diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index d89ba787b4..31af7b9f0d 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -126,7 +126,7 @@ jobs:
           /opt/homebrew/opt
           /opt/homebrew/Caskroom/gcc-arm-*
           /Applications/ArmGNUToolchain/*/*/*
-        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
+        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }}
         restore-keys: macos_deps-
     - name: Brew link restored dependencies
       run: |
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 9af628bd4c..f8b20be351 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -17,8 +17,8 @@ ENV PYENV_VERSION=3.11.4
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
-COPY tools/ubuntu_setup.sh /tmp/tools/
+COPY pyproject.toml poetry.lock .python-version /tmp/
+COPY tools/ubuntu_setup.sh tools/install_python_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
     tools/ubuntu_setup.sh && \
     rm -rf /var/lib/apt/lists/* && \
diff --git a/openpilot/__init__.py b/openpilot/__init__.py
index e69de29bb2..b28b04f643 100644
--- a/openpilot/__init__.py
+++ b/openpilot/__init__.py
@@ -0,0 +1,3 @@
+
+
+
diff --git a/poetry.lock b/poetry.lock
index 4cb756d68d..4399a69e99 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:e2c9faf439f91a8c58dbfb85e3725bb3094fde5f903ca3c5280bf30df61b651e
-size 826466
+oid sha256:6e04d095e34a8f906a3ee501288b4a47d176ecf1c7ec43cbb8601f86cda84780
+size 478413
diff --git a/pyproject.toml b/pyproject.toml
index 9d84751a4e..38451501f2 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -34,11 +34,11 @@ hexdump = "*"
 Jinja2 = "*"
 json-rpc = "*"
 libusb1 = "*"
-numpy = "==1.23.0"  # locked pending deprecation fixes in xx
+numpy = "~1.23"  # pinned for acados
 onnx = ">=1.14.0"
 onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
 pillow = "*"
-protobuf = "==3.20.3"
+protobuf = "*"
 psutil = "*"
 pyaudio = "*"
 pycapnp = "*"
@@ -52,7 +52,7 @@ PyYAML = "*"
 pyzmq = "*"
 requests = "*"
 scons = "*"
-sentry-sdk = "~1.28"
+sentry-sdk = "==1.28.1"  # needs to be updated with AGNOS
 setproctitle = "*"
 smbus2 = "*"
 sounddevice = "*"
@@ -89,7 +89,7 @@ mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
 natsort = "*"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
+opencv-python-headless = "*"
 pandas = "*"
 parameterized = "^0.8"
 paramiko = "*"
@@ -101,7 +101,7 @@ pyprof2calltree = "*"
 pytest = "*"
 pytest-xdist = "*"
 reverse_geocoder = "*"
-scipy = "==1.9.3"  # pinned until xx refs changes can be checked
+scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
 sphinx-sitemap = "*"
@@ -116,81 +116,6 @@ types-requests = "*"
 types-tabulate = "*"
 
