diff --git a/.gitignore b/.gitignore
index e57a199..0bac95b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,7 @@
 
 **.vscode**
 
-repomix-output.xml
\ No newline at end of file
+**recordings**
+
+repomix-output.xml
+
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index efe0f24..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "sam2"]
-	path = sam2
-	url = https://github.com/facebookresearch/sam2.git
diff --git a/environment.yml b/environment.yml
new file mode 100644
index 0000000..dbb59c3
--- /dev/null
+++ b/environment.yml
@@ -0,0 +1,262 @@
+name: luckyrobots
+channels:
+  - conda-forge
+  - defaults
+dependencies:
+  - _libgcc_mutex=0.1=main
+  - _openmp_mutex=5.1=1_gnu
+  - aiohappyeyeballs=2.4.4=py310h06a4308_0
+  - aiohttp=3.11.10=py310h5eee18b_0
+  - aiosignal=1.2.0=pyhd3eb1b0_0
+  - alsa-lib=1.2.13=hb9d3cd8_0
+  - ansi2html=1.9.1=py310h06a4308_0
+  - assimp=5.4.3=h8943939_0
+  - async-timeout=5.0.1=py310h06a4308_0
+  - blas=1.0=openblas
+  - blinker=1.9.0=py310h06a4308_0
+  - blosc=1.21.6=he440d0b_1
+  - brotli-python=1.0.9=py310h6a678d5_9
+  - bullet-cpp=3.25=h89e8f5a_3
+  - bzip2=1.0.8=h5eee18b_6
+  - c-ares=1.34.4=hb9d3cd8_0
+  - ca-certificates=2025.2.25=h06a4308_0
+  - cairo=1.18.4=h3394656_0
+  - certifi=2025.1.31=py310h06a4308_0
+  - click=8.1.7=py310h06a4308_0
+  - cyrus-sasl=2.1.27=h54b06d7_7
+  - dash=2.14.2=py310h06a4308_0
+  - dbus=1.13.18=hb2f20db_0
+  - double-conversion=3.3.1=h5888daf_0
+  - embree=4.3.3=h3173236_0
+  - expat=2.6.4=h6a678d5_0
+  - flask=3.0.3=py310h06a4308_0
+  - flask-compress=1.13=py310h06a4308_0
+  - fmt=11.0.2=h434a139_0
+  - font-ttf-dejavu-sans-mono=2.37=hd3eb1b0_0
+  - font-ttf-inconsolata=2.001=hcb22688_0
+  - font-ttf-source-code-pro=2.030=hd3eb1b0_0
+  - font-ttf-ubuntu=0.83=h8b1ccd4_0
+  - fontconfig=2.15.0=h7e30c49_1
+  - fonts-anaconda=1=h8fa9717_0
+  - fonts-conda-ecosystem=1=hd3eb1b0_0
+  - freetype=2.13.3=h48d6fc4_0
+  - frozenlist=1.5.0=py310h5eee18b_0
+  - gl2ps=1.4.2=hae5d5c5_1
+  - glew=2.1.0=h295c915_3
+  - glfw=3.4=hd590300_0
+  - glib=2.82.2=h07242d1_1
+  - glib-tools=2.82.2=h4833e2c_1
+  - graphite2=1.3.14=h295c915_1
+  - harfbuzz=10.4.0=h76408a6_0
+  - hdf4=4.2.15=h2a13503_7
+  - hdf5=1.14.3=nompi_hdf9ad27_105
+  - icu=75.1=he02047a_0
+  - importlib-metadata=8.5.0=py310h06a4308_0
+  - itsdangerous=2.2.0=py310h06a4308_0
+  - jinja2=3.1.6=py310h06a4308_0
+  - jsoncpp=1.9.6=hf42df4d_1
+  - krb5=1.21.3=h143b758_0
+  - ld_impl_linux-64=2.40=h12ee557_0
+  - lerc=4.0.0=h6a678d5_0
+  - libaec=1.1.3=h6a678d5_0
+  - libblas=3.9.0=16_linux64_openblas
+  - libboost=1.86.0=h6c02f8c_3
