diff --git a/.github/workflows/pull-request.yml b/.github/workflows/pull-request.yml
index 755ba2b..7e101f8 100644
--- a/.github/workflows/pull-request.yml
+++ b/.github/workflows/pull-request.yml
@@ -119,6 +119,7 @@ jobs:
         path:
           [
             aliveness,
+            annotato,
             behavior_simulator,
             camera_matrix_extractor,
             depp,
diff --git a/.gitignore b/.gitignore
index 326c9f7..2a9296a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,6 +22,7 @@ settings.json
 .dir-locals.el
 .envrc
 default.nix
+.direnv/
 
 target/
 
diff --git a/Cargo.lock b/Cargo.lock
index bde1f70..bffbbcc 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "ab_glyph"
-version = "0.2.21"
+version = "0.2.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5110f1c78cf582855d895ecd0746b653db010cec6d9f5575293f27934d980a39"
+checksum = "80179d7dd5d7e8c285d67c4a1e652972a92de7475beddfb92028c76463b13225"
 dependencies = [
  "ab_glyph_rasterizer",
  "owned_ttf_parser",
@@ -20,9 +20,9 @@ checksum = "c71b1793ee61086797f5c80b6efa2b8ffa6d5dd703f118545808a7f2e27f7046"
 
 [[package]]
 name = "accesskit"
-version = "0.11.2"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76eb1adf08c5bcaa8490b9851fd53cca27fa9880076f178ea9d29f05196728a8"
+checksum = "ca8410747ed85a17c4a1e9ed3f5a74d3e7bdcc876cf9a18ff40ae21d645997b2"
 dependencies = [
  "enumn",
  "serde",
@@ -30,18 +30,18 @@ dependencies = [
 
 [[package]]
 name = "accesskit_consumer"
-version = "0.15.2"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04bb4d9e4772fe0d47df57d0d5dbe5d85dd05e2f37ae1ddb6b105e76be58fb00"
+checksum = "8c17cca53c09fbd7288667b22a201274b9becaa27f0b91bf52a526db95de45e6"
 dependencies = [
  "accesskit",
 ]
 
 [[package]]
 name = "accesskit_macos"
-version = "0.9.0"
+version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "134d0acf6acb667c89d3332999b1a5df4edbc8d6113910f392ebb73f2b03bb56"
+checksum = "cd3b6ae1eabbfbced10e840fd3fce8a93ae84f174b3e4ba892ab7bcb42e477a7"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
@@ -51,38 +51,40 @@ dependencies = [
 
 [[package]]
 name = "accesskit_unix"
-version = "0.5.2"
+version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e084cb5168790c0c112626175412dc5ad127083441a8248ae49ddf6725519e83"
+checksum = "09f46c18d99ba61ad7123dd13eeb0c104436ab6af1df6a1cd8c11054ed394a08"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
  "async-channel",
+ "async-once-cell",
  "atspi",
- "futures-lite",
+ "futures-lite 1.13.0",
+ "once_cell",
  "serde",
  "zbus",
 ]
 
 [[package]]
 name = "accesskit_windows"
-version = "0.14.3"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9eac0a7f2d7cd7a93b938af401d3d8e8b7094217989a7c25c55a953023436e31"
+checksum = "afcae27ec0974fc7c3b0b318783be89fd1b2e66dd702179fe600166a38ff4a0b"
 dependencies = [
  "accesskit",
  "accesskit_consumer",
- "arrayvec",
  "once_cell",
  "paste",
+ "static_assertions",
  "windows 0.48.0",
 ]
 
 [[package]]
 name = "accesskit_winit"
-version = "0.14.4"
+version = "0.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "825d23acee1bd6d25cbaa3ca6ed6e73faf24122a774ec33d52c5c86c6ab423c0"
+checksum = "88e39fcec2e10971e188730b7a76bab60647dacc973d4591855ebebcadfaa738"
 dependencies = [
  "accesskit",
  "accesskit_macos",
@@ -108,21 +110,22 @@ checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
 [[package]]
 name = "ahash"
-version = "0.8.3"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c99f64d1e06488f620f932677e24bc6e2897582980441ae90a671415bd7ec2f"
+checksum = "91429305e9f0a25f6205c5b8e0d2db09e0708a7a6df0f42212bb56c32c8ac97a"
 dependencies = [
  "cfg-if",
  "once_cell",
  "serde",
  "version_check",
+ "zerocopy",
 ]
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea5d730647d4fadd988536d06fecce94b7b4f2a7efdae548f1cf4b63205518ab"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
 dependencies = [
  "memchr",
 ]
@@ -202,6 +205,24 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "annotato"
+version = "0.1.0"
+dependencies = [
+ "clap 4.4.11",
+ "color-eyre",
+ "eframe",
+ "egui_extras",
+ "egui_plot",
+ "glob",
+ "image",
+ "once_cell",
+ "reqwest",
+ "serde",
+ "serde_json",
+ "toml",
+]
+
 [[package]]
 name = "ansi_colours"
 version = "1.2.2"
@@ -222,9 +243,9 @@ dependencies = [
 
 [[package]]
 name = "anstream"
-version = "0.6.1"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6cd65a4b849ace0b7f6daeebcc1a1d111282227ca745458c61dbf670e52a597"
+checksum = "d664a92ecae85fd0a7392615844904654d1d5f5514837f471ddef4a057aba1b6"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -242,30 +263,30 @@ checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.2"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "317b9a89c1868f5ea6ff1d9539a69f45dffc21ce321ac1fd1160dfa48c8e2140"
+checksum = "c75ac65da39e5fe5ab759307499ddad880d724eed2f6ce5b5e8a26f4f387928c"
 dependencies = [
  "utf8parse",
 ]
 
 [[package]]
 name = "anstyle-query"
-version = "1.0.0"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ca11d4be1bab0c8bc8734a9aa7bf4ee8316d462a08c6ac5052f888fef5b494b"
+checksum = "e28923312444cdd728e4738b3f9c9cac739500909bb3d3c94b43551b16517648"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "anstyle-wincon"
-version = "3.0.0"
+version = "3.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0238ca56c96dfa37bdf7c373c8886dd591322500aceeeccdb2216fe06dc2f796"
+checksum = "1cd54b81ec8d6180e24654d0b371ad22fc3dd083b6ff8ba325b72e00c87660a7"
 dependencies = [
  "anstyle",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -283,11 +304,21 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "approx_derive"
+version = "0.1.0"
+dependencies = [
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "arboard"
-version = "3.2.1"
+version = "3.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac57f2b058a76363e357c056e4f74f1945bf734d37b8b3ef49066c4787dde0fc"
+checksum = "aafb29b107435aa276664c1db8954ac27a6e105cdad3c88287a199eb0e313c08"
 dependencies = [
  "clipboard-win",
  "log",
@@ -324,26 +355,28 @@ dependencies = [
 
 [[package]]
 name = "async-channel"
-version = "1.9.0"
+version = "2.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81953c529336010edd6d8e358f886d9581267795c61b19475b71314bffa46d35"
+checksum = "1ca33f4bc4ed1babef42cad36cc1f51fa88be00420404e5b1e80ab1b18f7678c"
 dependencies = [
  "concurrent-queue",
- "event-listener 2.5.3",
+ "event-listener 4.0.1",
+ "event-listener-strategy",
  "futures-core",
+ "pin-project-lite",
 ]
 
 [[package]]
 name = "async-executor"
-version = "1.5.4"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c1da3ae8dabd9c00f453a329dfe1fb28da3c0a72e2478cdcd93171740c20499"
+checksum = "17ae5ebefcc48e7452b4987947920dac9450be1110cadf34d1b8c116bdbaf97c"
 dependencies = [
- "async-lock",
+ "async-lock 3.2.0",
  "async-task",
  "concurrent-queue",
  "fastrand 2.0.1",
- "futures-lite",
+ "futures-lite 2.1.0",
  "slab",
 ]
 
@@ -353,10 +386,10 @@ version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "279cf904654eeebfa37ac9bb1598880884924aab82e290aa65c9e77a0e142e06"
 dependencies = [
- "async-lock",
+ "async-lock 2.8.0",
  "autocfg",
  "blocking",
- "futures-lite",
+ "futures-lite 1.13.0",
 ]
 
 [[package]]
@@ -365,20 +398,39 @@ version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0fc5b45d93ef0529756f812ca52e44c221b35341892d3dcc34132ac02f3dd2af"
 dependencies = [
- "async-lock",
+ "async-lock 2.8.0",
  "autocfg",
  "cfg-if",
  "concurrent-queue",
- "futures-lite",
+ "futures-lite 1.13.0",
  "log",
  "parking",
- "polling",
- "rustix 0.37.23",
+ "polling 2.8.0",
+ "rustix 0.37.27",
  "slab",
- "socket2 0.4.9",
+ "socket2 0.4.10",
  "waker-fn",
 ]
 
