diff --git a/.gitignore b/.gitignore
index 9c7675372..2ac606dbf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,4 +32,7 @@ logs/
 moteus-cal*
 
 # CSV
-*.csv
\ No newline at end of file
+*.csv
+
+# Virtual Environment
+venv/
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index 6d02b1f80..454b42b28 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,33 +1,26 @@
 FROM ros:noetic
 
-RUN apt-get update && apt-get upgrade -y
-# Add apt repo for latest version of Git
-RUN apt-get install software-properties-common -y && add-apt-repository ppa:git-core/ppa -y
-RUN apt-get update && apt-get install -y \
-    zsh neovim sudo git git-lfs \
-    clang-format-12 clang-tidy-12 \
-    python3-catkin-tools python3-pip
-RUN DEBIAN_FRONTEND=noninteractive apt-get install keyboard-configuration -y
+RUN apt-get update -y && apt-get upgrade -y && apt-get install software-properties-common -y
+RUN apt-add-repository ppa:ansible/ansible -y
+RUN apt-add-repository ppa:git-core/ppa -y
+RUN apt install -y ansible git git-lfs
 
 RUN useradd --create-home --groups sudo --shell /bin/zsh mrover
 # Give mrover user sudo access with no password
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 
 USER mrover
-RUN mkdir -p ~/catkin_ws/src/mrover
+RUN mkdir -p /home/mrover/catkin_ws/src/mrover
 WORKDIR /home/mrover/catkin_ws/src/mrover
-# ROS package manager (rosdep) reads this file to install dependencies
 ADD ./package.xml .
-# Python package manager (pip) reads this file to install dependencies
-ADD ./requirements.txt .
-# Install ROS packages
-RUN rosdep update && rosdep install --from-paths . --ignore-src -y --rosdistro=noetic
+ADD ./pyproject.toml .
+ADD ./ansible ./ansible
+ADD ./ansible.sh .
+RUN ./ansible.sh build.yml
 
 USER root
 # Remove apt cache to free up space in the image
 RUN apt-get clean && rm -rf /var/lib/apt/lists/*
-# Install Python packags, sudo so it is a global install
-RUN pip3 install -r ./requirements.txt
 
 USER mrover
 ENTRYPOINT [ "/bin/zsh" ]
diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml
index 2c7444fd7..2565fc41e 100644
--- a/ansible/roles/build/tasks/main.yml
+++ b/ansible/roles/build/tasks/main.yml
@@ -1,8 +1,10 @@
+# Allows us to install Python versions newer than 3.8
 - name: Add Python PPA
   become: True
   apt_repository:
     repo: ppa:deadsnakes/ppa
 
+# Allows us to install G++11, so we can use an updated libstdc++ which provides more standard library features (C++20)
 - name: Add GCC PPA
   become: True
   apt_repository:
@@ -13,6 +15,7 @@
   apt_key:
     url: https://apt.llvm.org/llvm-snapshot.gpg.key
 
+# Allows us to install Clang 16 and other LLVM tools
 - name: Add LLVM APT List
   become: True
   apt_repository:
@@ -25,6 +28,7 @@
     url: https://apt.kitware.com/keys/kitware-archive-latest.asc
     keyring: /usr/share/keyrings/kitware-archive-keyring.gpg
 
+# Allows us to install CMake versions newer than 3.16
 - name: Add CMake APT List
   become: True
   apt_repository:
@@ -42,6 +46,13 @@
     repo: deb http://packages.ros.org/ros/ubuntu {{ ubuntu_release }} main
     filename: ros
 
+- name: Upgrade APT Packages
+  become: True
+  apt:
+    cache_valid_time: 604800
+    state: latest
+    upgrade: yes
+
 - name: Install APT Packages
   become: True
   apt:
@@ -53,12 +64,16 @@
       - neovim
       - sudo
       - cmake
+      # Caches intermediate build files, speeds up compilation over time
       - ccache
+      # Faster than make
       - ninja-build
       - tmux
       - zstd
       - htop
       - curl
+      - unzip
+      - rsync
       - python3-pip
       - python3-rosdep
       - python3-catkin-tools
@@ -77,6 +92,7 @@
   become: True
   command: rosdep init
   args:
+    # This command will be skipped if this file already exists
     creates: /etc/ros/rosdep/sources.list.d/20-default.list
 