 
-[tool.poetry.group.xx]
-optional = true
-
-[tool.poetry.group.xx.dependencies]
-aenum = "*"
-aiohttp = "*"
-albumentations = "*"
-azure-cli-core = "*"
-azure-common = "*"
-azure-core = "*"
-azure-nspkg = "~3.0"
-azure-storage-common = "~2.1"
-azure-storage-nspkg = "~3.1"
-blosc = "==1.9.2"
-cloudpickle = "*"
-configargparse = "*"
-cupy-cuda11x = "*"
-datadog = "*"
-dotmap = "*"
-einops = "*"
-elasticsearch = "*"
-flake8 = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-GeoAlchemy2 = "*"
-imageio = "*"
-influxdb-client = "*"
-ipykernel = "*"
-ipython = "*"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-jupyterlab = "*"
-jupyterlab-vim = "*"
-Markdown = "*"
-msgpack-python = "*"
-networkx = "~2.8"
-nvidia-ml-py3 = "*"
-onnx2torch = "*"
-onnxoptimizer = "*"
-osmium = "*"
-pillow-avif-plugin = "*"
-pipenv = "==2022.10.12"
-plotly = "*"
-pycuda = "*"
-Pygments = "*"
-pylint = "*"
-PyMySQL = "~0.9"
-pyproj = "*"
-python-logstash = "*"
-redis = "*"
-ruff = "*"
-s2sphere = "*"
-scikit-image = "*"
-scikit-learn = "*"
-segmentation-models-pytorch = "==0.3.3"
-simplejson = "*"
-SQLAlchemy = "*"
-wrapt = "*"
-torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" }
-torchsummary = "*"
-torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" }
-triton = "*"
-Werkzeug = "*"
-zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
-omegaconf = "*"
-osmnx = "==1.2.2"
-tritonclient = {version = "2.28.0", extras = ["http"]}
-transformers = "*"
-timm = "==0.9.2"
-PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git" }
-apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.1%2Bcu11.8/apex-0.1-cp311-cp311-linux_x86_64.whl" }
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
-
-
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
diff --git a/update_requirements.sh b/tools/install_python_dependencies.sh
similarity index 71%
rename from update_requirements.sh
rename to tools/install_python_dependencies.sh
index c9b49486e5..075dec3bff 100755
--- a/update_requirements.sh
+++ b/tools/install_python_dependencies.sh
@@ -2,7 +2,8 @@
 set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
+ROOT=$DIR/../
+cd $ROOT
 
 RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
@@ -32,7 +33,7 @@ fi
 
 export MAKEFLAGS="-j$(nproc)"
 
-PYENV_PYTHON_VERSION=$(cat .python-version)
+PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version)
 if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
   # no pyenv update on mac
   if [ "$(uname)" == "Linux" ]; then
@@ -50,32 +51,20 @@ pip install poetry==1.5.1
 
 poetry config virtualenvs.prefer-active-python true --local
 
-if [[ -n "$XX" ]] || [[ "$(basename "$(dirname "$(pwd)")")" == "xx" ]]; then
-  XX=true
-fi
-
-POETRY_INSTALL_ARGS="--no-cache --no-root"
-
-if [ -n "$XX" ]; then
-  echo "WARNING: using xx dependency group, installing globally"
-  poetry config virtualenvs.create false --local
-  POETRY_INSTALL_ARGS="$POETRY_INSTALL_ARGS --with xx --sync"
-else
-  echo "PYTHONPATH=${PWD}" > .env
-  poetry self add poetry-dotenv-plugin@^0.1.0
-fi
+echo "PYTHONPATH=${PWD}" > $ROOT/.env
+poetry self add poetry-dotenv-plugin@^0.1.0
 
 echo "pip packages install..."
-poetry install $POETRY_INSTALL_ARGS
+poetry install --no-cache --no-root
 pyenv rehash
 
-[ -n "$XX" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
+[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
 
 if [ "$(uname)" != "Darwin" ]; then
   echo "pre-commit hooks install..."
   shopt -s nullglob
   for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do
-    if [ -e "$DIR/$(dirname $f)/.git" ]; then
+    if [ -e "$ROOT/$(dirname $f)/.git" ]; then
       $RUN pre-commit install -c "$f"
     fi
   done
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 765cdd5a30..45bdf90383 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -77,7 +77,7 @@ if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then
 fi
 
 # install python dependencies
-$ROOT/update_requirements.sh
+$DIR/install_python_dependencies.sh
 eval "$(pyenv init --path)"
 echo "[ ] installed python dependencies t=$SECONDS"
 
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 63e8fcdf3d..581b785252 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -138,9 +138,8 @@ else
   exit 1
 fi
 
-
-# install python dependencies
-$ROOT/update_requirements.sh
+# python setup
+$DIR/install_python_dependencies.sh
 
 source ~/.bashrc
 if [ -z "$OPENPILOT_ENV" ]; then