+[[package]]
+name = "async-io"
+version = "2.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6afaa937395a620e33dc6a742c593c01aced20aa376ffb0f628121198578ccc7"
+dependencies = [
+ "async-lock 3.2.0",
+ "cfg-if",
+ "concurrent-queue",
+ "futures-io",
+ "futures-lite 2.1.0",
+ "parking",
+ "polling 3.3.1",
+ "rustix 0.38.28",
+ "slab",
+ "tracing",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "async-lock"
 version = "2.8.0"
@@ -388,20 +440,37 @@ dependencies = [
  "event-listener 2.5.3",
 ]
 
+[[package]]
+name = "async-lock"
+version = "3.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7125e42787d53db9dd54261812ef17e937c95a51e4d291373b670342fa44310c"
+dependencies = [
+ "event-listener 4.0.1",
+ "event-listener-strategy",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "async-once-cell"
+version = "0.5.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9338790e78aa95a416786ec8389546c4b6a1dfc3dc36071ed9518a9413a542eb"
+
 [[package]]
 name = "async-process"
-version = "1.8.0"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bf012553ce51eb7aa6dc2143804cc8252bd1cb681a1c5cb7fa94ca88682dee1d"
+checksum = "ea6438ba0a08d81529c69b36700fa2f95837bfe3e776ab39cde9c14d9149da88"
 dependencies = [
- "async-io",
- "async-lock",
+ "async-io 1.13.0",
+ "async-lock 2.8.0",
  "async-signal",
  "blocking",
  "cfg-if",
- "event-listener 3.0.0",
- "futures-lite",
- "rustix 0.38.14",
+ "event-listener 3.1.0",
+ "futures-lite 1.13.0",
+ "rustix 0.38.28",
  "windows-sys 0.48.0",
 ]
 
@@ -413,23 +482,22 @@ checksum = "5fd55a5ba1179988837d24ab4c7cc8ed6efdeff578ede0416b4225a5fca35bd0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "async-signal"
-version = "0.2.2"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c99f3cb3f9ff89f7d718fbb942c9eb91bedff12e396adf09a622dfe7ffec2bc2"
+checksum = "9e47d90f65a225c4527103a8d747001fc56e375203592b25ad103e1ca13124c5"
 dependencies = [
- "async-io",
- "async-lock",
+ "async-io 2.2.2",
+ "async-lock 2.8.0",
  "atomic-waker",
  "cfg-if",
- "concurrent-queue",
  "futures-core",
  "futures-io",
- "libc",
+ "rustix 0.38.28",
  "signal-hook-registry",
  "slab",
  "windows-sys 0.48.0",
@@ -437,19 +505,19 @@ dependencies = [
 
 [[package]]
 name = "async-task"
-version = "4.4.1"
+version = "4.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b9441c6b2fe128a7c2bf680a44c34d0df31ce09e5b7e401fcca3faa483dbc921"
+checksum = "e1d90cd0b264dfdd8eb5bad0a2c217c1f88fa96a8573f40e7b12de23fb468f46"
 
 [[package]]
 name = "async-trait"
-version = "0.1.73"
+version = "0.1.74"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc00ceb34980c03614e35a3a4e218276a0a824e911d07651cd0d858a51e8c0f0"
+checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -459,36 +527,51 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
 
 [[package]]
-name = "atomic_refcell"
-version = "0.1.11"
+name = "atspi"
+version = "0.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "112ef6b3f6cb3cb6fc5b6b494ef7a848492cff1ab0ef4de10b0f7d572861c905"
+checksum = "6059f350ab6f593ea00727b334265c4dfc7fd442ee32d264794bd9bdc68e87ca"
+dependencies = [
+ "atspi-common",
+ "atspi-connection",
+ "atspi-proxies",
+]
 
 [[package]]
-name = "atspi"
-version = "0.10.1"
+name = "atspi-common"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "674e7a3376837b2e7d12d34d58ac47073c491dc3bf6f71a7adaf687d4d817faa"
+checksum = "92af95f966d2431f962bc632c2e68eda7777330158bf640c4af4249349b2cdf5"
 dependencies = [
- "async-recursion",
- "async-trait",
- "atspi-macros",
  "enumflags2",
- "futures-lite",
  "serde",
- "tracing",
+ "static_assertions",
  "zbus",
  "zbus_names",
+ "zvariant",
 ]
 
 [[package]]
-name = "atspi-macros"
-version = "0.2.0"
+name = "atspi-connection"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97fb4870a32c0eaa17e35bca0e6b16020635157121fb7d45593d242c295bc768"
+checksum = "a0c65e7d70f86d4c0e3b2d585d9bf3f979f0b19d635a336725a88d279f76b939"
 dependencies = [
- "quote",
- "syn 1.0.109",
+ "atspi-common",
+ "atspi-proxies",
+ "futures-lite 1.13.0",
+ "zbus",
+]
+
+[[package]]
+name = "atspi-proxies"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6495661273703e7a229356dcbe8c8f38223d697aacfaf0e13590a9ac9977bb52"
+dependencies = [
+ "atspi-common",
+ "serde",
+ "zbus",
 ]
 
 [[package]]
@@ -539,9 +622,9 @@ dependencies = [
 
 [[package]]
 name = "base64"
-version = "0.21.4"
+version = "0.21.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ba43ea6f343b788c8764558649e08df62f86c6ef251fdaeb1ffd010a9ae50a2"
+checksum = "35636a1494ede3b646cc98f74f8e62c773a38a659ebc777a2cf26b9b74171df9"
 
 [[package]]
 name = "bat"
@@ -579,7 +662,7 @@ version = "0.1.0"
 dependencies = [
  "bincode",
  "chrono",
- "clap 4.4.6",
+ "clap 4.4.11",
  "code_generation",
  "color-eyre",
  "communication",
@@ -655,7 +738,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.37",
+ "syn 2.0.41",
  "which",
 ]
 
@@ -665,7 +748,7 @@ version = "0.66.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f2b84e06fc203107bfbad243f4aba2af864eb7db3b1cf46ea0a023b0b433d2a7"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "cexpr",
  "clang-sys",
  "lazy_static",
@@ -678,7 +761,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.37",
+ "syn 2.0.41",
  "which",
 ]
 
@@ -696,9 +779,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.4.0"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4682ae6287fcf752ecaabbfcc7b6f9b72aa33933dc23a554d853aea8eea8635"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
 dependencies = [
  "serde",
 ]
@@ -739,16 +822,16 @@ dependencies = [
 
 [[package]]
 name = "blocking"
-version = "1.4.0"
+version = "1.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94c4ef1f913d78636d78d538eec1f18de81e481f44b1be0a81060090530846e1"
+checksum = "6a37913e8dc4ddcc604f0c6d3bf2887c995153af3611de9e23c352b44c1b9118"
 dependencies = [
  "async-channel",
- "async-lock",
+ "async-lock 3.2.0",
  "async-task",
  "fastrand 2.0.1",
  "futures-io",
- "futures-lite",
+ "futures-lite 2.1.0",
  "piper",
  "tracing",
 ]
@@ -764,9 +847,9 @@ dependencies = [
 
 [[package]]
 name = "bstr"
-version = "1.6.2"
+version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c2f7349907b712260e64b0afe2f84692af14a454be26187d9df565c7f69266a"
+checksum = "542f33a8835a0884b006a0c3df3dadd99c0c3f296ed26c2fdc8028e01ad6230c"
 dependencies = [
  "memchr",
  "regex-automata",
@@ -796,14 +879,14 @@ checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
@@ -941,9 +1024,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.4.6"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d04704f56c2cde07f43e8e2c154b43f216dc5c92fc98ada720177362f953b956"
+checksum = "bfaff671f6b22ca62406885ece523383b9b64022e341e53e009a62ebc47a45f2"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -951,9 +1034,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.6"
+version = "4.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e231faeaca65ebd1ea3c737966bf858971cd38c3849107aa3ea7de90a804e45"
+checksum = "a216b506622bb1d316cd51328dce24e07bdff4a6128a47c7e7fad11878d5adbb"
 dependencies = [
  "anstream",
  "anstyle",
@@ -963,30 +1046,30 @@ dependencies = [
 
 [[package]]
 name = "clap_complete"
-version = "4.4.3"
+version = "4.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ae8ba90b9d8b007efe66e55e48fb936272f5ca00349b5b0e89877520d35ea7"
+checksum = "bffe91f06a11b4b9420f62103854e90867812cd5d01557f853c5ee8e791b12ae"
 dependencies = [
- "clap 4.4.6",
+ "clap 4.4.11",
 ]
 
