diff --git a/poetry.lock b/poetry.lock
index 95dd089bce..b1bd2df7c6 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
@@ -2766,7 +2766,14 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
 
 [[package]]
 name = "opencv-python-headless"
@@ -2785,7 +2792,14 @@ files = [
 ]
 
 [package.dependencies]
-numpy = {version = ">=1.23.5", markers = "python_version >= \"3.11\""}
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.17.0", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
 
 [[package]]
 name = "packaging"
@@ -5035,4 +5049,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "949a4c853db95a61159dc93c05d42d78a334b08f0f62b74587d77a348db9cf23"
+content-hash = "0e7f2a907e73eaa31137d70be3a56d350d6fc6dbc54811c80d6031409fddcac1"
diff --git a/pyproject.toml b/pyproject.toml
index ebcf350ce6..1c7d857652 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -128,7 +128,7 @@ inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" }
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"