbd9b588c1ac7ef45659566/coverage-7.13.4-cp312-cp312-macosx_10_13_x86_64.whl"
+            },
+            {
+              "algorithm": "sha256",
+              "hash": "b7b38448866e83176e28086674fe7368ab8590e4610fb662b44e345b86d63ffa",
+              "url": "https://files.pythonhosted.org/packages/e8/ac/45dc2e19a1939098d783c846e130b8f862fbb50d09e0af663988f2f21973/coverage-7.13.4-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl"
+            },
+            {
+              "algorithm": "sha256",
+              "hash": "7eda778067ad7ffccd23ecffce537dface96212576a07924cbf0d8799d2ded5a",
+              "url": "https://files.pythonhosted.org/packages/ec/55/14a966c757d1348b2e19caf699415a2a4c4f7feaa4bbc6326a51f5c7dd1b/coverage-7.13.4-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl"
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@@ -103,25 +118,25 @@
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+              "hash": "75a3de5c9af35ab45fb0504df59770c514a12c0d2b2c99e5f9c5c2429957e133",
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+              "hash": "b36f1fef9334a5588b4166f8bcd26a14e521f2b55e6b9de3aaa80d3ff7a37529",
+              "url": "https://files.pythonhosted.org/packages/b7/b9/c538f279a4e237a006a2c98387d081e9eb060d203d8ed34467cc0f0b9b53/packaging-26.0-py3-none-any.whl"
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+              "hash": "00243ae351a257117b6a241061796684b084ed1c516a08c48a3f7e147a9d80b4",
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@@ -407,6 +422,7 @@
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       "platform_tag": null
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@@ -414,7 +430,7 @@
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   "overridden": [],
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+  "pex_version": "2.81.0",
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   "requirements": [
@@ -427,7 +443,7 @@
     "pytest-timeout"
   ],
   "requires_python": [
-    "==3.12.*"
+    "CPython==3.12.*"
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diff --git a/3rdparty/requirements.txt b/3rdparty/requirements.txt
index 325ce6818..90b700d2f 100644
--- a/3rdparty/requirements.txt
+++ b/3rdparty/requirements.txt
@@ -1,12 +1,12 @@
 Cython~=3.2.2
 Flask~=3.1.2
-Pillow~=12.0.0
+Pillow~=12.1.1
 PyYAML~=6.0.3
 aiofiles~=25.1.0
 aiologger~=0.7.0
 aiorun~=2025.1.1
 apispec-webframeworks~=1.2.0  # dependency on Flask has to be specified manually!
-apispec[yaml]~=6.9.0
+apispec[yaml]~=6.10.0
 autopep8~=2.3.2
 colorlog~=6.10.1
 ciso8601~=2.3.3
@@ -19,7 +19,7 @@ lru-dict~=1.4.1
 numpy-quaternion[scipy,numba]~=2024.0.13
 numpy~=2.3.5
 open3d==0.19.0
-openapi-spec-validator~=0.7.2
+openapi-spec-validator~=0.8.4
 opencv-contrib-python~=4.10.0.84
 orjson~=3.11.4
 packaging~=25.0
@@ -32,7 +32,7 @@ pytest-repeat~=0.9.4
 pytest~=9.0.1
 python-dateutil~=2.9.0.post0
 requests~=2.32.5
-setuptools~=80.9.0
+setuptools~=82.0.1
 sqlitedict~=2.1.0
 types-playsound~=1.3.1.20241019
 typing-inspect~=0.9.0
@@ -44,11 +44,11 @@ werkzeug~=3.1.4
 types-PyYAML==6.0.12.20250915
 types-aiofiles==25.1.0.20251011
 types-orjson==3.6.2
-types-python-dateutil==2.9.0.20251115
-types-requests==2.32.4.20250913
-types-setuptools==80.9.0.20250822
+types-python-dateutil==2.9.0.20260305
+types-requests==2.32.4.20260107
+types-setuptools==82.0.0.20260210
 pydub-stubs==0.25.1.6
-opencv-stubs[opencv-contrib]==0.1.1
+opencv-stubs[opencv-contrib]==0.1.3
 lark==1.3.1
 # pymodbus 3.11.x available, requires code changes (client API/slave param); pinned to 3.7.x.
 pymodbus~=3.7.4
diff --git a/3rdparty/setuptools-requirements.txt b/3rdparty/setuptools-requirements.txt
index d6fc62393..b8ad9e008 100644
--- a/3rdparty/setuptools-requirements.txt
+++ b/3rdparty/setuptools-requirements.txt
@@ -1 +1 @@
-setuptools==74.1.2
\ No newline at end of file
+setuptools==82.0.1
diff --git a/3rdparty/setuptools_lockfile.txt b/3rdparty/setuptools_lockfile.txt
index a782a9b79..91d73342c 100644
--- a/3rdparty/setuptools_lockfile.txt
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 //
 // --- BEGIN PANTS LOCKFILE METADATA: DO NOT EDIT OR REMOVE ---
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+//   "version": 6,
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 //   "generated_with_requirements": [
-//     "setuptools==74.1.2"
+//     "setuptools==82.0.1"
 //   ],
 //   "manylinux": "manylinux2014",
 //   "requirement_constraints": [],
 //   "only_binary": [],
-//   "no_binary": []
+//   "no_binary": [],
+//   "excludes": [],
+//   "overrides": [],
+//   "sources": [],
+//   "lock_style": "universal",
+//   "complete_platforms": []
 // }
 // --- END PANTS LOCKFILE METADATA ---
 