 [[package]]
 name = "clap_derive"
-version = "4.4.2"
+version = "4.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0862016ff20d69b84ef8247369fabf5c008a7417002411897d40ee1f4532b873"
+checksum = "cf9804afaaf59a91e75b022a30fb7229a7901f60c755489cc61c9b423b836442"
 dependencies = [
  "heck 0.4.1",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "clap_lex"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cd7cc57abe963c6d3b9d8be5b06ba7c8957a930305ca90304f24ef040aa6f961"
+checksum = "702fc72eb24e5a1e48ce58027a675bc24edd52096d5397d4aea7c6dd9eca0bd1"
 
 [[package]]
 name = "clipboard-win"
@@ -1079,9 +1162,9 @@ dependencies = [
 
 [[package]]
 name = "color-spantrace"
-version = "0.2.0"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ba75b3d9449ecdccb27ecbc479fdc0b87fa2dd43d2f8298f9bf0e59aacc8dce"
+checksum = "cd6be1b2a7e382e2b98b43b2adcca6bb0e465af0bdd38123873ae61eb17a72c2"
 dependencies = [
  "once_cell",
  "owo-colors",
@@ -1166,9 +1249,9 @@ dependencies = [
 
 [[package]]
 name = "concurrent-queue"
-version = "2.3.0"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f057a694a54f12365049b0958a1685bb52d567f5593b355fbf685838e873d400"
+checksum = "d16048cd947b08fa32c24458a22f5dc5e835264f689f4f5653210c69fd107363"
 dependencies = [
  "crossbeam-utils",
 ]
@@ -1189,6 +1272,11 @@ dependencies = [
 [[package]]
 name = "constants"
 version = "0.1.0"
+dependencies = [
+ "lazy_static",
+ "serde",
+ "serde_json",
+]
 
 [[package]]
 name = "content_inspector"
@@ -1217,6 +1305,7 @@ dependencies = [
  "bincode",
  "color-eyre",
  "context_attribute",
+ "coordinate_systems",
  "filtering",
  "framework",
  "geometry",
@@ -1246,11 +1335,19 @@ dependencies = [
  "unicode-segmentation",
 ]
 
+[[package]]
+name = "coordinate_systems"
+version = "0.1.0"
+dependencies = [
+ "geometry",
+ "nalgebra",
+]
+
 [[package]]
 name = "core-foundation"
-version = "0.9.3"
+version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "194a7a9e6de53fa55116934067c844d9d749312f75c6f6d0980e8c252f8c2146"
+checksum = "91e195e091a93c46f7102ec7818a2aa394e1e1771c3ab4825963fa03e45afb8f"
 dependencies = [
  "core-foundation-sys",
  "libc",
@@ -1258,9 +1355,9 @@ dependencies = [
 
 [[package]]
 name = "core-foundation-sys"
-version = "0.8.4"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e496a50fda8aacccc86d7529e2c1e0892dbd0f898a6b5645b5561b89c3210efa"
+checksum = "06ea2b9bc92be3c2baa9334a323ebca2d6f074ff852cd1d7b11064035cd3868f"
 
 [[package]]
 name = "core-graphics"
@@ -1277,9 +1374,9 @@ dependencies = [
 
 [[package]]
 name = "core-graphics-types"
-version = "0.1.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2bb142d41022986c1d8ff29103a1411c8a3dfad3552f87a4f8dc50d61d4f4e33"
+checksum = "45390e6114f68f718cc7a830514a96f903cccd70d02a8f6d9f643ac4ba45afaf"
 dependencies = [
  "bitflags 1.3.2",
  "core-foundation",
@@ -1288,9 +1385,9 @@ dependencies = [
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.9"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a17b76ff3a4162b0b27f354a0c87015ddad39d35f9c0c36607a3bdd175dde1f1"
+checksum = "ce420fe07aecd3e67c5f910618fe65e94158f6dcc0adf44e00d69ce2bdfe0fd0"
 dependencies = [
  "libc",
 ]
@@ -1306,9 +1403,9 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-deque"
-version = "0.8.3"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef"
+checksum = "fca89a0e215bab21874660c67903c5f143333cab1da83d041c7ded6053774751"
 dependencies = [
  "cfg-if",
  "crossbeam-epoch",
@@ -1317,22 +1414,21 @@ dependencies = [
 
 [[package]]
 name = "crossbeam-epoch"
-version = "0.9.15"
+version = "0.9.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7"
+checksum = "2d2fe95351b870527a5d09bf563ed3c97c0cffb87cf1c78a591bf48bb218d9aa"
 dependencies = [
  "autocfg",
  "cfg-if",
  "crossbeam-utils",
  "memoffset 0.9.0",
- "scopeguard",
 ]
 
 [[package]]
 name = "crossbeam-utils"
-version = "0.8.16"
+version = "0.8.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294"
+checksum = "c06d96137f14f244c37f989d9fff8f95e6c18b918e71f36638f8c49112e4c78f"
 dependencies = [
  "cfg-if",
 ]
@@ -1365,9 +1461,9 @@ dependencies = [
 
 [[package]]
 name = "data-encoding"
-version = "2.4.0"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2e66c9d817f1720209181c316d28635c050fa304f9c79e47a520882661b7308"
+checksum = "7e962a19be5cfc3f3bf6dd8f61eb50107f356ad6270fbb3ed41476571db78be5"
 
 [[package]]
 name = "depp"
@@ -1379,9 +1475,12 @@ dependencies = [
 
 [[package]]
 name = "deranged"
-version = "0.3.8"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2696e8a945f658fd14dc3b87242e6b80cd0f36ff04ea560fa39082368847946"
+checksum = "8eb30d70a07a3b04884d2677f06bec33509dc67ca60d92949e5535352d3191dc"
+dependencies = [
+ "powerfmt",
+]
 
 [[package]]
 name = "derivative"
@@ -1458,7 +1557,7 @@ version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412"
 dependencies = [
- "libloading 0.8.0",
+ "libloading 0.8.1",
 ]
 
 [[package]]
@@ -1479,9 +1578,9 @@ dependencies = [
 
 [[package]]
 name = "ecolor"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e479a7fa3f23d4e794f8b2f8b3568dd4e47886ad1b12c9c095e141cb591eb63"
+checksum = "4b7637fc2e74d17e52931bac90ff4fc061ac776ada9c7fa272f24cdca5991972"
 dependencies = [
  "bytemuck",
  "serde",
@@ -1489,9 +1588,9 @@ dependencies = [
 
 [[package]]
 name = "eframe"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bf4596583a2c680c55b6feaa748f74890c4f9cb9c7cb69d6117110444cb65b2f"
+checksum = "cdd73918a828c35a7efb4d7188ea973df4bffc589178ed95f521c917b03ddcfa"
 dependencies = [
  "bytemuck",
  "cocoa",
@@ -1506,10 +1605,12 @@ dependencies = [
  "js-sys",
  "log",
  "objc",
+ "parking_lot",
  "percent-encoding",
  "raw-window-handle",
  "ron",
  "serde",
+ "static_assertions",
  "thiserror",
  "wasm-bindgen",
  "wasm-bindgen-futures",
@@ -1520,9 +1621,9 @@ dependencies = [
 
 [[package]]
 name = "egui"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a3aef8ec3ae1b772f340170c65bf27d5b8c28f543a0116c844d2ac08d01123e7"
+checksum = "c55bcb864b764eb889515a38b8924757657a250738ad15126637ee2df291ee6b"
 dependencies = [
  "accesskit",
  "ahash",
@@ -1535,26 +1636,27 @@ dependencies = [
 
 [[package]]
 name = "egui-winit"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4a49155fd4a0a4fb21224407a91de0030847972ef90fc64edb63621caea61cb2"
+checksum = "3b673606b6606b12b95e3a3194d7882bf5cff302db36a520b8144c7c342e4e84"
 dependencies = [
  "accesskit_winit",
  "arboard",
  "egui",
- "instant",
  "log",
  "raw-window-handle",
  "serde",
  "smithay-clipboard",
+ "web-time",
  "webbrowser",
  "winit",
 ]
 
 [[package]]
 name = "egui_dock"
-version = "0.6.1"
-source = "git+https://github.com/knoellle/egui_dock/?tag=0.6.1#d92ba1f5327790223c82258f20cb15157da07d48"
+version = "0.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "246a6cbf38560cdcf75f955b1f2f39be6339a3f2958d06997ce70b7b4aa3f57d"
 dependencies = [
  "duplicate",
  "egui",
@@ -1564,30 +1666,42 @@ dependencies = [
 
 [[package]]
 name = "egui_extras"
-version = "0.22.0"
+version = "0.24.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9278f4337b526f0d57e5375e5a7340a311fa6ee8f9fcc75721ac50af13face02"
+checksum = "97624eaf17a16058265d3a3e712e167798655baf7c8f693de25be75cdd6c57b5"
 dependencies = [
  "egui",
+ "enum-map",
  "image",
+ "log",
+ "mime_guess2",
  "serde",
 ]
 