+  - libcblas=3.9.0=16_linux64_openblas
+  - libclang-cpp19.1=19.1.7=default_hb5137d0_2
+  - libclang13=20.1.1=default_h9c6a7e4_0
+  - libcups=2.3.3=h4637d8d_4
+  - libcurl=8.12.1=h332b0f4_0
+  - libdeflate=1.23=h4ddbbb0_0
+  - libdrm=2.4.124=hb9d3cd8_0
+  - libedit=3.1.20230828=h5eee18b_0
+  - libegl=1.7.0=ha4b6fd6_2
+  - libev=4.33=h7f8727e_1
+  - libexpat=2.6.4=h5888daf_0
+  - libffi=3.4.4=h6a678d5_1
+  - libgcc=14.2.0=h767d61c_2
+  - libgcc-ng=14.2.0=h69a702a_2
+  - libgfortran-ng=8.2.0=hdf63c60_1
+  - libgfortran5=14.2.0=hf1ad2bd_2
+  - libgl=1.7.0=ha4b6fd6_2
+  - libglib=2.82.2=h2ff4ddf_1
+  - libglu=9.0.0=hf484d3e_1
+  - libglvnd=1.7.0=ha4b6fd6_2
+  - libglx=1.7.0=ha4b6fd6_2
+  - libgomp=14.2.0=h767d61c_2
+  - libiconv=1.18=h4ce23a2_1
+  - libjpeg-turbo=3.0.3=h5eee18b_0
+  - liblapack=3.9.0=16_linux64_openblas
+  - liblapacke=3.9.0=16_linux64_openblas
+  - libllvm19=19.1.7=ha7bfdaf_1
+  - libllvm20=20.1.1=ha7bfdaf_0
+  - liblzf=3.6=hb9d3cd8_3
+  - liblzma=5.6.4=hb9d3cd8_0
+  - libnetcdf=4.9.2=nompi_h00e09a9_116
+  - libnghttp2=1.64.0=h161d5f1_0
+  - libnsl=2.0.1=hd590300_0
+  - libntlm=1.6=h7f8727e_0
+  - libogg=1.3.5=h27cfd23_1
+  - libopenblas=0.3.21=h043d6bf_0
+  - libpciaccess=0.18=hd590300_0
+  - libpng=1.6.47=h943b412_0
+  - libpq=17.4=h27ae623_0
+  - libsodium=1.0.18=h7b6447c_0
+  - libsqlite=3.49.1=hee588c1_2
+  - libssh2=1.11.1=hf672d98_0
+  - libstdcxx=14.2.0=h8f9b012_2
+  - libstdcxx-ng=14.2.0=h4852527_2
+  - libtheora=1.1.1=h7f8727e_3
+  - libtiff=4.7.0=hd9ff511_3
+  - libuuid=2.38.1=h0b41bf4_0
+  - libvorbis=1.3.7=h7b6447c_0
+  - libwebp-base=1.5.0=h851e524_0
+  - libxcb=1.17.0=h8a09558_0
+  - libxcrypt=4.4.36=hd590300_1
+  - libxkbcommon=1.8.1=hc4a0caf_0
+  - libxml2=2.13.6=h8d12d68_0
+  - libzip=1.11.2=h6991a6a_0
+  - libzlib=1.3.1=hb9d3cd8_2
+  - loguru=0.7.2=py310h06a4308_1
+  - lz4-c=1.10.0=h5888daf_1
+  - markupsafe=3.0.2=py310h5eee18b_0
+  - msgpack-python=1.0.3=py310hd09550d_0
+  - multidict=6.1.0=py310h5eee18b_0
+  - mysql-common=9.0.1=h266115a_5
+  - mysql-libs=9.0.1=he0572af_5
+  - ncurses=6.4=h6a678d5_0
+  - nest-asyncio=1.6.0=py310h06a4308_0
+  - nlohmann_json=3.11.2=h6a678d5_0
+  - numpy=1.26.4=py310heeff2f4_0
+  - numpy-base=1.26.4=py310h8a23956_0
+  - open3d=0.19.0=py310h13a0a68_1
+  - openldap=2.6.9=he970967_0
+  - openssl=3.4.1=h7b32b05_0
+  - packaging=24.2=py310h06a4308_0
+  - pcre2=10.44=hba22ea6_2
+  - pip=25.0=py310h06a4308_0
+  - pixman=0.44.2=h29eaf8c_0
+  - plotly=5.24.1=py310h2f386ee_1
+  - proj=9.5.1=h0054346_0
+  - propcache=0.2.0=py310h5eee18b_0
+  - pthread-stubs=0.3=h0ce48e5_1
+  - pugixml=1.15=h3f63f65_0
+  - pybullet=3.25=py310h89e8f5a_3
