diff --git a/dependencies/install_sas.sh b/dependencies/install_sas.sh
deleted file mode 100644
index b512bd8..0000000
--- a/dependencies/install_sas.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-
-# Install SAS
-
-# Suggested instructions to clone SAS
-mkdir -p ~/ros2_ws/src
-cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_msgs.git --recursive 
-cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_core.git --recursive 
-cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_common.git --recursive 
-cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_datalogger.git --recursive 
-cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_conversions.git --recursive 
-cd ~/ros2_ws/src && git clone -b jazzy https://github.com/SmartArmStack/sas_robot_driver.git --recursive 
diff --git a/ubuntu_26/dqrobotics/Dockerfile b/ubuntu_26/dqrobotics/Dockerfile
new file mode 100644
index 0000000..242e027
--- /dev/null
+++ b/ubuntu_26/dqrobotics/Dockerfile
@@ -0,0 +1,16 @@
+FROM ubuntu:resolute
+SHELL ["/bin/bash", "-c"]
+ENV BASH_ENV="/etc/bash_env"
+
+# Update apt-get
+RUN apt-get update -q \
+    && apt-get upgrade -y \
+    && apt-get autoremove -y \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# RUN apt-get update && apt-get install -y wget # Use this to get from the repository if needed in the future
+
+RUN mkdir -p ~/install/dqrobotics
+COPY install_dqrobotics_ubuntu26.sh /root/install/dqrobotics/
+RUN cd ~/install/dqrobotics && chmod +x install_dqrobotics_ubuntu26.sh && . install_dqrobotics_ubuntu26.sh
\ No newline at end of file
diff --git a/ubuntu_26/dqrobotics/compose.yml b/ubuntu_26/dqrobotics/compose.yml
new file mode 100644
index 0000000..88bfdef
--- /dev/null
+++ b/ubuntu_26/dqrobotics/compose.yml
@@ -0,0 +1,3 @@
+services:
+  dqrobotics:
+    build: .
\ No newline at end of file
diff --git a/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh
new file mode 100644
index 0000000..3b62e77
--- /dev/null
+++ b/ubuntu_26/dqrobotics/install_dqrobotics_ubuntu26.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+
+# Dependencies
+apt-get update
+apt-get install -y git software-properties-common libeigen3-dev python3-pip cmake
+
+# Install qpOASES
+mkdir -p ~/utils
+cd ~/utils
+git clone https://github.com/coin-or/qpOASES.git
+cd ~/utils/qpOASES
+sed -i -e 's/option(BUILD_SHARED_LIBS "If ON, build shared library instead of static" OFF)/option(BUILD_SHARED_LIBS "If ON, build shared library instead of static" ON)/g' CMakeLists.txt
+mkdir -p build
+cd ~/utils/qpOASES/build
+cmake ..
+make
+make install
+
+# Install DQ Robotics (development branch)
+## C++
+add-apt-repository ppa:dqrobotics-dev/development
+apt-get update
+apt-get install -y libdqrobotics libdqrobotics-interface-qpoases #libdqrobotics-interface-json11
+## Python
+python3 -m pip install dqrobotics --pre --break-system-packages
+
+# To prevent compilation errors with Pybind11
+ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
+ldconfig
+
+# Clean apt
+apt-get autoremove -y
+apt-get clean
+rm -rf /var/lib/apt/lists/*
\ No newline at end of file