 [[package]]
 name = "egui_glow"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f8c2752cdf1b0ef5fcda59a898cacabad974d4f5880e92a420b2c917022da64"
+checksum = "262151f9d57c557c02a40a46f27b9e050a6eb0b006b94dced9c6f4519a04d489"
 dependencies = [
  "bytemuck",
  "egui",
  "glow",
  "log",
- "memoffset 0.6.5",
+ "memoffset 0.7.1",
  "wasm-bindgen",
  "web-sys",
 ]
 
+[[package]]
+name = "egui_plot"
+version = "0.24.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b37b2edcdd197db41825266ae7979bd7591fa2eb6b40152375ac05eb323eb9d2"
+dependencies = [
+ "egui",
+]
+
 [[package]]
 name = "either"
 version = "1.9.0"
@@ -1596,9 +1710,9 @@ checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
 
 [[package]]
 name = "emath"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3857d743a6e0741cdd60b622a74c7a36ea75f5f8f11b793b41d905d2c9721a4b"
+checksum = "a045c6c0b44b35e98513fc1e9d183ab42881ac27caccb9fa345465601f56cce4"
 dependencies = [
  "bytemuck",
  "serde",
@@ -1674,6 +1788,15 @@ version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a246d82be1c9d791c5dfde9a2bd045fc3cbba3fa2b11ad558f27d01712f00569"
 
+[[package]]
+name = "encoding_rs"
+version = "0.8.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7268b386296a025e474d5140678f75d6de9493ae55a5d709eeb9dd08149945e1"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "enum-iterator"
 version = "1.4.1"
@@ -1691,7 +1814,28 @@ checksum = "eecf8589574ce9b895052fa12d69af7a233f99e6107f5cb8dd1044f2a17bfdcb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
+]
+
+[[package]]
+name = "enum-map"
+version = "2.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6866f3bfdf8207509a033af1a75a7b08abda06bbaaeae6669323fd5a097df2e9"
+dependencies = [
+ "enum-map-derive",
+ "serde",
+]
+
+[[package]]
+name = "enum-map-derive"
+version = "0.17.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f282cfdfe92516eb26c2af8589c274c7c17681f5ecc03c18255fe741c6aa64eb"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -1703,7 +1847,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -1724,7 +1868,7 @@ checksum = "f95e2801cd355d4a1a3e3953ce6ee5ae9603a5c833455343a8bfe3f44d418246"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -1735,18 +1879,17 @@ checksum = "c2ad8cef1d801a4686bfd8919f0b30eac4c8e48968c437a6405ded4fb5272d2b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "epaint"
-version = "0.22.0"
+version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09333964d4d57f40a85338ba3ca5ed4716070ab184dcfed966b35491c5c64f3b"
+checksum = "7d1b9e000d21bab9b535ce78f9f7745be28b3f777f6c7223936561c5c7fefab8"
 dependencies = [
  "ab_glyph",
  "ahash",
- "atomic_refcell",
  "bytemuck",
  "ecolor",
  "emath",
@@ -1773,23 +1916,12 @@ dependencies = [
 
 [[package]]
 name = "errno"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "136526188508e25c6fef639d7927dfb3e0e3084488bf202267829cf7fc23dbdd"
-dependencies = [
- "errno-dragonfly",
- "libc",
- "windows-sys 0.48.0",
-]
-
-[[package]]
-name = "errno-dragonfly"
-version = "0.1.2"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa68f1b12764fab894d2755d2518754e71b4fd80ecfb822714a1206c2aab39bf"
+checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
 dependencies = [
- "cc",
  "libc",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -1810,15 +1942,36 @@ checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "event-listener"
-version = "3.0.0"
+version = "3.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d93877bcde0eb80ca09131a08d23f0a5c18a620b01db137dba666d18cd9b30c2"
+dependencies = [
+ "concurrent-queue",
+ "parking",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "event-listener"
+version = "4.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29e56284f00d94c1bc7fd3c77027b4623c88c1f53d8d2394c6199f2921dea325"
+checksum = "84f2cdcf274580f2d63697192d744727b3198894b1bf02923643bf59e2c26712"
 dependencies = [
  "concurrent-queue",
  "parking",
  "pin-project-lite",
 ]
 
+[[package]]
+name = "event-listener-strategy"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "958e4d70b6d5e81971bebec42271ec641e7ff4e170a6fa605f2b8a8b65cb97d3"
+dependencies = [
+ "event-listener 4.0.1",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "exr"
 version = "1.71.0"
@@ -1837,9 +1990,9 @@ dependencies = [
 
 [[package]]
 name = "eyre"
-version = "0.6.8"
+version = "0.6.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c2b6b5a29c02cdc822728b7d7b8ae1bab3e3b05d44522770ddd49722eeac7eb"
+checksum = "b6267a1fa6f59179ea4afc8e50fd8612a3cc60bc858f786ff877a4a8cb042799"
 dependencies = [
  "indenter",
  "once_cell",
@@ -1849,7 +2002,7 @@ dependencies = [
 name = "fanta"
 version = "0.1.0"
 dependencies = [
- "clap 4.4.6",
+ "clap 4.4.11",
  "color-eyre",
  "communication",
  "fern",
@@ -1884,9 +2037,9 @@ checksum = "25cbce373ec4653f1a01a31e8a5e5ec0c622dc27ff9c4e6606eefef5cbbed4a5"
 
 [[package]]
 name = "fdeflate"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d329bdeac514ee06249dabc27877490f17f5d371ec693360768b838e19f3ae10"
+checksum = "64d6dafc854908ff5da46ff3f8f473c6984119a2876a383a860246dd7841a868"
 dependencies = [
  "simd-adler32",
 ]
@@ -1922,9 +2075,9 @@ checksum = "0ce7134b9999ecaf8bcd65542e436736ef32ddca1b3e06094cb6ec5755203b80"
 
 [[package]]
 name = "flate2"
-version = "1.0.27"
+version = "1.0.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6c98ee8095e9d1dcbf2fcc6d95acccb90d1c81db1e44725c6a984b1dbdfb010"
+checksum = "46303f565772937ffe1d394a4fac6f411c6013172fadde9dcdb1e147a086940e"
 dependencies = [
  "crc32fast",
  "miniz_oxide",
@@ -1962,9 +2115,9 @@ checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b"
 
 [[package]]
 name = "form_urlencoded"
-version = "1.2.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a62bc1cf6f830c2ec14a513a9fb124d0a213a629668a4186f329db21fe045652"
+checksum = "e13624c2627564efccf4934284bdd98cbaa14e79b0b5a141218e507b3a823456"
 dependencies = [
  "percent-encoding",
 ]
@@ -1977,17 +2130,26 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "futures-channel"
+version = "0.3.29"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4dd66668b557604244583e3e1e1eada8c5c2e96a6d0d6653ede395b78bbacb"
+dependencies = [
+ "futures-core",
+]
+
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
 
 [[package]]
 name = "futures-io"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fff74096e71ed47f8e023204cfd0aa1289cd54ae5430a9523be060cdb849964"
+checksum = "8bf34a163b5c4c52d0478a4d757da8fb65cabef42ba90515efee0f6f9fa45aaa"
 
 [[package]]
 name = "futures-lite"
@@ -2004,34 +2166,47 @@ dependencies = [
  "waker-fn",
 ]
 
+[[package]]
+name = "futures-lite"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aeee267a1883f7ebef3700f262d2d54de95dfaf38189015a74fdc4e0c7ad8143"
+dependencies = [
+ "fastrand 2.0.1",
+ "futures-core",
+ "futures-io",
+ "parking",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "futures-macro"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
+checksum = "53b153fd91e4b0147f4aced87be237c98248656bb01050b96bf3ee89220a8ddb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
+checksum = "e36d3378ee38c2a36ad710c5d30c2911d752cb941c00c72dbabfb786a7970817"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
 dependencies = [
  "futures-core",
  "futures-io",
@@ -2075,9 +2250,9 @@ dependencies = [
 
 [[package]]
 name = "gethostname"
-version = "0.2.3"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1ebd34e35c46e00bb73e81363248d627782724609fe1b6396f553f68fe3862e"
+checksum = "bb65d4ba3173c56a500b555b532f72c42e8d1fe64962b518897f8959fae2c177"
 dependencies = [
  "libc",
  "winapi",
@@ -2085,9 +2260,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.10"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be4136b2a15dd319360be1c07d9933517ccf0be8f16bf62a3bee4f0d618df427"
+checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
 dependencies = [
  "cfg-if",
  "libc",
@@ -2106,9 +2281,9 @@ dependencies = [
 