+  - pysocks=1.7.1=py310h06a4308_0
+  - python=3.10.13=hd12c33a_1_cpython
+  - python_abi=3.10=2_cp310
+  - qhull=2020.2=hdb19cb5_2
+  - qt6-main=6.8.2=h588cce1_0
+  - readline=8.2=h5eee18b_0
+  - requests=2.32.3=py310h06a4308_1
+  - retrying=1.3.3=pyhd3eb1b0_2
+  - setuptools=75.8.0=py310h06a4308_0
+  - snappy=1.2.1=h6a678d5_0
+  - sqlite=3.31.1=h7b6447c_0
+  - tbb=2022.0.0=hdb19cb5_0
+  - tenacity=9.0.0=py310h06a4308_0
+  - tinyobjloader=1.0.7=h59595ed_2
+  - tk=8.6.13=noxft_h4845f30_101
+  - typing-extensions=4.12.2=py310h06a4308_0
+  - typing_extensions=4.12.2=py310h06a4308_0
+  - tzdata=2025a=h04d1e81_0
+  - urllib3=2.3.0=py310h06a4308_0
+  - utfcpp=3.2.1=h06a4308_0
+  - vtk-base=9.3.1=qt_py310h2d2d55e_216
+  - wayland=1.23.1=h3e06ad9_0
+  - werkzeug=3.0.6=py310h06a4308_0
+  - wheel=0.45.1=py310h06a4308_0
+  - wslink=2.3.2=pyhd8ed1ab_0
+  - xcb-util=0.4.1=hb711507_2
+  - xcb-util-cursor=0.1.5=hb9d3cd8_0
+  - xcb-util-image=0.4.0=hb711507_2
+  - xcb-util-keysyms=0.4.1=hb711507_0
+  - xcb-util-renderutil=0.3.10=hb711507_0
+  - xcb-util-wm=0.4.2=hb711507_0
+  - xkeyboard-config=2.43=hb9d3cd8_0
+  - xorg-libice=1.1.2=hb9d3cd8_0
+  - xorg-libsm=1.2.6=he73a12e_0
+  - xorg-libx11=1.8.12=h4f16b4b_0
+  - xorg-libxau=1.0.12=hb9d3cd8_0
+  - xorg-libxcomposite=0.4.6=hb9d3cd8_2
+  - xorg-libxcursor=1.2.3=hb9d3cd8_0
+  - xorg-libxdamage=1.1.6=hb9d3cd8_0
+  - xorg-libxdmcp=1.1.5=hb9d3cd8_0
+  - xorg-libxext=1.3.6=hb9d3cd8_0
+  - xorg-libxfixes=6.0.1=hb9d3cd8_0
+  - xorg-libxi=1.8.2=hb9d3cd8_0
+  - xorg-libxinerama=1.1.5=h5888daf_1
+  - xorg-libxrandr=1.5.4=hb9d3cd8_0
+  - xorg-libxrender=0.9.12=hb9d3cd8_0
+  - xorg-libxt=1.3.1=hb9d3cd8_0
+  - xorg-libxtst=1.2.5=hb9d3cd8_3
+  - xorg-libxxf86vm=1.1.6=hb9d3cd8_0
+  - xz=5.6.4=h5eee18b_1
+  - yarl=1.18.0=py310h5eee18b_0
+  - zeromq=4.3.5=h6a678d5_0
+  - zipp=3.21.0=py310h06a4308_0
+  - zlib=1.3.1=hb9d3cd8_2
+  - zstd=1.5.7=hb8e6e7a_2
+  - pip:
+      - absl-py==2.2.0
+      - antlr4-python3-runtime==4.9.3
+      - attrs==25.3.0
+      - cffi==1.17.1
+      - cfgv==3.4.0
+      - charset-normalizer==3.4.1
+      - contourpy==1.3.1
+      - cycler==0.12.1
+      - distlib==0.3.9
+      - filelock==3.18.0
+      - flatbuffers==25.2.10
+      - fonttools==4.56.0
+      - fsspec==2025.3.0
+      - huggingface-hub==0.29.3
+      - hydra-core==1.3.2
+      - identify==2.6.9
+      - idna==3.10
+      - jax==0.5.3
+      - jaxlib==0.5.3
+      - kiwisolver==1.4.8
+      - matplotlib==3.10.1
+      - mediapipe==0.10.21
+      - ml-dtypes==0.5.1
+      - mpmath==1.3.0
+      - networkx==3.4.2
+      - nodeenv==1.9.1
+      - nvidia-cublas-cu12==12.4.5.8