 - name: Update rosdep
@@ -133,3 +149,11 @@
     path: /usr/bin/clang-16
     link: /usr/bin/clang
     priority: 160
+
+- name: Setup Python Virtual Environment
+  pip:
+    name:
+      # Installs from pyproject.toml
+      - "{{ catkin_workspace }}/src/mrover[dev]"
+    virtualenv: "{{ catkin_workspace }}/src/mrover/venv"
+    virtualenv_command: python3.10 -m venv
diff --git a/pyproject.toml b/pyproject.toml
index 138b596b7..abc2757c3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -9,23 +9,23 @@ maintainers = [
     { name = "Michigan Mars Rover Team" }
 ]
 dependencies = [
-    "django",
-    "empy",
-    "numpy",
-    "pandas",
-    "shapely",
-    "pyserial",
-    "moteus",
-    "pymap3d",
-    "aenum",
-    "pyyaml",
-    "rospkg",
+    "Django==4.2.5",
+    "empy==3.3.4",
+    "numpy==1.26.0",
+    "pandas==2.1.0",
+    "shapely==2.0.1",
+    "pyserial==3.5",
+    "moteus==0.3.59",
+    "pymap3d==3.0.1",
+    "aenum==3.1.15",
+    "PyYAML==6.0.1",
+    "rospkg==1.5.0",
 ]
 
 [project.optional-dependencies]
 dev = [
-    "black",
-    "mypy",
+    "black==23.9.1",
+    "mypy==1.5.1",
 ]
 
 [project.urls]
diff --git a/src/esw/__init__.py b/src/esw/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/esw/brushless.py b/src/esw/brushless.py
index 59b9b73ff..0cd9f40bc 100755
--- a/src/esw/brushless.py
+++ b/src/esw/brushless.py
@@ -125,12 +125,10 @@ def is_mode_indicating_error(mode: int) -> bool:
 
 
 class MoteusBridge:
-
     MOTEUS_RESPONSE_TIME_INDICATING_DISCONNECTED_S = 0.01
     ROVER_NODE_TO_MOTEUS_WATCHDOG_TIMEOUT_S = 0.1
 
     def __init__(self, can_id: int, transport, gear_ratio: int):
-
         self._can_id = can_id
         self.controller = moteus.Controller(id=can_id, transport=transport)
         self.command_lock = threading.Lock()
@@ -369,7 +367,6 @@ async def send_command(self) -> None:
 
         for bridge in self._motor_bridges.values():
             if lost_communication_now:
-
                 # If we only just lost communications this iteration.
                 if not self._lost_communication:
                     rospy.loginfo(
diff --git a/src/esw/cameras.py b/src/esw/cameras.py
index 3d7c20438..9ff860c5a 100755
--- a/src/esw/cameras.py
+++ b/src/esw/cameras.py
@@ -169,7 +169,6 @@ def __del__(self) -> None:
 
 
 class StreamManager:
-
     MAX_STREAMS: int = rospy.get_param("cameras/max_streams")
     """
     The maximum number of streams that can be simultaneously sustained.
@@ -316,7 +315,6 @@ def handle_req(self, req: ChangeCamerasRequest) -> ChangeCamerasResponse:
             # If a stream is being requested...
             # (resolution == -1 means a request to cancel stream)
             if req.camera_cmd.resolution >= 0:
-
                 # If we cannot handle any more streams, return False.
                 available_port_arr = [True, True, True, True]
                 for i, stream in enumerate(self._stream_by_device):
@@ -414,7 +412,6 @@ def send(
 
     # Transmit loop
     while True:
-
         ret, frame = cap_send.read()
         if not ret:
             rospy.logerr("Empty frame")
diff --git a/src/esw/imu_driver.py b/src/esw/imu_driver.py
index 798f8c92a..22ea8b084 100755
--- a/src/esw/imu_driver.py
+++ b/src/esw/imu_driver.py
@@ -91,7 +91,6 @@ def main():
     attempts = 0
 
     while not rospy.is_shutdown():
-
         # try to read a line from the serial connection,
         # if this fails 100 times in a row then end the program
         try:
diff --git a/src/esw/science.py b/src/esw/science.py
index 71ed6cdbe..a77cdf69b 100755
--- a/src/esw/science.py
+++ b/src/esw/science.py
@@ -90,7 +90,6 @@ class ScienceBridge:
     _last_mcu_active: Bool
 