 [[package]]
 name = "gilrs"
-version = "0.10.2"
+version = "0.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62fd19844d0eb919aca41d3e4ea0e0b6bf60e1e827558b101c269015b8f5f27a"
+checksum = "d8b2e57a9cb946b5d04ae8638c5f554abb5a9f82c4c950fd5b1fee6d119592fb"
 dependencies = [
  "fnv",
  "gilrs-core",
@@ -2119,29 +2294,30 @@ dependencies = [
 
 [[package]]
 name = "gilrs-core"
-version = "0.5.7"
+version = "0.5.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ccc99e9b8d63ffcaa334c4babfa31f46e156618a11f63efb6e8e6bcb37b830d"
+checksum = "0af1827b7dd2f36d740ae804c1b3ea0d64c12533fb61ff91883005143a0e8c5a"
 dependencies = [
  "core-foundation",
+ "inotify",
  "io-kit-sys",
  "js-sys",
  "libc",
  "libudev-sys",
  "log",
- "nix 0.26.4",
+ "nix 0.27.1",
  "uuid",
  "vec_map",
  "wasm-bindgen",
  "web-sys",
- "windows 0.51.1",
+ "windows 0.52.0",
 ]
 
 [[package]]
 name = "gimli"
-version = "0.28.0"
+version = "0.28.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0"
+checksum = "4271d37baee1b8c7e4b708028c57d816cf9d2434acb33a549475f78c181f6253"
 
 [[package]]
 name = "gl_generator"
@@ -2162,15 +2338,15 @@ checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b"
 
 [[package]]
 name = "globset"
-version = "0.4.13"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "759c97c1e17c55525b57192c06a267cda0ac5210b222d6b82189a2338fa1c13d"
+checksum = "57da3b9b5b85bd66f31093f8c408b90a74431672542466497dcbdfdc02034be1"
 dependencies = [
  "aho-corasick",
- "bstr 1.6.2",
- "fnv",
+ "bstr 1.8.0",
  "log",
- "regex",
+ "regex-automata",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -2251,32 +2427,49 @@ dependencies = [
 
 [[package]]
 name = "grep-cli"
-version = "0.1.9"
+version = "0.1.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8fe4bdbf4300c8b039f5d7eec7fbc6760d2c85bb15ac7499c4d235667f6d747a"
+checksum = "ea40788c059ab8b622c4d074732750bfb3bd2912e2dd58eabc11798a4d5ad725"
 dependencies = [
- "bstr 1.6.2",
+ "bstr 1.8.0",
  "globset",
- "lazy_static",
+ "libc",
  "log",
- "regex",
- "same-file",
  "termcolor",
  "winapi-util",
 ]
 
 [[package]]
-name = "half"
-version = "2.2.1"
+name = "h2"
+version = "0.3.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02b4af3693f1b705df946e9fe5631932443781d0aabb423b62fcd4d73f6d2fd0"
-dependencies = [
- "crunchy",
-]
-
-[[package]]
-name = "hardware"
-version = "0.1.0"
+checksum = "b553656127a00601c8ae5590fcfdc118e4083a7924b6cf4ffc1ea4b99dc429d7"
+dependencies = [
+ "bytes",
+ "fnv",
+ "futures-core",
+ "futures-sink",
+ "futures-util",
+ "http",
+ "indexmap 2.1.0",
+ "slab",
+ "tokio",
+ "tokio-util",
+ "tracing",
+]
+
+[[package]]
+name = "half"
+version = "2.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02b4af3693f1b705df946e9fe5631932443781d0aabb423b62fcd4d73f6d2fd0"
+dependencies = [
+ "crunchy",
+]
+
+[[package]]
+name = "hardware"
+version = "0.1.0"
 dependencies = [
  "color-eyre",
  "types",
@@ -2290,9 +2483,9 @@ checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
 
 [[package]]
 name = "hashbrown"
-version = "0.14.0"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2c6201b9ff9fd90a5a3bac2e56a830d0caa509576f0e503818ee82c181b3437a"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heck"
@@ -2332,30 +2525,47 @@ checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
 
 [[package]]
 name = "home"
-version = "0.5.5"
+version = "0.5.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5444c27eef6923071f7ebcc33e3444508466a76f7a2b93da00ed6e19f30c1ddb"
+checksum = "e3d1354bf6b7235cb4a0576c2619fd4ed18183f689b12b006a0ee7329eeff9a5"
 dependencies = [
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "http"
-version = "0.2.9"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd6effc99afb63425aff9b05836f029929e345a6148a14b7ecd5ab67af944482"
+checksum = "8947b1a6fad4393052c7ba1f4cd97bed3e953a95c79c92ad9b051a04611d9fbb"
 dependencies = [
  "bytes",
  "fnv",
  "itoa",
 ]
 
+[[package]]
+name = "http-body"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7ceab25649e9960c0311ea418d17bee82c0dcec1bd053b5f9a66e265a693bed2"
+dependencies = [
+ "bytes",
+ "http",
+ "pin-project-lite",
+]
+
 [[package]]
 name = "httparse"
 version = "1.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d897f394bad6a705d5f4104762e116a75639e470d80901eed05a860a95cb1904"
 
+[[package]]
+name = "httpdate"
+version = "1.0.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df3b46402a9d5adb4c86a0cf463f42e19994e3ee891101b1841f30a545cb49a9"
+
 [[package]]
 name = "hula-types"
 version = "0.1.0"
@@ -2442,6 +2652,43 @@ dependencies = [
  "webots",
 ]
 
+[[package]]
+name = "hyper"
+version = "0.14.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bf96e135eb83a2a8ddf766e426a841d8ddd7449d5f00d34ea02b41d2f19eef80"
+dependencies = [
+ "bytes",
+ "futures-channel",
+ "futures-core",
+ "futures-util",
+ "h2",
+ "http",
+ "http-body",
+ "httparse",
+ "httpdate",
+ "itoa",
+ "pin-project-lite",
+ "socket2 0.5.5",
+ "tokio",
+ "tower-service",
+ "tracing",
+ "want",
+]
+
+[[package]]
+name = "hyper-tls"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d6183ddfa99b85da61a140bea0efc93fdf56ceaa041b37d553518030827f9905"
+dependencies = [
+ "bytes",
+ "hyper",
+ "native-tls",
+ "tokio",
+ "tokio-native-tls",
+]
+
 [[package]]
 name = "i2cdev"
 version = "0.5.1"
@@ -2456,16 +2703,16 @@ dependencies = [
 
 [[package]]
 name = "iana-time-zone"
-version = "0.1.57"
+version = "0.1.58"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fad5b825842d2b38bd206f3e81d6957625fd7f0a361e345c30e01a0ae2dd613"
+checksum = "8326b86b6cff230b97d0d312a6c40a60726df3332e721f72a1b035f451663b20"
 dependencies = [
  "android_system_properties",
  "core-foundation-sys",
  "iana-time-zone-haiku",
  "js-sys",
  "wasm-bindgen",
- "windows 0.48.0",
+ "windows-core 0.51.1",
 ]
 
 [[package]]
@@ -2479,9 +2726,9 @@ dependencies = [
 
 [[package]]
 name = "idna"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d20d6b07bfbc108882d88ed8e37d39636dcc260e15e30c45e6ba089610b917c"
+checksum = "634d9b1461af396cad843f47fdba5597a4f9e6ddd4bfb6ff5d85028c25cb12f6"
 dependencies = [
  "unicode-bidi",
  "unicode-normalization",
@@ -2524,12 +2771,12 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.0.1"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad227c3af19d4914570ad36d30409928b75967c298feb9ea1969db3a610bb14e"
+checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.0",
+ "hashbrown 0.14.3",
 ]
 
 [[package]]
@@ -2545,6 +2792,26 @@ dependencies = [
  "unicode-width",
 ]
 
+[[package]]
+name = "inotify"
+version = "0.10.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fdd168d97690d0b8c412d6b6c10360277f4d7ee495c5d0d5d5fe0854923255cc"
+dependencies = [
+ "bitflags 1.3.2",
+ "inotify-sys",
+ "libc",
+]
+
+[[package]]
+name = "inotify-sys"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e05c02b5e89bff3b946cedeca278abc628fe811e604f027c45a8aa3cf793d0eb"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "instant"
 version = "0.1.12"
@@ -2559,9 +2826,9 @@ dependencies = [
 
 [[package]]
 name = "io-kit-sys"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2d4429acc1deff0fbdece0325b4997bdb02b2c245ab7023fd5deca0f6348de"
+checksum = "4769cb30e5dcf1710fc6730d3e94f78c47723a014a567de385e113c737394640"
 dependencies = [
  "core-foundation-sys",
  "mach2",
@@ -2578,6 +2845,12 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "ipnet"
+version = "2.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f518f335dce6725a761382244631d86cf0ccb2863413590b31338feb467f9c3"
+
 [[package]]
 name = "is-terminal"
 version = "0.4.9"
@@ -2585,7 +2858,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cb0889898416213fab133e1d33a0e5858a48177452750691bde3666d0fdbaf8b"
 dependencies = [
  "hermit-abi 0.3.3",
- "rustix 0.38.14",
+ "rustix 0.38.28",
  "windows-sys 0.48.0",
 ]
 