+      - nvidia-cuda-cupti-cu12==12.4.127
+      - nvidia-cuda-nvrtc-cu12==12.4.127
+      - nvidia-cuda-runtime-cu12==12.4.127
+      - nvidia-cudnn-cu12==9.1.0.70
+      - nvidia-cufft-cu12==11.2.1.3
+      - nvidia-curand-cu12==10.3.5.147
+      - nvidia-cusolver-cu12==11.6.1.9
+      - nvidia-cusparse-cu12==12.3.1.170
+      - nvidia-cusparselt-cu12==0.6.2
+      - nvidia-nccl-cu12==2.21.5
+      - nvidia-nvjitlink-cu12==12.4.127
+      - nvidia-nvtx-cu12==12.4.127
+      - omegaconf==2.3.0
+      - opencv-contrib-python==4.11.0.86
+      - opt-einsum==3.4.0
+      - pillow==11.1.0
+      - platformdirs==4.3.7
+      - pre-commit==4.2.0
+      - protobuf==4.25.6
+      - pycparser==2.22
+      - pyparsing==3.2.1
+      - python-dateutil==2.9.0.post0
+      - pyyaml==6.0.2
+      - safetensors==0.5.3
+      - scipy==1.15.2
+      - sentencepiece==0.2.0
+      - six==1.17.0
+      - sounddevice==0.5.1
+      - sympy==1.13.1
+      - timm==1.0.15
+      - torch==2.6.0
+      - torchvision==0.21.0
+      - tqdm==4.67.1
+      - triton==3.2.0
+      - virtualenv==20.29.3
+prefix: /home/eejmeister/anaconda3/envs/luckyrobots
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index eb76b57..0000000
--- a/requirements.txt
+++ /dev/null
@@ -1,90 +0,0 @@
-absl-py==2.2.0
-aiohappyeyeballs @ file:///croot/aiohappyeyeballs_1734469393482/work
-aiohttp @ file:///croot/aiohttp_1734687138658/work
-aiosignal @ file:///tmp/build/80754af9/aiosignal_1637843061372/work
-ansi2html @ file:///croot/ansi2html_1705049836845/work
-async-timeout @ file:///croot/async-timeout_1732661977001/work
-attrs @ file:///croot/attrs_1734533101012/work
-blinker @ file:///croot/blinker_1737448726027/work
-Brotli @ file:///croot/brotli-split_1736182456865/work
-certifi @ file:///croot/certifi_1738623731865/work/certifi
-cffi==1.17.1
-charset-normalizer @ file:///croot/charset-normalizer_1721748349566/work
-click @ file:///croot/click_1698129812380/work
-contourpy==1.3.1
-cycler==0.12.1
-dash @ file:///croot/dash_1701446519353/work
-filelock==3.18.0
-Flask @ file:///croot/flask_1716545870149/work
-Flask-Compress @ file:///croot/flask-compress_1668714942319/work
-flatbuffers==25.2.10
-fonttools==4.56.0
-frozenlist @ file:///croot/frozenlist_1730902802621/work
-fsspec==2025.3.0
-huggingface-hub==0.29.3
-idna==3.10
-importlib_metadata @ file:///croot/importlib_metadata-suite_1732633488278/work
-itsdangerous @ file:///croot/itsdangerous_1716533337253/work
-jax==0.5.3
-jaxlib==0.5.3
-Jinja2 @ file:///croot/jinja2_1741710844255/work
-kiwisolver==1.4.8
-loguru @ file:///croot/loguru_1729800300339/work
