diff --git a/.gitmodules b/.gitmodules
index 4e67144f1..63abede05 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
-[submodule "pycram/src/macropy"]
-	path = src/macropy
-	url = git@github.com:Tigul/macropy.git
 [submodule "src/neem_interface_python"]
 	path = src/neem_interface_python
 	url = https://github.com/Tigul/neem_interface_python
+[submodule "src/macropy"]
+	path = src/macropy
+	url = https://github.com/Tigul/macropy.git
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 000000000..c2ff9a272
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,29 @@
+
+ARG FROM_IMAGE=ros:noetic-ros-core-focal
+ARG OVERLAY_WS=/opt/ros/overlay_ws
+
+FROM $FROM_IMAGE as builder
+ARG OVERLAY_WS=/opt/ros/overlay_ws
+WORKDIR $OVERLAY_WS/src
+
+RUN sudo apt-get update && apt-get install python3-pip python3-vcstool git -y
+RUN vcs import --input https://raw.githubusercontent.com/cram2/pycram/dev/pycram-https.rosinstall --recursive --skip-existing $OVERLAY_WS/src
+RUN sudo apt-get update && apt-get install python3-pip -y && pip3 install pip --upgrade
+RUN pip3 install --no-cache-dir -r $OVERLAY_WS/src/pycram/requirements.txt
+
+RUN pip3 install rosdep && rosdep init
+RUN rosdep update && rosdep install --from-paths $OVERLAY_WS/src --ignore-src -r -y
+RUN sudo apt-get install jupyter -y
+
+RUN . /opt/ros/noetic/setup.sh && cd $OVERLAY_WS && catkin_make
+RUN echo "source $OVERLAY_WS/devel/setup.bash" >> ~/.bashrc
+RUN rm -rf $OVERLAY_WS/src/pycram
+
+COPY . $OVERLAY_WS/src/pycram
+RUN pip3 install -r $OVERLAY_WS/src/pycram/requirements.txt
+COPY docker/entrypoint.sh /
+ENTRYPOINT ["bash", "/entrypoint.sh"]
+
+# launch ros package
+#CMD ["roslaunch", "pycram", "ik_and_description.launch", "&"]
+#CMD ["jupyter", "notebook", "--ip", "0.0.0.0", "--allow-root", "/opt/ros/overlay_ws/src/pycram/examples/"]
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
new file mode 100644
index 000000000..d45f309ac
--- /dev/null
+++ b/docker/entrypoint.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+set -e
+
+source /opt/ros/overlay_ws/devel/setup.bash
+
+exec "$@"
\ No newline at end of file
diff --git a/pycram-https.rosinstall b/pycram-https.rosinstall
new file mode 100644
index 000000000..64bbf0430
--- /dev/null
+++ b/pycram-https.rosinstall
@@ -0,0 +1,25 @@
+repositories:
+  iai_maps:
+    type: git
+    url: https://github.com/code-iai/iai_maps.git
+    version: master
+  iai_robots:
+    type: git
+    url: https://github.com/code-iai/iai_robots.git
+    version: master
+  pycram:
+    type: git
+    url: https://github.com/cram2/pycram.git
+    version: dev
+  pr2_common:
+    type: git
+    url: https://@github.com/PR2/pr2_common.git
+    version: b34703bcca2b07cadbc3777d3c504c232a0c0c28
+  kdl_ik_services:
+    type: git
+    url: https://github.com/cram2/kdl_ik_service.git
+    version: master
+  pr2_kinematics:
+    type: git
+    url: https://github.com/PR2/pr2_kinematics.git
+    version: kinetic-devel
diff --git a/pycram.rosinstall b/pycram.rosinstall
index 91a158b5c..ccbb0cd22 100644
--- a/pycram.rosinstall
+++ b/pycram.rosinstall
@@ -18,7 +18,7 @@ repositories:
   kdl_ik_services:
     type: git
     url: git@github.com:cram2/kdl_ik_service.git
-    verison: master
+    version: master
   pr2_kinematics:
     type: git
     url: git@github.com:PR2/pr2_kinematics.git
diff --git a/requirements.txt b/requirements.txt
index f726edb13..a86e66dac 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,7 +4,7 @@ rospkg~=1.4.0
 roslibpy~=1.2.1
 # rospy~=1.14.11
 pathlib~=1.0.1
-numpy~=1.22.2
+numpy==1.24.3
 pytransform3d~=1.9.1
 # tf~=1.12.1
 # actionlib~=1.12.1
diff --git a/src/neem_interface_python b/src/neem_interface_python
index 05ad42c41..51aa0f9a3 160000
--- a/src/neem_interface_python
+++ b/src/neem_interface_python
@@ -1 +1 @@
-Subproject commit 05ad42c41042335dd2287d865f6a37c115ea8ffe
+Subproject commit 51aa0f9a3b38fde3156bdf29be7aad7bb9547926