@@ -2600,15 +2873,15 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.9"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af150ab688ff2122fcef229be89cb50dd66af9e01a4ff320cc137eecc9bacc38"
+checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
 
 [[package]]
 name = "ittapi"
-version = "0.3.4"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41e0d0b7b3b53d92a7e8b80ede3400112a6b8b4c98d1f5b8b16bb787c780582c"
+checksum = "25a5c0b993601cad796222ea076565c5d9f337d35592f8622c753724f06d7271"
 dependencies = [
  "anyhow",
  "ittapi-sys",
@@ -2617,9 +2890,9 @@ dependencies = [
 
 [[package]]
 name = "ittapi-sys"
-version = "0.3.4"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2f8763c96e54e6d6a0dccc2990d8b5e33e3313aaeae6185921a3f4c1614a77c"
+checksum = "cb7b5e473765060536a660eed127f758cf1a810c73e49063264959c60d1727d9"
 dependencies = [
  "cc",
 ]
@@ -2648,9 +2921,9 @@ checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
 [[package]]
 name = "jobserver"
-version = "0.1.26"
+version = "0.1.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "936cfd212a0155903bcbc060e316fb6cc7cbf2e1907329391ebadc1fe0ce77c2"
+checksum = "8c37f63953c4c63420ed5fd3d6d398c719489b9f872b9fa683262f8edd363c7d"
 dependencies = [
  "libc",
 ]
@@ -2666,9 +2939,9 @@ dependencies = [
 
 [[package]]
 name = "js-sys"
-version = "0.3.64"
+version = "0.3.66"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5f195fe497f702db0f318b07fdd68edb16955aed830df8363d837542f8f935a"
+checksum = "cee9c64da59eae3b50095c18d3e74f8b73c0b86d2792824ff01bbce68ba229ca"
 dependencies = [
  "wasm-bindgen",
 ]
@@ -2719,9 +2992,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.148"
+version = "0.2.151"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cdc71e17332e86d2e1d38c1f99edcb6288ee11b815fb1a4b049eaa2114d369b"
+checksum = "302d7ab3130588088d277783b1e2d2e10c9e9e4a16dd9050e6ec93fb3e7048f4"
 
 [[package]]
 name = "libloading"
@@ -2735,9 +3008,9 @@ dependencies = [
 
 [[package]]
 name = "libloading"
-version = "0.8.0"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d580318f95776505201b28cf98eb1fa5e4be3b689633ba6a3e6cd880ff22d8cb"
+checksum = "c571b676ddfc9a8c12f1f3d3085a7b163966a8fd8098a90640953ce5f6170161"
 dependencies = [
  "cfg-if",
  "windows-sys 0.48.0",
@@ -2745,9 +3018,31 @@ dependencies = [
 
 [[package]]
 name = "libm"
-version = "0.2.7"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
+
+[[package]]
+name = "libredox"
+version = "0.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85c833ca1e66078851dba29046874e38f08b2c883700aa29a03ddd3b23814ee8"
+dependencies = [
+ "bitflags 2.4.1",
+ "libc",
+ "redox_syscall 0.4.1",
+]
+
+[[package]]
+name = "libredox"
+version = "0.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
+checksum = "3af92c55d7d839293953fcd0fda5ecfe93297cfde6ffbdec13b41d99c0ba6607"
+dependencies = [
+ "bitflags 2.4.1",
+ "libc",
+ "redox_syscall 0.4.1",
+]
 
 [[package]]
 name = "libudev-sys"
@@ -2782,16 +3077,16 @@ checksum = "ef53942eb7bf7ff43a617b3e2c1c4a5ecf5944a7c1bc12d7ee39bbb15e5c1519"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.7"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1a9bad9f94746442c783ca431b22403b519cd7fbeed0533fdd6328b2f2212128"
+checksum = "c4cd1a83af159aa67994778be9070f0ae1bd732942279cabb14f86f986a21456"
 
 [[package]]
 name = "localizer"
 version = "0.1.0"
 dependencies = [
  "bincode",
- "clap 4.4.6",
+ "clap 4.4.11",
  "color-eyre",
  "communication",
  "control",
@@ -2806,9 +3101,9 @@ dependencies = [
 
 [[package]]
 name = "lock_api"
-version = "0.4.10"
+version = "0.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1cc9717a20b1bb222f333e6a92fd32f7d8a18ddc5a3191a11af45dcbf4dcd16"
+checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -2822,9 +3117,9 @@ checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 
 [[package]]
 name = "mach2"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6d0d1830bcd151a6fc4aea1369af235b36c1528fe976b8ff678683c9995eade8"
+checksum = "19b955cdeb2a02b9117f121ce63aa52d08ade45de53e48fe6a38b39c10f6f709"
 dependencies = [
  "libc",
 ]
@@ -2850,9 +3145,9 @@ dependencies = [
 
 [[package]]
 name = "memchr"
-version = "2.6.3"
+version = "2.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
+checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
 
 [[package]]
 name = "memmap2"
@@ -2890,6 +3185,22 @@ dependencies = [
  "autocfg",
 ]
 
+[[package]]
+name = "mime"
+version = "0.3.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
+
+[[package]]
+name = "mime_guess2"
+version = "2.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "25a3333bb1609500601edc766a39b4c1772874a4ce26022f4d866854dc020c41"
+dependencies = [
+ "mime",
+ "unicase",
+]
+
 [[package]]
 name = "minimal-lexical"
 version = "0.2.1"
@@ -2908,9 +3219,9 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "0.8.8"
+version = "0.8.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "927a765cd3fc26206e66b296465fa9d3e5ab003e651c1b3c060e7956d96b19d2"
+checksum = "8f3d0b296e374a4e6f3c7b0a1f5a51d748a0d34c85e7dc48fc3fa9a87657fe09"
 dependencies = [
  "libc",
  "log",
@@ -2998,6 +3309,24 @@ dependencies = [
  "types",
 ]
 
+[[package]]
+name = "native-tls"
+version = "0.2.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "07226173c32f2926027b63cce4bcd8076c3552846cbe7925f3aaffeac0a3b92e"
+dependencies = [
+ "lazy_static",
+ "libc",
+ "log",
+ "openssl",
+ "openssl-probe",
+ "openssl-sys",
+ "schannel",
+ "security-framework",
+ "security-framework-sys",
+ "tempfile",
+]
+
 [[package]]
 name = "ndk"
 version = "0.7.0"
@@ -3096,7 +3425,7 @@ version = "0.27.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2eb04e9c688eff1c89d72b407f168cf79bb9e867a9d3323ed6c01519eb9cc053"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "cfg-if",
  "libc",
 ]
@@ -3149,13 +3478,13 @@ dependencies = [
 
 [[package]]
 name = "num-derive"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e6a0fd4f737c707bd9086cc16c925f294943eb62eb71499e9fd4cf71f8b9f4e"
+checksum = "cfb77679af88f8b125209d354a202862602672222e7f2313fdd6dc349bad4712"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -3181,9 +3510,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
  "libm",
@@ -3238,7 +3567,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -3313,9 +3642,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.18.0"
+version = "1.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d"
+checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
 [[package]]
 name = "onig"
@@ -3339,6 +3668,50 @@ dependencies = [
  "pkg-config",
 ]
 
+[[package]]
+name = "openssl"
+version = "0.10.62"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cde4d2d9200ad5909f8dac647e29482e07c3a35de8a13fce7c9c7747ad9f671"
+dependencies = [
+ "bitflags 2.4.1",
+ "cfg-if",
+ "foreign-types",
+ "libc",
+ "once_cell",
+ "openssl-macros",
+ "openssl-sys",
+]
+
+[[package]]
+name = "openssl-macros"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.41",
+]
+
+[[package]]
+name = "openssl-probe"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff011a302c396a5197692431fc1948019154afc178baf7d8e37367442a4601cf"
+
+[[package]]
+name = "openssl-sys"
+version = "0.9.98"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c1665caf8ab2dc9aef43d1c0023bd904633a6a05cb30b0ad59bec2ae986e57a7"
+dependencies = [
+ "cc",
+ "libc",
+ "pkg-config",
+ "vcpkg",
+]
+
 [[package]]
 name = "option-ext"
 version = "0.2.0"
@@ -3352,7 +3725,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f40c412371d87b6055dc8015d3054efe957fd375321bd5b5a045475f6bbc0c5"
 dependencies = [
  "bindgen 0.66.1",
- "num-derive 0.4.0",
+ "num-derive 0.4.1",
  "num-traits",
  "pkg-config",
  "thiserror",
@@ -3360,18 +3733,18 @@ dependencies = [
 