     def __init__(self) -> None:
-
         self._active_publisher = rospy.Publisher("science_mcu_active", Bool, queue_size=1)
 
         self._mcu_active_timeout_s = rospy.get_param("science/info/mcu_active_timeout_s")
diff --git a/src/navigation/gate.py b/src/navigation/gate.py
index 3635b7faa..3638e8004 100644
--- a/src/navigation/gate.py
+++ b/src/navigation/gate.py
@@ -216,7 +216,6 @@ class GateTraverseStateTransitions(Enum):
 
 
 class GateTraverseState(BaseState):
-
     STOP_THRESH = get_rosparam("gate/stop_thresh", 0.2)
     DRIVE_FWD_THRESH = get_rosparam("gate/drive_fwd_thresh", 0.34)  # 20 degrees
     APPROACH_DISTANCE = get_rosparam("gate/approach_distance", 2.0)
diff --git a/src/navigation/partial_gate.py b/src/navigation/partial_gate.py
index e76f2e44d..88e1df022 100644
--- a/src/navigation/partial_gate.py
+++ b/src/navigation/partial_gate.py
@@ -64,7 +64,6 @@ class PartialGateStateTransitions(Enum):
 
 
 class PartialGateState(BaseState):
-
     traj: Optional[PartialGateTrajectory] = None
 
     def __init__(
diff --git a/src/navigation/state.py b/src/navigation/state.py
index 23c1e8926..c35295f33 100644
--- a/src/navigation/state.py
+++ b/src/navigation/state.py
@@ -1,5 +1,5 @@
 from abc import ABC
-from typing import List
+from typing import List, Optional
 
 import smach
 from context import Context
@@ -19,9 +19,9 @@ def __init__(
         self,
         context: Context,
         own_transitions: List[str],
-        add_outcomes: List[str] = None,
-        add_input_keys: List[str] = None,
-        add_output_keys: List[str] = None,
+        add_outcomes: Optional[List[str]] = None,
+        add_input_keys: Optional[List[str]] = None,
+        add_output_keys: Optional[List[str]] = None,
     ):
         add_outcomes = add_outcomes or []
         add_input_keys = add_input_keys or []
@@ -72,7 +72,7 @@ def reset(self):
 
     def evaluate(self, ud: smach.UserData) -> str:
         """Override me instead of execute!"""
-        pass
+        raise NotImplementedError
 
 
 class DoneStateTransitions(Enum):
diff --git a/src/navigation/waypoint.py b/src/navigation/waypoint.py
index d86cc8029..98e6a5aac 100644
--- a/src/navigation/waypoint.py
+++ b/src/navigation/waypoint.py
@@ -1,11 +1,10 @@
-from typing import List
-
-import numpy as np
-import rospy
+from typing import List, Optional
 
 import tf2_ros
-from context import Context, Environment
+
+import numpy as np
 from aenum import Enum, NoAlias
+from context import Context
 from state import BaseState
 from util.ros_utils import get_rosparam
 
@@ -31,9 +30,9 @@ class WaypointState(BaseState):
     def __init__(
         self,
         context: Context,
-        add_outcomes: List[str] = None,
-        add_input_keys: List[str] = None,
-        add_output_keys: List[str] = None,
+        add_outcomes: Optional[List[str]] = None,
+        add_input_keys: Optional[List[str]] = None,
+        add_output_keys: Optional[List[str]] = None,
     ):
         add_outcomes = add_outcomes or []
         add_input_keys = add_input_keys or []
diff --git a/src/teleop/jetson/arm_trajectory_server.py b/src/teleop/jetson/arm_trajectory_server.py
index d91dcdce2..94a213ad8 100755
--- a/src/teleop/jetson/arm_trajectory_server.py
+++ b/src/teleop/jetson/arm_trajectory_server.py
@@ -74,17 +74,14 @@ def error_threshold_exceeded(feedback: FollowJointTrajectoryFeedback) -> str:
 
 
 class MoveItAction(object):
-
     # Rearranges the point path following the name convention joint_0, ... joint_6
     def rearrange(self, joint_trajectory: JointTrajectory) -> None:
-
         mapping = [joint_trajectory.joint_names.index(j) for j in conf_joint_names]
 
