diff --git a/pixi.lock b/pixi.lock
index d88bbefc8..de0961dd7 100644
--- a/pixi.lock
+++ b/pixi.lock
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-  license_family: MIT
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-  md5: 213f51bbcce2964ff2ec00d0fdd38541
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm22-22.1.1-hf7376ad_0.conda
+  sha256: 1145f9e85f0fbbdba88f1da5c8c48672bee7702e2f40c563b2dd48350ab4d413
+  md5: 97cc6dad22677304846a798c8a65064d
   depends:
   - __glibc >=2.17,<3.0.a0
   - libgcc >=14
@@ -10856,11 +10846,11 @@ packages:
   license: Apache-2.0 WITH LLVM-exception
   license_family: Apache
   purls: []
-  size: 44236214
-  timestamp: 1772009776202
-- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libllvm22-22.1.0-hfd2ba90_0.conda
-  sha256: 7be3cdc0bf2747e9c590463a540060ab3ae961f44f0aa0b27acb86b37ba47ac4
-  md5: c109137a7e54fde795637863f62485a1
+  size: 44256563
+  timestamp: 1773371774629
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libllvm22-22.1.1-hfd2ba90_0.conda
+  sha256: 9b1634ce91d4d56d8a92996e65a2ef20fe0dd8afa88761bb361314748e439aab
+  md5: 9684eec87b0eb9c81c6b95dfcbe574a0
   depends:
   - libgcc >=14
   - libstdcxx >=14
@@ -10871,8 +10861,8 @@ packages:
   license: Apache-2.0 WITH LLVM-exception
   license_family: Apache
   purls: []
-  size: 43128981
-  timestamp: 1771982780082
+  size: 43166469
+  timestamp: 1773368435640
 - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.2-hb03c661_0.conda
   sha256: 755c55ebab181d678c12e49cced893598f2bab22d582fbbf4d8b83c18be207eb
   md5: c7c83eecbb72d88b940c249af56c8b17
@@ -11743,13 +11733,16 @@ packages:
   purls: []
   size: 752140
   timestamp: 1768379160784
-- conda: https://conda.anaconda.org/conda-forge/linux-64/librsvg-2.60.2-h61e6d4b_0.conda
-  sha256: 38b3189cf246f7265e06917f32d046ac375117c88834d045efe73ec48ceacc59
-  md5: d62da3d560992bfa2feb611d7be813b8
+- conda: https://conda.anaconda.org/conda-forge/linux-64/librsvg-2.62.0-h4c96295_0.conda
+  sha256: d68b57e17b0edcf52735f6f0093329d2dae53b958e55405970d4c872bd513431
+  md5: b9c8f19b844f87d55c09965c0645a8f7
   depends:
   - __glibc >=2.17,<3.0.a0
   - cairo >=1.18.4,<2.0a0
+  - fontconfig >=2.17.1,<3.0a0
+  - fonts-conda-ecosystem
   - gdk-pixbuf >=2.44.5,<3.0a0
+  - harfbuzz >=13.1.0
   - libgcc >=14
   - libglib >=2.86.4,<3.0a0
   - libxml2-16 >=2.14.6
@@ -11758,14 +11751,17 @@ packages:
   - __glibc >=2.17
   license: LGPL-2.1-or-later
   purls: []
-  size: 4011590
-  timestamp: 1771399906142
-- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/librsvg-2.60.2-h8171147_0.conda
-  sha256: d02d3b23aa58d7767b820289b5b50653e73d70ae32f6ee5b88f63c5c5d96c2de
-  md5: 1d6f1aff501c8104f7292ab787d65f15
+  size: 4027021
+  timestamp: 1773392244201
+- conda: https://conda.anaconda.org/conda-forge/linux-aarch64/librsvg-2.62.0-hf685517_0.conda
+  sha256: ab5a529f254b56028f5b8cf4d9e26a982c20ed323cce43a0b2f356779c818274
+  md5: c4fa0b7c6e8de9d5fadd60d6cec56e40
   depends:
   - cairo >=1.18.4,<2.0a0
+  - fontconfig >=2.17.1,<3.0a0
+  - fonts-conda-ecosystem
   - gdk-pixbuf >=2.44.5,<3.0a0
+  - harfbuzz >=13.1.0
   - libgcc >=14
   - libglib >=2.86.4,<3.0a0
   - libxml2-16 >=2.14.6
@@ -11774,8 +11770,8 @@ packages:
   - __glibc >=2.17
   license: LGPL-2.1-or-later
   purls: []
-  size: 4016799
-  timestamp: 1771406266442
+  size: 3008494
+  timestamp: 1773398284947
 - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-14.3.0-h8f1669f_18.conda
   sha256: e03ed186eefb46d7800224ad34bad1268c9d19ecb8f621380a50601c6221a4a7
   md5: ad3a0e2dc4cce549b2860e2ef0e6d75b
@@ -12862,7 +12858,7 @@ packages:
   license: BSD-3-Clause
   license_family: BSD
   purls:
-  - pkg:pypi/markupsafe?source=compressed-mapping
+  - pkg:pypi/markupsafe?source=hash-mapping
   size: 26305
   timestamp: 1772446326927
 - pypi: https://files.pythonhosted.org/packages/be/2f/5108cb3ee4ba6501748c4908b908e55f42a5b66245b4cfe0c99326e1ef6e/marshmallow-3.26.2-py3-none-any.whl
@@ -20593,86 +20589,6 @@ packages:
   license: MIT
   size: 6792930
   timestamp: 1768949404429
-- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-game-controller-hl-1.1.0-np2py312h2ed9cc7_14.conda
-  sha256: 557d8174b1bb208c76e47a468562b8b842744b7b86cbaaae3d65358220ddfb63
-  md5: 8a3a54da13f10e1a6df4831615c326ca