@@ -33,13 +38,13 @@
           "artifacts": [
             {
               "algorithm": "sha256",
-              "hash": "5f4c08aa4d3ebcb57a50c33b1b07e94315d7fc7230f7115e47fc99776c8ce308",
-              "url": "https://files.pythonhosted.org/packages/cb/9c/9ad11ac06b97e55ada655f8a6bea9d1d3f06e120b178cd578d80e558191d/setuptools-74.1.2-py3-none-any.whl"
+              "hash": "a59e362652f08dcd477c78bb6e7bd9d80a7995bc73ce773050228a348ce2e5bb",
+              "url": "https://files.pythonhosted.org/packages/9d/76/f789f7a86709c6b087c5a2f52f911838cad707cc613162401badc665acfe/setuptools-82.0.1-py3-none-any.whl"
             },
             {
               "algorithm": "sha256",
-              "hash": "95b40ed940a1c67eb70fc099094bd6e99c6ee7c23aa2306f4d2697ba7916f9c6",
-              "url": "https://files.pythonhosted.org/packages/3e/2c/f0a538a2f91ce633a78daaeb34cbfb93a54bd2132a6de1f6cec028eee6ef/setuptools-74.1.2.tar.gz"
+              "hash": "7d872682c5d01cfde07da7bccc7b65469d3dca203318515ada1de5eda35efbf9",
+              "url": "https://files.pythonhosted.org/packages/4f/db/cfac1baf10650ab4d1c111714410d2fbb77ac5a616db26775db562c8fab2/setuptools-82.0.1.tar.gz"
             }
           ],
           "project_name": "setuptools",
@@ -47,24 +52,24 @@
             "build[virtualenv]>=1.0.3; extra == \"test\"",
             "filelock>=3.4.0; extra == \"test\"",
             "furo; extra == \"doc\"",
-            "importlib-metadata>=6; python_version < \"3.10\" and extra == \"core\"",
-            "importlib-metadata>=7.0.2; python_version < \"3.10\" and extra == \"type\"",
-            "importlib-resources>=5.10.2; python_version < \"3.9\" and extra == \"core\"",
+            "importlib_metadata>=6; python_version < \"3.10\" and extra == \"core\"",
+            "importlib_metadata>=7.0.2; python_version < \"3.10\" and extra == \"type\"",
             "ini2toml[lite]>=0.14; extra == \"test\"",
             "jaraco.develop>=7.21; (python_version >= \"3.9\" and sys_platform != \"cygwin\") and extra == \"test\"",
             "jaraco.develop>=7.21; sys_platform != \"cygwin\" and extra == \"type\"",
             "jaraco.envs>=2.2; extra == \"test\"",
+            "jaraco.functools>=4; extra == \"core\"",
             "jaraco.packaging>=9.3; extra == \"doc\"",
-            "jaraco.path>=3.2.0; extra == \"test\"",
-            "jaraco.test; extra == \"test\"",
+            "jaraco.path>=3.7.2; extra == \"test\"",
+            "jaraco.test>=5.5; extra == \"test\"",
             "jaraco.text>=3.7; extra == \"core\"",
             "jaraco.tidelift>=1.4; extra == \"doc\"",
-            "more-itertools>=8.8; extra == \"core\"",
-            "mypy==1.11.*; extra == \"type\"",
-            "packaging>=23.2; extra == \"test\"",
-            "packaging>=24; extra == \"core\"",
+            "more_itertools; extra == \"core\"",
+            "more_itertools>=8.8; extra == \"core\"",
+            "mypy==1.18.*; extra == \"type\"",
+            "packaging>=24.2; extra == \"core\"",
+            "packaging>=24.2; extra == \"test\"",
             "pip>=19.1; extra == \"test\"",
-            "platformdirs>=2.6.2; extra == \"core\"",
             "pygments-github-lexers==0.0.5; extra == \"doc\"",
             "pyproject-hooks!=1.1; extra == \"doc\"",
             "pyproject-hooks!=1.1; extra == \"test\"",
@@ -80,7 +85,7 @@
             "pytest-timeout; extra == \"test\"",
             "pytest-xdist>=3; extra == \"test\"",
             "rst.linker>=1.9; extra == \"doc\"",
-            "ruff>=0.5.2; sys_platform != \"cygwin\" and extra == \"check\"",
+            "ruff>=0.13.0; sys_platform != \"cygwin\" and extra == \"check\"",
             "sphinx-favicon; extra == \"doc\"",
             "sphinx-inline-tabs; extra == \"doc\"",
             "sphinx-lint; extra == \"doc\"",
@@ -95,10 +100,11 @@
             "wheel>=0.43.0; extra == \"core\"",
             "wheel>=0.44.0; extra == \"test\""
           ],
-          "requires_python": ">=3.8",
-          "version": "74.1.2"
+          "requires_python": ">=3.9",
+          "version": "82.0.1"
         }
       ],
+      "marker": null,
       "platform_tag": null
     }
