diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2ef21f2..c5bd48b 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -17,7 +17,8 @@ build-colcon-job:
   - mv * .src/robossembler-ros2
   - mv .git .src/robossembler-ros2
   - mv .src src
-  - vcs import src < src/robossembler-ros2/repos/sim.rbs.repos
+  - vcs import src < robossembler-ros2/repos/all-deps.repos
+  - pip install -r src/robossembler-ros2/repos/requirements.txt
   - rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
   - colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
   rules:
diff --git a/Dockerfile b/Dockerfile
index 0aa4050..069851e 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -4,6 +4,8 @@ ARG WSDIR=rbs_ws
 ENV RBS_ASSEMBLY_DIR=/assembly
 ENV DEBIAN_FRONTEND=noninteractive
 
+SHELL ["/bin/bash", "-c"]
+
 # COPY /home/bill-finger/assembly /assembly
 ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
 
@@ -13,53 +15,39 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \
     python3-pip \ 
     lsb-release \
     curl \
-    wget
-
-
-# WORKDIR /libs
-# RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
-#     tar -xf v3.11.3.tar.gz &&\
-#     cd json-3.11.3 &&\
-#     mkdir build &&\
-#     cd build &&\
-#     cmake .. &&\
-#     make &&\
-#     make install
+    wget \
+    libgeos-dev
 
 RUN add-apt-repository universe
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 
-RUN apt-get update && apt-get upgrade && apt-get install -y ros-humble-ros-base
+# Insatll ROS2 and tools
+RUN apt-get update &&\
+  apt-get upgrade &&\
+  apt-get install -y ros-humble-ros-base\
+  python3-rosdep\
+  python3-colcon-common-extensions
 
-# RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
-#     cd megapose6d &&\
-#     pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
-#     pip install -e .
-# RUN git clone https://github.com/thodan/bop_toolkit &&\
-#     cd bop_toolkit &&\
-#     pip install -e .
+WORKDIR /${RBS_ASSEMBLY_DIR}
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
+RUN apt-get install git-lfs
 
 WORKDIR /${WSDIR}
 
 COPY . src/robossembler-ros2/
 
-RUN pip install vcstool uv
+RUN pip install vcstool
 
 # Install framework and dependencies
 RUN vcs import src/. < src/robossembler-ros2/repos/all-deps.repos
-RUN uv pip install --system -r src/robossembler-ros2/repos/requirements.txt
-RUN apt-get update && rosdep update && \
+RUN pip install -r src/robossembler-ros2/repos/requirements.txt
+RUN apt-get update && source /opt/ros/humble/setup.bash && rosdep init && rosdep update && \
     rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
-RUN . /opt/ros/humble/setup.sh && \
+RUN . /opt/ros/humble/setup.bash && \
     colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
 
 
-WORKDIR /${RBS_ASSEMBLY_DIR}
-RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
-RUN apt-get install git-lfs
-RUN git clone https://github.com/solid-sinusoid/rbs_assets_library.git 
-RUN cd rbs_assets_library && git lfs pull && pip install -e .
 
 WORKDIR /${WSDIR}
diff --git a/repos/requirements.txt b/repos/requirements.txt
index dfffc78..19a1c54 100644
--- a/repos/requirements.txt
+++ b/repos/requirements.txt
@@ -1,3 +1,7 @@
+tensorflow==2.17.1
+torch>=2.4.1
+torchvision>=0.19.1
+
 trimesh
 pcg-gazebo
 loguru
@@ -16,10 +20,7 @@ gymnasium==0.29.1
 numpy>=1.24.0
 open3d>=0.18.0
 scipy>=1.14.1
-tensorflow>=2.17.0
-torch>=2.4.1
-torchvision>=0.19.1
-trimesh>=4.4.9
+trimesh>=3.9,<4.0
 wandb>=0.18.6
 
 # Packages from devpi custom repository
@@ -28,4 +29,4 @@ gym-gz @ https://devpi.solid-sinusoid.com/narmak/dev/+f/539/1f448c1391486/gym_gz
 gym-gz-models @ https://devpi.solid-sinusoid.com/narmak/dev/+f/f42/4784934183e88/gym_gz_models-1.2.0-cp310-cp310-linux_x86_64.whl#sha256=f424784934183e88541c703c789315ba6118661bd221a4bf9135c6a0ee012e96
 
 # rbs_assets_library
-git+https://github.com/solid-sinusoid/rbs_assets_library.git@master
+git+https://gitlab.com/solid-sinusoid/rbs-assets-library.git@master