diff --git a/.gitmodules b/.gitmodules
index bb1d85d..6bd6757 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
-[submodule "external/sam2"]
-	path = external/sam2
+[submodule "open_phantom/external/sam2"]
+	path = open_phantom/external/sam2
 	url = https://github.com/facebookresearch/sam2.git
-[submodule "external/ml-depth-pro"]
-	path = external/ml-depth-pro
+[submodule "open_phantom/external/ml-depth-pro"]
+	path = open_phantom/external/ml-depth-pro
 	url = https://github.com/apple/ml-depth-pro.git
diff --git a/environment.yml b/environment.yml
index dbb59c3..c44cf9c 100644
--- a/environment.yml
+++ b/environment.yml
@@ -1,5 +1,6 @@
-name: luckyrobots
+name: open_phantom
 channels:
+  - pytorch
   - conda-forge
   - defaults
 dependencies:
@@ -12,7 +13,8 @@ dependencies:
   - ansi2html=1.9.1=py310h06a4308_0
   - assimp=5.4.3=h8943939_0
   - async-timeout=5.0.1=py310h06a4308_0
-  - blas=1.0=openblas
+  - blas=1.0=mkl
+  - blas-devel=3.9.0=12_linux64_mkl
   - blinker=1.9.0=py310h06a4308_0
   - blosc=1.21.6=he440d0b_1
   - brotli-python=1.0.9=py310h6a678d5_9
@@ -22,13 +24,24 @@ dependencies:
   - ca-certificates=2025.2.25=h06a4308_0
   - cairo=1.18.4=h3394656_0
   - certifi=2025.1.31=py310h06a4308_0
+  - charset-normalizer=3.3.2=pyhd3eb1b0_0
   - click=8.1.7=py310h06a4308_0
+  - cuda-cudart=12.4.127=h99ab3db_0
+  - cuda-cudart_linux-64=12.4.127=hd681fbe_0
+  - cuda-cupti=12.4.127=h6a678d5_1
+  - cuda-libraries=12.4.1=h06a4308_1
+  - cuda-nvrtc=12.4.127=h99ab3db_1
+  - cuda-nvtx=12.4.127=h6a678d5_1
+  - cuda-opencl=12.4.127=h6a678d5_0
+  - cuda-runtime=12.4.1=hb982923_0
+  - cuda-version=12.4=hbda6634_3
   - 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
+  - filelock=3.13.1=py310h06a4308_0
   - flask=3.0.3=py310h06a4308_0
   - flask-compress=1.13=py310h06a4308_0
   - fmt=11.0.2=h434a139_0
@@ -46,12 +59,16 @@ dependencies:
   - glfw=3.4=hd590300_0
   - glib=2.82.2=h07242d1_1
   - glib-tools=2.82.2=h4833e2c_1
+  - gmp=6.3.0=h6a678d5_0
+  - gmpy2=2.2.1=py310h5eee18b_0
   - 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
+  - hdf5=1.14.3=nompi_h2d575fe_109
   - icu=75.1=he02047a_0
+  - idna=3.7=py310h06a4308_0
   - importlib-metadata=8.5.0=py310h06a4308_0
+  - intel-openmp=2021.4.0=h06a4308_3561
   - itsdangerous=2.2.0=py310h06a4308_0
   - jinja2=3.1.6=py310h06a4308_0
   - jsoncpp=1.9.6=hf42df4d_1
@@ -59,13 +76,19 @@ dependencies:
   - 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
+  - libblas=3.9.0=12_linux64_mkl
   - libboost=1.86.0=h6c02f8c_3
-  - libcblas=3.9.0=16_linux64_openblas
+  - libcblas=3.9.0=12_linux64_mkl
   - libclang-cpp19.1=19.1.7=default_hb5137d0_2
   - libclang13=20.1.1=default_h9c6a7e4_0
+  - libcublas=12.4.5.8=h99ab3db_1
+  - libcufft=11.2.1.3=h99ab3db_1
+  - libcufile=1.9.1.3=h99ab3db_1
   - libcups=2.3.3=h4637d8d_4
+  - libcurand=10.3.5.147=h99ab3db_1
   - libcurl=8.12.1=h332b0f4_0
+  - libcusolver=11.6.1.9=h99ab3db_1
+  - libcusparse=12.3.1.170=h99ab3db_1
   - libdeflate=1.23=h4ddbbb0_0
   - libdrm=2.4.124=hb9d3cd8_0
   - libedit=3.1.20230828=h5eee18b_0
@@ -75,7 +98,7 @@ dependencies:
   - 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
+  - libgfortran=14.2.0=h69a702a_2
   - libgfortran5=14.2.0=hf1ad2bd_2
   - libgl=1.7.0=ha4b6fd6_2
   - libglib=2.82.2=h2ff4ddf_1
@@ -85,18 +108,22 @@ dependencies:
   - 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
+  - liblapack=3.9.0=12_linux64_mkl
+  - liblapacke=3.9.0=12_linux64_mkl
   - 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