 [[package]]
 name = "orbclient"
-version = "0.3.46"
+version = "0.3.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8378ac0dfbd4e7895f2d2c1f1345cab3836910baf3a300b000d04250f0c8428f"
+checksum = "52f0d54bde9774d3a51dcf281a5def240c71996bc6ca05d2c847ec8b2b216166"
 dependencies = [
- "redox_syscall 0.3.5",
+ "libredox 0.0.2",
 ]
 
 [[package]]
 name = "ordered-float"
-version = "3.9.1"
+version = "3.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a54938017eacd63036332b4ae5c8a49fc8c0c1d6d629893057e4f13609edd06"
+checksum = "f1e1c390732d15f1d48471625cd92d154e66db2c56645e29a9cd26f4699f72dc"
 dependencies = [
  "num-traits",
 ]
@@ -3388,9 +3761,9 @@ dependencies = [
 
 [[package]]
 name = "owned_ttf_parser"
-version = "0.19.0"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "706de7e2214113d63a8238d1910463cfce781129a6f263d13fdb09ff64355ba4"
+checksum = "d4586edfe4c648c71797a74c84bacb32b52b212eff5dfe2bb9f2c599844023e7"
 dependencies = [
  "ttf-parser",
 ]
@@ -3413,9 +3786,9 @@ dependencies = [
 
 [[package]]
 name = "parking"
-version = "2.1.1"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e52c774a4c39359c1d1c52e43f73dd91a75a614652c825408eec30c95a9b2067"
+checksum = "bb813b8af86854136c6922af0598d719255ecb2179515e6e7730d468f05c9cae"
 
 [[package]]
 name = "parking_lot"
@@ -3429,13 +3802,13 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.8"
+version = "0.9.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "93f00c865fe7cabf650081affecd3871070f26767e7b2070a3ffae14c654b447"
+checksum = "4c42a9226546d68acdd9c0a280d17ce19bfe27a46bf68784e4066115788d008e"
 dependencies = [
  "cfg-if",
  "libc",
- "redox_syscall 0.3.5",
+ "redox_syscall 0.4.1",
  "smallvec",
  "windows-targets 0.48.5",
 ]
@@ -3463,11 +3836,11 @@ checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
 
 [[package]]
 name = "pepsi"
-version = "2.5.0"
+version = "2.6.1"
 dependencies = [
  "aliveness",
  "bat",
- "clap 4.4.6",
+ "clap 4.4.11",
  "clap_complete",
  "color-eyre",
  "constants",
@@ -3485,9 +3858,9 @@ dependencies = [
 
 [[package]]
 name = "percent-encoding"
-version = "2.3.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "petgraph"
@@ -3496,7 +3869,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
 dependencies = [
  "fixedbitset",
- "indexmap 2.0.1",
+ "indexmap 2.1.0",
 ]
 
 [[package]]
@@ -3530,12 +3903,12 @@ checksum = "26072860ba924cbfa98ea39c8c19b4dd6a4a25423dbdf219c1eca91aa0cf6964"
 
 [[package]]
 name = "plist"
-version = "1.5.0"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bdc0001cfea3db57a2e24bc0d818e9e20e554b5f97fabb9bc231dc240269ae06"
+checksum = "e5699cc8a63d1aa2b1ee8e12b9ad70ac790d65788cd36101fa37f87ea46c4cef"
 dependencies = [
  "base64",
- "indexmap 1.9.3",
+ "indexmap 2.1.0",
  "line-wrap",
  "quick-xml",
  "serde",
@@ -3571,11 +3944,31 @@ dependencies = [
  "windows-sys 0.48.0",
 ]
 
+[[package]]
+name = "polling"
+version = "3.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf63fa624ab313c11656b4cda960bfc46c410187ad493c41f6ba2d8c1e991c9e"
+dependencies = [
+ "cfg-if",
+ "concurrent-queue",
+ "pin-project-lite",
+ "rustix 0.38.28",
+ "tracing",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "portable-atomic"
-version = "1.4.3"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "31114a898e107c51bb1609ffaf55a0e011cf6a4d7f1170d0015a165082c0338b"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+
+[[package]]
+name = "powerfmt"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
 
 [[package]]
 name = "ppv-lite86"
@@ -3590,7 +3983,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ae005bd773ab59b4725093fd7df83fd7892f7d8eafb48dbd7de6e024e4215f9d"
 dependencies = [
  "proc-macro2",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -3609,7 +4002,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7f4c021e1093a56626774e81216a4ce732a735e5bad4868a03f3ed65ca0c3919"
 dependencies = [
  "once_cell",
- "toml_edit",
+ "toml_edit 0.19.15",
 ]
 
 [[package]]
@@ -3638,9 +4031,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.67"
+version = "1.0.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328"
+checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
 dependencies = [
  "unicode-ident",
 ]
@@ -3666,9 +4059,9 @@ dependencies = [
 
 [[package]]
 name = "quick-xml"
-version = "0.29.0"
+version = "0.31.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81b9228215d82c7b61490fec1de287136b5de6f5700f6e58ea9ad61a7964ca51"
+checksum = "1004a344b30a54e2ee58d66a71b32d2db2feb0a31f9a2d302bf0536f15de2a33"
 dependencies = [
  "memchr",
 ]
@@ -3756,54 +4149,54 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.2.16"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
+checksum = "567664f262709473930a4bf9e51bf2ebf3348f2e748ccc50dea20646858f8f29"
 dependencies = [
  "bitflags 1.3.2",
 ]
 
 [[package]]
 name = "redox_syscall"
-version = "0.3.5"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "567664f262709473930a4bf9e51bf2ebf3348f2e748ccc50dea20646858f8f29"
+checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
 dependencies = [
  "bitflags 1.3.2",
 ]
 
 [[package]]
 name = "redox_users"
-version = "0.4.3"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b033d837a7cf162d7993aded9304e30a83213c648b6e389db233191f891e5c2b"
+checksum = "a18479200779601e498ada4e8c1e1f50e3ee19deb0259c25825a98b5603b2cb4"
 dependencies = [
  "getrandom",
- "redox_syscall 0.2.16",
+ "libredox 0.0.1",
  "thiserror",
 ]
 
 [[package]]
 name = "regex"
-version = "1.9.5"
+version = "1.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "697061221ea1b4a94a624f67d0ae2bfe4e22b8a17b6a192afb11046542cc8c47"
+checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
 dependencies = [
  "aho-corasick",
  "memchr",
  "regex-automata",
- "regex-syntax",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
 name = "regex-automata"
-version = "0.3.8"
+version = "0.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2f401f4955220693b56f8ec66ee9c78abffd8d1c4f23dc41a23839eb88f0795"
+checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -3812,6 +4205,12 @@ version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dbb5fb1acd8a1a18b3dd5be62d25485eb770e05afb408a9627d14d451bae12da"
 
+[[package]]
+name = "regex-syntax"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
+
 [[package]]
 name = "repository"
 version = "0.1.0"
@@ -3832,11 +4231,49 @@ dependencies = [
  "toml",
 ]
 
+[[package]]
+name = "reqwest"
+version = "0.11.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "37b1ae8d9ac08420c66222fb9096fc5de435c3c48542bc5336c51892cffafb41"
+dependencies = [
+ "base64",
+ "bytes",
+ "encoding_rs",
+ "futures-core",
+ "futures-util",
+ "h2",
+ "http",
+ "http-body",
+ "hyper",
+ "hyper-tls",
+ "ipnet",
+ "js-sys",
+ "log",
+ "mime",
+ "native-tls",
+ "once_cell",
+ "percent-encoding",
+ "pin-project-lite",
+ "serde",
+ "serde_json",
+ "serde_urlencoded",
+ "system-configuration",
+ "tokio",
+ "tokio-native-tls",
+ "tower-service",
+ "url",
+ "wasm-bindgen",
+ "wasm-bindgen-futures",
+ "web-sys",
+ "winreg",
+]
+
 [[package]]
 name = "rgb"
-version = "0.8.36"
+version = "0.8.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20ec2d3e3fc7a92ced357df9cebd5a10b6fb2aa1ee797bf7e9ce2f17dffc8f59"
+checksum = "05aaa8004b64fd573fc9d002f4e632d51ad4f026c2b5ba95fcb6c2f32c2c47d8"
 dependencies = [
  "bytemuck",
 ]
@@ -3848,7 +4285,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
 dependencies = [
  "base64",
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "serde",
  "serde_derive",
 ]
@@ -3891,9 +4328,9 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.37.23"
+version = "0.37.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4d69718bf81c6127a49dc64e44a742e8bb9213c0ff8869a22c308f84c1d4ab06"
+checksum = "fea8ca367a3a01fe35e6943c400addf443c0f57670e6ec51196f71a4b8762dd2"
 dependencies = [
  "bitflags 1.3.2",
  "errno",
@@ -3905,22 +4342,22 @@ dependencies = [
 