   ],
@@ -106,14 +112,14 @@
   "only_wheels": [],
   "overridden": [],
   "path_mappings": {},
-  "pex_version": "2.45.2",
+  "pex_version": "2.81.0",
   "pip_version": "24.2",
   "prefer_older_binary": false,
   "requirements": [
-    "setuptools==74.1.2"
+    "setuptools==82.0.1"
   ],
   "requires_python": [
-    "==3.12.*"
+    "CPython==3.12.*"
   ],
   "resolver_version": "pip-2020-resolver",
   "style": "universal",
diff --git a/AGENTS.md b/AGENTS.md
new file mode 100644
index 000000000..221f5babe
--- /dev/null
+++ b/AGENTS.md
@@ -0,0 +1,54 @@
+# AGENTS.md
+Repo-wide guidance for coding agents working in this repository.
+
+## Repo Layout
+- `src/python/`: Python packages, service code, scripts, and tests. Most packages map to one ARCOR2 service or robot
+  integration.
+- `src/docker/`: Docker image definitions packaged through Pants `docker_image` targets.
+- `3rdparty/`: Central Python dependency declarations and generated lockfiles for runtime and tool resolves.
+- `build-support/`: Helper scripts used by CI and local setup.
+- `compose-files/`: Demo and deployment compose stacks. `compose-files/fit-demo` is the easiest no-hardware smoke path.
+- `pants-plugins/`: Local Pants macros and plugins.
+
+## Working Rules
+- Use Pants as the primary entry point for linting, type checking, tests, packaging, and BUILD-file maintenance.
+- Keep dependency declarations centralized in `3rdparty/`; do not introduce ad-hoc per-package requirements files.
+- Treat `3rdparty/constraints.txt` and `3rdparty/*_lockfile.txt` as generated artifacts. Edit the matching
+  `*requirements.txt` inputs, then regenerate them with Pants.
+- Keep changes scoped to the relevant package or service. Avoid broad refactors across unrelated `src/python/arcor2_*`
+  packages unless the task explicitly requires it.
+- Prefer ASCII-only edits unless the file already requires non-ASCII content.
+
+## Dependencies and Packaging
+- When runtime dependencies change, update `3rdparty/requirements.txt` and regenerate lockfiles with
+  `pants generate-lockfiles`.
+- When tool dependencies change, update the matching file in `3rdparty/` (`mypy-requirements.txt`,
+  `pytest-requirements.txt`, `flake8-requirements.txt`, `setuptools-requirements.txt`) and regenerate lockfiles.
+- Keep ROS Jazzy packages in `build-support/install_ur_dependencies.sh` pinned unless the goal is a deliberate UR stack
+  upgrade. Those pins keep host-side tests and the `arcor2_ur` image on the same stack over time.
+- Do not reintroduce exact Ubuntu package pins in Dockerfiles unless there is a clear reproducibility reason and the
+  hadolint policy is updated with it.
+
+## CI And Verification
+- Start with focused Pants commands over the touched scope, then widen only if needed. Run one Pants command at a
+  time.
+- Common verification commands:
+  - `pants update-build-files :: --check`
+  - `pants lint`
+  - `pants check`
+  - `source /opt/ros/jazzy/setup.bash && pants test ::`
+  - `pants package ::`
+- For Docker changes, also run:
+  - `pants lint src/docker::`
+  - `pants --filter-target-type=docker_image --changed-since=origin/master --changed-dependents=transitive package`
+- For Python distribution changes, keep the package-validation step green:
+  - `pants --filter-target-type=python_distribution package ::`
+  - install `dist/*.tar.gz` into a fresh virtualenv
+  - `pip install "pipdeptree==2.30.0" && pipdeptree -w fail`
+- If BUILD metadata may have drifted after file moves or new modules, run `pants update-build-files ::` before
+  handoff.
+
+## Docs
+- Keep `README.md` high-level and user-facing. Put deeper developer workflow notes in the wiki or focused docs.
+- Update docs when changing developer workflow, release flow, CI behavior, or dependency policy.
+- By default, do not create git commits unless the user explicitly asks for one.
diff --git a/compose-files/fit-demo/docker-compose.2.yml b/compose-files/fit-demo/docker-compose.2.yml
index 94181c6f0..6e2f33f65 100644
--- a/compose-files/fit-demo/docker-compose.2.yml
+++ b/compose-files/fit-demo/docker-compose.2.yml
@@ -38,7 +38,7 @@ services:
       - fit-demo2-network
 
