diff --git a/docker_auton/Dockerfile b/docker_auton/Dockerfile
index 2d9d312..e919f04 100755
--- a/docker_auton/Dockerfile
+++ b/docker_auton/Dockerfile
@@ -6,42 +6,37 @@
 #FROM arm64v8/ros:noetic-ros-base-focal
 
 
-FROM ubuntu:focal@sha256:420b6f4cc783dc199667eae3316d9e066bd6e19931448c1e4b6f9a3759e52106
+FROM --platform=linux/aarch64 ubuntu:focal
 
 ENV DEBIAN_FRONTEND noninteractive
-RUN apt update
-RUN apt-get install -y -qq \
-  python3-pip \
-  python3-tk \
-  vim git tmux tree sl htop x11-apps curl
-
-RUN apt-get update && apt-get install -y lsb-release && apt-get clean all
+RUN apt-get update && apt-get install -y \
+  vim git tmux tree sl htop x11-apps curl lsb-release apt-utils && \
+  apt-get install -y python3-pip python3-tk && \
+  apt-get clean all -y
+
+RUN echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list && \
+	curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - && \
+	apt-get update && \
+	apt-get install -y \
+		ros-noetic-desktop-full\
+		ros-noetic-rosserial \
+		ros-noetic-foxglove-bridge \
+		ros-noetic-microstrain-inertial-driver \
+		ros-noetic-realsense2-camera \
+		ros-noetic-realsense2-description \
+		ros-noetic-mavros ros-noetic-mavros-extras ros-noetic-mavros-msgs
+		
 
 # RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc
-# RUN apt-key add -
-
-# https://wiki.ros.org/noetic/Installation/Ubuntu
-
-# RUN apt-get install -y -qq \
-#   ros-noetic-desktop-full \ 
-  ros-noetic-rosserial \
-  ros-noetic-foxglove-bridge \
-  ros-noetic-microstrain-inertial-driver \
-  ros-noetic-realsense2-camera \
-  ros-noetic-realsense2-description \
-  ros-noetic-mavros ros-noetic-mavros-extras ros-noetic-mavros-msgs
-
-# Run this now to cache it separately from other requirements
-# COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt
-# RUN pip3 install -r cuda-requirements.txt
+#   RUN apt-key add -
 
-# COPY ./python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
-# RUN pip3 install -r python-requirements.txt
 
 # RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc
-RUN echo 'cd rb_ws' >> ~/.bashrc
-RUN echo 'catkin_make >/dev/null' >> ~/.bashrc
-RUN echo 'source devel/setup.bash' >> ~/.bashrc
+RUN 	echo 'source "/opt/ros/noetic/setup.bash" --' >> ~/.bashrc && \
+	echo 'cd rb_ws' >> ~/.bashrc && \
+	echo 'pip3 install -r python-requirements.txt' >> ~/.bashrc && \
+	echo 'catkin_make >/dev/null' >> ~/.bashrc && \
+	echo 'source devel/setup.bash' >> ~/.bashrc
 
 # shoestring fix since installing numba from pythonrequirements 
 # smh breaks
diff --git a/docker_auton/python-requirements.txt b/docker_auton/python-requirements.txt
new file mode 100644
index 0000000..11f3a91
--- /dev/null
+++ b/docker_auton/python-requirements.txt
@@ -0,0 +1,13 @@
+matplotlib==3.1.2
+NavPy==1.0
+numba==0.58.0
+osqp==0.6.3
+pandas==2.0.3
+pymap3d==3.0.1
+scipy==1.10.1
+trimesh==3.23.5
+utm==0.7.0
+keyboard==0.13.5
+tk==0.1.0
+pyembree
+numpy
\ No newline at end of file
diff --git a/rb_ws/python-requirements.txt b/rb_ws/python-requirements.txt
index 9e12c3f..47872c3 100644
--- a/rb_ws/python-requirements.txt
+++ b/rb_ws/python-requirements.txt
@@ -1,7 +1,6 @@
 matplotlib==3.1.2
 NavPy==1.0
 numba==0.58.0
-numpy<1.21.0
 osqp==0.6.3
 pandas==2.0.3
 pymap3d==3.0.1
@@ -11,3 +10,4 @@ utm==0.7.0
 keyboard==0.13.5
 tk==0.1.0
 pyembree
+numpy
diff --git a/setup_prod.sh b/setup_prod.sh
index 82c97e2..d4fafa7 100755
--- a/setup_prod.sh
+++ b/setup_prod.sh
@@ -79,12 +79,12 @@ docker kill $(docker ps -q)
 
 
 # copy python-requirements + cuda-requirements into appropriate folders for docker compose
-cp python-requirements.txt docker_auton
-mv docker_auton/python-requirements.txt docker_auton/python-requirements_TEMP_DO_NOT_EDIT.txt
-cp python-requirements.txt docker_tester
-mv docker_tester/python-requirements.txt docker_tester/python-requirements_TEMP_DO_NOT_EDIT.txt
-cp cuda-requirements.txt docker_auton
-mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt
+# cp python-requirements.txt docker_auton
+# mv docker_auton/python-requirements.txt docker_auton/python-requirements_TEMP_DO_NOT_EDIT.txt
+# cp python-requirements.txt docker_tester
+# mv docker_tester/python-requirements.txt docker_tester/python-requirements_TEMP_DO_NOT_EDIT.txt
+# cp cuda-requirements.txt docker_auton
+# mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt
 
 echo "Building containers..."
 docker-compose -f $dockerfile build