+  - libnpp=12.2.5.30=h99ab3db_1
   - libnsl=2.0.1=hd590300_0
   - libntlm=1.6=h7f8727e_0
+  - libnvfatbin=12.4.127=h7934f7d_2
+  - libnvjitlink=12.4.127=h99ab3db_1
+  - libnvjpeg=12.3.1.117=h6a678d5_1
   - libogg=1.3.5=h27cfd23_1
-  - libopenblas=0.3.21=h043d6bf_0
+  - libopenblas=0.3.29=pthreads_h94d23a6_0
   - libpciaccess=0.18=hd590300_0
   - libpng=1.6.47=h943b412_0
   - libpq=17.4=h27ae623_0
@@ -116,19 +143,30 @@ dependencies:
   - libxml2=2.13.6=h8d12d68_0
   - libzip=1.11.2=h6991a6a_0
   - libzlib=1.3.1=hb9d3cd8_2
+  - llvm-openmp=15.0.7=h0cdce71_0
   - loguru=0.7.2=py310h06a4308_1
   - lz4-c=1.10.0=h5888daf_1
   - markupsafe=3.0.2=py310h5eee18b_0
+  - mkl=2021.4.0=h06a4308_640
+  - mkl-devel=2021.4.0=h66538d2_640
+  - mkl-include=2021.4.0=h06a4308_640
+  - mkl-service=2.4.0=py310h7f8727e_0
+  - mkl_fft=1.3.1=py310hd6ae3a3_0
+  - mkl_random=1.2.2=py310h00e6091_0
+  - mpc=1.3.1=h5eee18b_0
+  - mpfr=4.2.1=h5eee18b_0
+  - mpmath=1.3.0=py310h06a4308_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
+  - networkx=3.4.2=py310h06a4308_0
   - nlohmann_json=3.11.2=h6a678d5_0
-  - numpy=1.26.4=py310heeff2f4_0
-  - numpy-base=1.26.4=py310h8a23956_0
+  - ocl-icd=2.3.2=h5eee18b_1
   - open3d=0.19.0=py310h13a0a68_1
+  - openblas=0.3.29=pthreads_h6ec200e_0
   - openldap=2.6.9=he970967_0
   - openssl=3.4.1=h7b32b05_0
   - packaging=24.2=py310h06a4308_0
@@ -143,7 +181,10 @@ dependencies:
   - pybullet=3.25=py310h89e8f5a_3
   - pysocks=1.7.1=py310h06a4308_0
   - python=3.10.13=hd12c33a_1_cpython
-  - python_abi=3.10=2_cp310
+  - python_abi=3.10=5_cp310
+  - pytorch-cuda=12.4=hc786d27_7
+  - pytorch-mutex=1.0=cuda
+  - pyyaml=6.0.2=py310h5eee18b_0
   - qhull=2020.2=hdb19cb5_2
   - qt6-main=6.8.2=h588cce1_0
   - readline=8.2=h5eee18b_0
@@ -191,6 +232,7 @@ dependencies:
   - xorg-libxtst=1.2.5=hb9d3cd8_3
   - xorg-libxxf86vm=1.1.6=hb9d3cd8_0
   - xz=5.6.4=h5eee18b_1
+  - yaml=0.2.5=h7b6447c_0
   - yarl=1.18.0=py310h5eee18b_0
   - zeromq=4.3.5=h6a678d5_0
   - zipp=3.21.0=py310h06a4308_0
@@ -201,28 +243,22 @@ dependencies:
       - 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
+      - depth-pro==0.1
       - 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
+      - iopath==0.1.10
       - 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
+      - numpy==1.26.4
       - nvidia-cublas-cu12==12.4.5.8
       - nvidia-cuda-cupti-cu12==12.4.127
       - nvidia-cuda-nvrtc-cu12==12.4.127
@@ -240,14 +276,14 @@ dependencies:
       - 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
+      - pillow-heif==0.22.0
+      - portalocker==3.1.1
       - 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
+      - sam-2==1.0
       - scipy==1.15.2
       - sentencepiece==0.2.0
       - six==1.17.0
@@ -258,5 +294,4 @@ dependencies:
       - torchvision==0.21.0
       - tqdm==4.67.1
       - triton==3.2.0
-      - virtualenv==20.29.3
-prefix: /home/eejmeister/anaconda3/envs/luckyrobots
+prefix: /home/eejmeister/anaconda3/envs/open_phantom
diff --git a/open_phantom/external/ml-depth-pro b/open_phantom/external/ml-depth-pro
new file mode 160000
index 0000000..03bd011
--- /dev/null
+++ b/open_phantom/external/ml-depth-pro
@@ -0,0 +1 @@
+Subproject commit 03bd011760ef0b980262f4c2c8520e3a2e2979de
diff --git a/open_phantom/external/sam2 b/open_phantom/external/sam2
new file mode 160000
index 0000000..2b90b9f
--- /dev/null
+++ b/open_phantom/external/sam2
@@ -0,0 +1 @@
+Subproject commit 2b90b9f5ceec907a1c18123530e92e794ad901a4