   fit-demo2-execution:
-    image: arcor2/arcor2_execution:1.6.0
+    image: arcor2/arcor2_execution:1.7.0
     container_name: fit-demo2-execution
     networks:
       - fit-demo2-network
diff --git a/pants-plugins/setup_kwargs_plugin/register.py b/pants-plugins/setup_kwargs_plugin/register.py
index 7e22160e5..e219c4628 100644
--- a/pants-plugins/setup_kwargs_plugin/register.py
+++ b/pants-plugins/setup_kwargs_plugin/register.py
@@ -1,12 +1,12 @@
 from packaging.version import InvalidVersion, Version
 
 from pants.backend.python.target_types import PythonProvidesField
-from pants.backend.python.util_rules.package_dists import SetupKwargsRequest, SetupKwargs
+from pants.backend.python.util_rules.package_dists import SetupKwargs, SetupKwargsRequest
+from pants.engine.fs import GlobMatchErrorBehavior, PathGlobs
+from pants.engine.intrinsics import get_digest_contents
+from pants.engine.rules import collect_rules, implicitly, rule
 from pants.engine.target import Target
-from pants.engine.rules import collect_rules
 from pants.engine.unions import UnionRule
-from pants.engine.rules import Get, rule
-from pants.engine.fs import DigestContents, GlobMatchErrorBehavior, PathGlobs
 
 
 class CustomSetupKwargsRequest(SetupKwargsRequest):
@@ -22,18 +22,22 @@ def rules():
     ]
 