         # Return early if already arranged properly
         if mapping == sorted(mapping):
             return
         for point in joint_trajectory.points:
-
             temp_positions: List[float] = []
             temp_velocities: List[float] = []
             temp_accelerations: List[float] = []
@@ -121,7 +118,6 @@ def __init__(self, name: str) -> None:
 
     # Action callback
     def execute_cb(self, goal: FollowJointTrajectoryGoal) -> None:
-
         rospy.loginfo("Executing FollowJointTrajectory Action")
         # It is required to rearrange the arrays because MoveIt doesn't guarantee order preservation
         self.rearrange(goal.trajectory)
diff --git a/style.sh b/style.sh
index 0ca03c21b..2afe1daf3 100755
--- a/style.sh
+++ b/style.sh
@@ -3,58 +3,67 @@
 # See: https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/
 set -Eeuo pipefail
 
-RED='\033[0;31m'
-NC='\033[0m'
+readonly RED='\033[0;31m'
+readonly NC='\033[0m'
+
+print_update_error() {
+  echo -e "${RED}[Error] Please update with ./ansible.sh build.yml${NC}"
+  exit 1
+}
 
 ## Check that all tools are installed
 
-clang_format_executable=clang-format-16
-clang_format_executable_path=$(which "$clang_format_executable")
+readonly clang_format_executable=clang-format-16
+readonly clang_format_executable_path=$(which "$clang_format_executable")
 if [ ! -x "$clang_format_executable_path" ]; then
-  echo -e "${RED}[Error] Please install clang-format with: sudo apt install ${clang_format_executable}${NC}"
-  exit 1
+  echo -e "${RED}[Error] Could not find clang-format-16${NC}"
+  print_update_error
 fi
 
 
-black_executable=black
-black_executable_path=$(which "$black_executable")
+readonly black_executable=black
+readonly black_executable_path=$(which "$black_executable")
 if [ ! -x "$black_executable_path" ]; then
-  echo -e "${RED}[Error] Please run pip3 install -r requirements.txt${NC}"
-  exit 1
+  echo -e "${RED}[Error] Could not find black${NC}"
+  print_update_error
 fi
 
 # Style check Python with black
-if ! black --version | grep -q 'black, 22.8.0'; then
+if ! black --version | grep -q 'black, 23.9.1'; then
   echo -e "${RED}[Error] Wrong black version${NC}"
-  exit 1
+  print_update_error
 fi
 
 
-mypy_executable=mypy
-mypy_executable_path=$(which "$mypy_executable")
+readonly mypy_executable=mypy
+readonly mypy_executable_path=$(which "$mypy_executable")
 if [ ! -x "$mypy_executable_path" ]; then
-  echo -e "${RED}[Error] Please run pip3 install -r requirements.txt${NC}"
-  exit 1
+  echo -e "${RED}[Error] Could not find mypy${NC}"
+  print_update_error
 fi
 
-if ! mypy --version | grep -q 'mypy 0.971'; then
+if ! mypy --version | grep -q 'mypy 1.5.1'; then
   echo -e "${RED}[Error] Wrong mypy version${NC}"
-  exit 1
+  print_update_error
 fi
 
 ## Run checks
 
-# Fail immediately if any command below fails
-set -Eeo pipefail
-
 echo "Style checking C++ ..."
-find ./src -regex '.*\.\(cpp\|hpp\|h\)' -exec "$clang_format_executable_path" --dry-run -style=file -i {} \;
+readonly FOLDERS=(
+  ./src/perception
+  ./src/gazebo
+  ./src/util
+)
+for folder in "${FOLDERS[@]}"; do
+  find "$folder" -regex '.*\.\(cpp\|hpp\|h\)' -exec "$clang_format_executable_path" --dry-run -style=file -i {} \;
+done
 echo "Done"
 
+echo
 echo "Style checking Python with black ..."
-"$black_executable_path" --check --diff --line-length=120 ./src ./scripts
-echo "Done"
+"$black_executable_path" --line-length=120 ./src ./scripts
 
+echo
 echo "Style checking Python with mypy ..."
 "$mypy_executable_path" --config-file mypy.ini --check ./src ./scripts
-echo "Done"