-  depends:
-  - python
-  - ros-jazzy-diagnostic-msgs
-  - ros-jazzy-game-controller-hl-interfaces
-  - ros-jazzy-rclpy
-  - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
-  - ros-jazzy-std-msgs
-  - ros2-distro-mutex 0.13.* jazzy_*
-  - __glibc >=2.17,<3.0.a0
-  - libstdcxx >=14
-  - libgcc >=14
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.23,<3
-  - ros2-distro-mutex >=0.13.0,<0.14.0a0
-  license: Apache-2.0
-  size: 49252
-  timestamp: 1769777111783
-- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-game-controller-hl-1.1.0-np2py312h3575a3a_14.conda
-  sha256: 931e670bd96559b993e127fd2233ebcf01b0bafc2121f4bb03e98dc78c9d82cc
-  md5: d547cf78ea286cefb4ad881dfb122bc3
-  depends:
-  - python
-  - ros-jazzy-diagnostic-msgs
-  - ros-jazzy-game-controller-hl-interfaces
-  - ros-jazzy-rclpy
-  - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
-  - ros-jazzy-std-msgs
-  - ros2-distro-mutex 0.13.* jazzy_*
-  - python 3.12.* *_cpython
-  - libstdcxx >=14
-  - libgcc >=14
-  - ros2-distro-mutex >=0.13.0,<0.14.0a0
-  - python_abi 3.12.* *_cp312
-  - numpy >=1.23,<3
-  license: Apache-2.0
-  size: 56136
-  timestamp: 1769782730677
-- conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-game-controller-hl-interfaces-0.0.1-np2py312h2ed9cc7_14.conda
-  sha256: 0bcc7e1d93ff5f0eecae9e3dfffec1fe4d1108ab7239974656ae3bcb6b904a70
-  md5: cdf26558be6bce380c4b6ac35de343e1
-  depends:
-  - python
-  - ros-jazzy-ament-lint-auto
-  - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
-  - ros-jazzy-std-msgs
-  - ros2-distro-mutex 0.13.* jazzy_*
-  - libstdcxx >=14
-  - libgcc >=14
-  - __glibc >=2.17,<3.0.a0
-  - numpy >=1.23,<3
-  - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.13.0,<0.14.0a0
-  license: Apache-2.0
-  size: 101282
-  timestamp: 1769777111833
-- conda: https://data.bit-bots.de/conda/linux-aarch64/ros-jazzy-game-controller-hl-interfaces-0.0.1-np2py312h3575a3a_14.conda
-  sha256: c91c3b2fc611b80b28fe2dc6463054d3a432ad8abc3f7fb3ca7e942e9a1020f4
-  md5: dcd5f912a9b2f9c91d2c796b59a19439
-  depends:
-  - python
-  - ros-jazzy-ament-lint-auto
-  - ros-jazzy-ros-workspace
-  - ros-jazzy-rosidl-default-runtime
-  - ros-jazzy-std-msgs
-  - ros2-distro-mutex 0.13.* jazzy_*
-  - python 3.12.* *_cpython
-  - libstdcxx >=14
-  - libgcc >=14
-  - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.13.0,<0.14.0a0
-  - numpy >=1.23,<3
-  license: Apache-2.0
-  size: 109536
-  timestamp: 1769782730330
 - conda: https://data.bit-bots.de/conda/linux-64/ros-jazzy-gazebo-msgs-3.8.0-np2py312h2ed9cc7_14.conda
   sha256: de463cc18d9553fc8a2517fb4af151ce0de47c927a6db7739b71caf8c5ef1926
   md5: 2351e74144506df4682c13be3c7c926d
diff --git a/pixi.toml b/pixi.toml
index aefe2cd04..6d2f5b2d2 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -25,7 +25,7 @@ args = [{ arg = "package", default = "" }]
 description = "Cleans build and install files for all ROS 2 packages or a specific one if given."
 
 [tasks.test]
-cmd = "colcon test --event-handlers console_direct+ --return-code-on-test-failure "
+cmd = "colcon test --packages-ignore=audio_common --event-handlers console_direct+ --return-code-on-test-failure "
 description = "Runs tests for all ROS 2 packages. Add --packages-select <package names> to test specific packages."
 
 [dependencies]
@@ -172,8 +172,9 @@ ros-jazzy-bitbots-tf-buffer = ">=1.0.0,<2"
 ros-jazzy-ros2-python-extension = ">=1.0.0,<2"
 ros-jazzy-dynamic-stack-decider = ">=0.5.3,<0.6"
 ros-jazzy-dynamic-stack-decider-visualization = ">=0.2.1,<0.3"
-ros-jazzy-game-controller-hl = ">=1.1.0,<2"
-ros-jazzy-game-controller-hl-interfaces = ">=0.0.1,<0.0.2"
+# To be replaced with ros-jazzy-game-controller-hsl once the new version is released upstream
+# ros-jazzy-game-controller-hl = ">=1.1.0,<2"
+# ros-jazzy-game-controller-hl-interfaces = ">=0.0.1,<0.0.2"
 ros-jazzy-humanoid-base-footprint = ">=0.1.2,<0.2"
 ros-jazzy-ipm-image-node = ">=0.0.0,<0.0.1"
 ros-jazzy-ipm-interfaces = ">=0.0.0,<0.0.1"
@@ -254,4 +255,3 @@ scripts = [
 default = ["ros", "format"]  # Full development environment (excluding robot-only deps)
 format = ["format"]  # Format only environment
 robot = ["ros", "format", "robot"]  # Robot environment with additional robot-only dependencies
-