 
+async def _read_required_file(spec_path: str, filename: str) -> str:
+    digest_contents = await get_digest_contents(
+        **implicitly(
+            PathGlobs(
+                [f"{spec_path}/{filename}"],
+                description_of_origin="`setup_py()` plugin",
+                glob_match_error_behavior=GlobMatchErrorBehavior.error,
+            )
+        )
+    )
+    return digest_contents[0].content.decode().strip()
+
+
 @rule
 async def setup_kwargs_plugin(request: CustomSetupKwargsRequest) -> SetupKwargs:
-
-    version_digest_contents = await Get(
-        DigestContents,
-        PathGlobs(
-            [f"{request.target.address.spec_path}/VERSION"],
-            description_of_origin="`setup_py()` plugin",
-            glob_match_error_behavior=GlobMatchErrorBehavior.error,
-        ),
-    )
-    version = version_digest_contents[0].content.decode().strip()
+    version = await _read_required_file(request.target.address.spec_path, "VERSION")
 
     package_name = request.target[PythonProvidesField].value.kwargs["name"]
 
@@ -42,32 +46,16 @@ async def setup_kwargs_plugin(request: CustomSetupKwargsRequest) -> SetupKwargs:
     except InvalidVersion as exc:
         raise ValueError(f"Version {version} of {package_name} is not valid.") from exc
 
-    desc_digest_contents = await Get(
-        DigestContents,
-        PathGlobs(
-            [f"{request.target.address.spec_path}/README.md"],
-            description_of_origin="`setup_py()` plugin",
-            glob_match_error_behavior=GlobMatchErrorBehavior.error,
-        ),
-    )
-    long_description = desc_digest_contents[0].content.decode().strip()
+    long_description = await _read_required_file(request.target.address.spec_path, "README.md")
 
-    changelog_digest_contents = await Get(
-        DigestContents,
-        PathGlobs(
-            [f"{request.target.address.spec_path}/CHANGELOG.md"],
-            description_of_origin="`setup_py()` plugin",
-            glob_match_error_behavior=GlobMatchErrorBehavior.error,
-        ),
-    )
-    changelog = changelog_digest_contents[0].content.decode().strip()
+    changelog = await _read_required_file(request.target.address.spec_path, "CHANGELOG.md")
 
     return SetupKwargs(
         {
             **request.explicit_kwargs,
             "version": version,
             "long_description": f"{long_description}\n{changelog}",
-            "long_description_content_type": "text/markdown"
-         },
-        address=request.target.address
+            "long_description_content_type": "text/markdown",
+        },
+        address=request.target.address,
     )
diff --git a/pants.toml b/pants.toml
index 7ba87e496..be2ae32c0 100644
--- a/pants.toml
+++ b/pants.toml
@@ -1,5 +1,5 @@
 [GLOBAL]
-pants_version = "2.28.0"
+pants_version = "2.31.0"
 colors = true
 process_execution_local_parallelism = 4
 