-MarkupSafe @ file:///croot/markupsafe_1738584038848/work
-matplotlib==3.10.1
-mediapipe==0.10.21
-ml_dtypes==0.5.1
-mpmath==1.3.0
-msgpack @ file:///opt/conda/conda-bld/msgpack-python_1652362659880/work
-multidict @ file:///croot/multidict_1730905498140/work
-nest-asyncio @ file:///croot/nest-asyncio_1708532673751/work
-networkx==3.4.2
-numpy @ file:///croot/numpy_and_numpy_base_1708638617955/work/dist/numpy-1.26.4-cp310-cp310-linux_x86_64.whl#sha256=ce136f308f566617937abac6c8f280bd61b41c12ab7eb7d8784c5795c5be477b
-nvidia-cublas-cu12==12.4.5.8
-nvidia-cuda-cupti-cu12==12.4.127
-nvidia-cuda-nvrtc-cu12==12.4.127
-nvidia-cuda-runtime-cu12==12.4.127
-nvidia-cudnn-cu12==9.1.0.70
-nvidia-cufft-cu12==11.2.1.3
-nvidia-curand-cu12==10.3.5.147
-nvidia-cusolver-cu12==11.6.1.9
-nvidia-cusparse-cu12==12.3.1.170
-nvidia-cusparselt-cu12==0.6.2
-nvidia-nccl-cu12==2.21.5
-nvidia-nvjitlink-cu12==12.4.127
-nvidia-nvtx-cu12==12.4.127
-open3d-cpu @ file:///home/conda/feedstock_root/build_artifacts/open3d_1737748982201/work/build/lib/python_package/pip_package/open3d_cpu-0.19.0%2Bd28f9fd-cp310-cp310-manylinux_2_17_x86_64.whl#sha256=66e5d794f148bc721110a1db5a0a243a73bf58eeb83dc2f8cf88e7760f2fafd6
-opencv-contrib-python==4.11.0.86
-opt_einsum==3.4.0
-packaging @ file:///croot/packaging_1734472117206/work
-pillow==11.1.0
-plotly @ file:///croot/plotly_1740385556434/work
-propcache @ file:///croot/propcache_1732303986938/work
-protobuf==4.25.6
-pybullet @ file:///home/conda/feedstock_root/build_artifacts/bullet_1725366740765/work
-pycparser==2.22
-pyparsing==3.2.1
-PySocks @ file:///home/builder/ci_310/pysocks_1640793678128/work
-python-dateutil==2.9.0.post0
-PyYAML==6.0.2
-requests @ file:///croot/requests_1730999120400/work
-retrying @ file:///Users/ktietz/demo/mc3/conda-bld/retrying_1629465456590/work
-safetensors==0.5.3
-scipy @ file:///croot/scipy_1737122901252/work/dist/scipy-1.15.1-cp310-cp310-linux_x86_64.whl#sha256=3a9bc1330ec4c8e1a3d5149a796c2a8a571e7b44f1336cfc344c247fed4c0eea
-sentencepiece==0.2.0
-six @ file:///tmp/build/80754af9/six_1644875935023/work
-sounddevice==0.5.1
-sympy==1.13.1
-tenacity @ file:///croot/tenacity_1730302500303/work
-timm==1.0.15
-torch==2.6.0
-torchvision==0.21.0
-tqdm==4.67.1
-triton==3.2.0
-typing_extensions @ file:///croot/typing_extensions_1734714854207/work
-urllib3 @ file:///croot/urllib3_1737133630106/work
-vtk==9.3.1
-Werkzeug @ file:///croot/werkzeug_1731005776056/work
-wslink @ file:///home/conda/feedstock_root/build_artifacts/wslink_1740199482166/work
-yarl @ file:///croot/yarl_1732546845924/work
-zipp @ file:///croot/zipp_1732630741423/work