diff --git a/pyproject.toml b/pyproject.toml
index 36fc99ffb..519e38e33 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,3 +1,3 @@
 [tool.black]
 line-length = 120
-target-version = ['py311']
\ No newline at end of file
+target-version = ['py312']
diff --git a/src/docker/arcor2_arserver/Dockerfile b/src/docker/arcor2_arserver/Dockerfile
index 8d8ee14f5..812f15fe9 100644
--- a/src/docker/arcor2_arserver/Dockerfile
+++ b/src/docker/arcor2_arserver/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex
 RUN PEX_TOOLS=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_arserver.scripts/arserver.pex /binary.pex
 RUN PEX_TOOLS=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 RUN set -euo pipefail \
diff --git a/src/docker/arcor2_build/Dockerfile b/src/docker/arcor2_build/Dockerfile
index d42f8c472..0fc22b401 100644
--- a/src/docker/arcor2_build/Dockerfile
+++ b/src/docker/arcor2_build/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_build.scripts/build.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_build.scripts/build.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # curl is for healthcheck
diff --git a/src/docker/arcor2_calibration/Dockerfile b/src/docker/arcor2_calibration/Dockerfile
index 685566c0c..290b06199 100644
--- a/src/docker/arcor2_calibration/Dockerfile
+++ b/src/docker/arcor2_calibration/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_calibration.scripts/calibration.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_calibration.scripts/calibration.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # libgomp1 and libusb-1.0-0 are because of Open3D
diff --git a/src/docker/arcor2_dobot/Dockerfile b/src/docker/arcor2_dobot/Dockerfile
index 38aa3e375..f71e76d45 100644
--- a/src/docker/arcor2_dobot/Dockerfile
+++ b/src/docker/arcor2_dobot/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_dobot.scripts/dobot.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_dobot.scripts/dobot.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # curl is for healthcheck
diff --git a/src/docker/arcor2_execution/Dockerfile b/src/docker/arcor2_execution/Dockerfile
index 8dd21466b..a5998688e 100644
--- a/src/docker/arcor2_execution/Dockerfile
+++ b/src/docker/arcor2_execution/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_execution.scripts/execution.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_execution.scripts/execution.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 RUN set -euo pipefail \
diff --git a/src/docker/arcor2_execution_proxy/Dockerfile b/src/docker/arcor2_execution_proxy/Dockerfile
index 6c78729f8..331a42afb 100644
--- a/src/docker/arcor2_execution_proxy/Dockerfile
+++ b/src/docker/arcor2_execution_proxy/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_execution_rest_proxy.scripts/execution_rest_proxy.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_execution_rest_proxy.scripts/execution_rest_proxy.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 RUN mkdir -p /root/tokens \
diff --git a/src/docker/arcor2_scene/Dockerfile b/src/docker/arcor2_scene/Dockerfile
index f9d06659f..ac2cd3f65 100644
--- a/src/docker/arcor2_scene/Dockerfile
+++ b/src/docker/arcor2_scene/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_scene.scripts/scene.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_scene.scripts/scene.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 # libgomp1 and libusb-1.0-0 are because of Open3D
diff --git a/src/docker/arcor2_storage/Dockerfile b/src/docker/arcor2_storage/Dockerfile
index 767839d6f..1ea3eeaf4 100644
--- a/src/docker/arcor2_storage/Dockerfile
+++ b/src/docker/arcor2_storage/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_storage.scripts/storage.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_storage.scripts/storage.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
 RUN set -euo pipefail \
diff --git a/src/docker/arcor2_upload_builtin_objects/Dockerfile b/src/docker/arcor2_upload_builtin_objects/Dockerfile
index fe81bf670..c38e77354 100644
--- a/src/docker/arcor2_upload_builtin_objects/Dockerfile
+++ b/src/docker/arcor2_upload_builtin_objects/Dockerfile
@@ -1,12 +1,12 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_object_types.scripts/upload_object_types.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_object_types.scripts/upload_object_types.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 
 ENTRYPOINT ["/bin/app/pex"]
 COPY --from=deps /bin/app /bin/app
diff --git a/src/docker/arcor2_upload_fit_demo/Dockerfile b/src/docker/arcor2_upload_fit_demo/Dockerfile
index 43ab2f463..e11d4370d 100644
--- a/src/docker/arcor2_upload_fit_demo/Dockerfile
+++ b/src/docker/arcor2_upload_fit_demo/Dockerfile
@@ -1,13 +1,13 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_fit_demo.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_fit_demo.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 
 ENTRYPOINT ["/bin/app/pex"]
 COPY --from=deps /bin/app /bin/app
-COPY --from=srcs /bin/app /bin/app
\ No newline at end of file
+COPY --from=srcs /bin/app /bin/app
diff --git a/src/docker/arcor2_ur_ot/Dockerfile b/src/docker/arcor2_ur_ot/Dockerfile
index 8e908c90f..31dbd202d 100644
--- a/src/docker/arcor2_ur_ot/Dockerfile
+++ b/src/docker/arcor2_ur_ot/Dockerfile
@@ -1,13 +1,13 @@
-FROM python:3.12.7-bookworm as deps
+FROM python:3.12.12-bookworm as deps
 COPY src.python.arcor2_ur.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=deps --compile /bin/app
 
-FROM python:3.12.7-bookworm as srcs
+FROM python:3.12.12-bookworm as srcs
 COPY src.python.arcor2_ur.scripts/upload_objects.pex /binary.pex
 RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 /usr/local/bin/python /binary.pex venv --scope=srcs --compile /bin/app
 
-FROM python:3.12.7-bookworm
+FROM python:3.12.12-bookworm
 
 ENTRYPOINT ["/bin/app/pex"]
 COPY --from=deps /bin/app /bin/app
-COPY --from=srcs /bin/app /bin/app
\ No newline at end of file
+COPY --from=srcs /bin/app /bin/app