 [[package]]
 name = "rustix"
-version = "0.38.14"
+version = "0.38.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "747c788e9ce8e92b12cd485c49ddf90723550b654b32508f979b71a7b1ecda4f"
+checksum = "72e572a5e8ca657d7366229cdde4bd14c4eb5499a9573d4d366fe1b599daa316"
 dependencies = [
- "bitflags 2.4.0",
+ "bitflags 2.4.1",
  "errno",
  "libc",
- "linux-raw-sys 0.4.7",
- "windows-sys 0.48.0",
+ "linux-raw-sys 0.4.12",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "ryu"
-version = "1.0.15"
+version = "1.0.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
+checksum = "f98d2aa92eebf49b69786be48e4477826b256916e84a57ff2a4f21923b48eb4c"
 
 [[package]]
 name = "safe_arch"
@@ -3946,6 +4383,15 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "schannel"
+version = "0.1.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fbc91545643bcf3a0bbb6569265615222618bdf33ce4ffbbd13c4bbd4c093534"
+dependencies = [
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "scoped-tls"
 version = "1.0.1"
@@ -3971,6 +4417,29 @@ dependencies = [
  "tiny-skia",
 ]
 
+[[package]]
+name = "security-framework"
+version = "2.9.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05b64fb303737d99b81884b2c63433e9ae28abebe5eb5045dcdd175dc2ecf4de"
+dependencies = [
+ "bitflags 1.3.2",
+ "core-foundation",
+ "core-foundation-sys",
+ "libc",
+ "security-framework-sys",
+]
+
+[[package]]
+name = "security-framework-sys"
+version = "2.9.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e932934257d3b408ed8f30db49d85ea163bfe74961f017f405b025af298f0c7a"
+dependencies = [
+ "core-foundation-sys",
+ "libc",
+]
+
 [[package]]
 name = "semver"
 version = "1.0.20"
@@ -3979,29 +4448,29 @@ checksum = "836fa6a3e1e547f9a2c4040802ec865b5d85f4014efe00555d7090a3dcaa1090"
 
 [[package]]
 name = "serde"
-version = "1.0.188"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e"
+checksum = "25dd9975e68d0cb5aa1120c288333fc98731bd1dd12f561e468ea4728c042b89"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.188"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2"
+checksum = "43576ca501357b9b071ac53cdc7da8ef0cbd9493d8df094cd821777ea6e894d3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.107"
+version = "1.0.108"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b420ce6e3d8bd882e9b243c6eed35dbc9a6110c9769e74b584e0d68d1f20c65"
+checksum = "3d1c7e3eac408d115102c4c24ad393e0821bb3a5df4d506a80f85f7a742a526b"
 dependencies = [
  "itoa",
  "ryu",
@@ -4010,24 +4479,36 @@ dependencies = [
 
 [[package]]
 name = "serde_repr"
-version = "0.1.16"
+version = "0.1.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8725e1dfadb3a50f7e5ce0b1a540466f6ed3fe7a0fca2ac2b8b831d31316bd00"
+checksum = "3081f5ffbb02284dda55132aa26daecedd7372a42417bbbab6f14ab7d6bb9145"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "serde_spanned"
-version = "0.6.3"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96426c9936fd7a0124915f9185ea1d20aa9445cc9821142f0a73bc9207a2e186"
+checksum = "12022b835073e5b11e90a14f86838ceb1c8fb0325b72416845c487ac0fa95e80"
 dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serde_urlencoded"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d3491c14715ca2294c4d6a88f15e84739788c1d030eed8c110436aafdaa2f3fd"
+dependencies = [
+ "form_urlencoded",
+ "itoa",
+ "ryu",
+ "serde",
+]
+
 [[package]]
 name = "serde_yaml"
 version = "0.8.26"
@@ -4075,9 +4556,9 @@ dependencies = [
 
 [[package]]
 name = "sharded-slab"
-version = "0.1.6"
+version = "0.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1b21f559e07218024e7e9f90f96f601825397de0e25420135f7f952453fed0b"
+checksum = "f40ca3c46823713e0d4209592e8d6e826aa57e928f09752619fc696c499637f6"
 dependencies = [
  "lazy_static",
 ]
@@ -4133,18 +4614,18 @@ dependencies = [
 
 [[package]]
 name = "slotmap"
-version = "1.0.6"
+version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1e08e261d0e8f5c43123b7adf3e4ca1690d655377ac93a03b2c9d3e98de1342"
+checksum = "dbff4acf519f630b3a3ddcfaea6c06b42174d9a44bc70c620e9ed1649d58b82a"
 dependencies = [
  "version_check",
 ]
 
 [[package]]
 name = "smallvec"
-version = "1.11.1"
+version = "1.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "942b4a808e05215192e39f4ab80813e599068285906cc91aa64f923db842bd5a"
+checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
 
 [[package]]
 name = "smithay-client-toolkit"
@@ -4177,9 +4658,9 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.4.9"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "64a4a911eed85daf18834cfaa86a79b7d266ff93ff5ba14005426219480ed662"
+checksum = "9f7916fc008ca5542385b89a3d3ce689953c143e9304a9bf8beec1de48994c0d"
 dependencies = [
  "libc",
  "winapi",
@@ -4187,9 +4668,9 @@ dependencies = [
 
 [[package]]
 name = "socket2"
-version = "0.5.4"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4031e820eb552adee9295814c0ced9e5cf38ddf1e8b7d566d6de8e2538ea989e"
+checksum = "7b5fac59a5cb5dd637972e5fca70daf0523c9067fcdc4842f053dae04a18f8e9"
 dependencies = [
  "libc",
  "windows-sys 0.48.0",
@@ -4251,9 +4732,9 @@ dependencies = [
 
 [[package]]
 name = "splines"
-version = "4.3.0"
+version = "4.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b71c74502daf438e97dc4eee0265c084cf76701992a4997f94d5b909498ad1d"
+checksum = "228c4551e53c672e86439509545dd7ffcb966b6876c58b108e433a30e6117101"
 dependencies = [
  "serde",
 ]
@@ -4337,9 +4818,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.37"
+version = "2.0.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7303ef2c05cd654186cb250d29049a24840ca25d2747c25c0381c8d9e2f582e8"
+checksum = "44c8b28c477cc3bf0e7966561e3460130e1255f7a1cf71931075f1c5e7a7e269"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4358,31 +4839,52 @@ dependencies = [
  "fnv",
  "once_cell",
  "onig",
- "regex-syntax",
+ "regex-syntax 0.7.5",
  "serde",
  "serde_json",
  "thiserror",
  "walkdir",
 ]
 
+[[package]]
+name = "system-configuration"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba3a3adc5c275d719af8cb4272ea1c4a6d668a777f37e115f6d11ddbc1c8e0e7"
+dependencies = [
+ "bitflags 1.3.2",
+ "core-foundation",
+ "system-configuration-sys",
+]
+
+[[package]]
+name = "system-configuration-sys"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a75fb188eb626b924683e3b95e3a48e63551fcfb51949de2f06a9d91dbee93c9"
+dependencies = [
+ "core-foundation-sys",
+ "libc",
+]
+
 [[package]]
 name = "tempfile"
-version = "3.8.0"
+version = "3.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb94d2f3cc536af71caac6b6fcebf65860b347e7ce0cc9ebe8f70d3e521054ef"
+checksum = "7ef1adac450ad7f4b3c28589471ade84f25f731a7a0fe30d71dfa9f60fd808e5"
 dependencies = [
  "cfg-if",
  "fastrand 2.0.1",
- "redox_syscall 0.3.5",
- "rustix 0.38.14",
+ "redox_syscall 0.4.1",
+ "rustix 0.38.28",
  "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "termcolor"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6093bad37da69aab9d123a8091e4be0aa4a03e4d601ec641c327398315f62b64"
+checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
 dependencies = [
  "winapi-util",
 ]
@@ -4398,22 +4900,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.49"
+version = "1.0.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1177e8c6d7ede7afde3585fd2513e611227efd6481bd78d2e82ba1ce16557ed4"
+checksum = "f11c217e1416d6f036b870f14e0413d480dbf28edbee1f877abaf0206af43bb7"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.49"
+version = "1.0.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10712f02019e9288794769fba95cd6847df9874d49d871d062172f9dd41bc4cc"
+checksum = "01742297787513b79cf8e29d1056ede1313e2420b7b3b15d0a768b4921f549df"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -4445,12 +4947,13 @@ dependencies = [
 
 [[package]]
 name = "time"
-version = "0.3.29"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "426f806f4089c493dcac0d24c29c01e2c38baf8e30f1b716ee37e83d200b18fe"
+checksum = "f657ba42c3f86e7680e53c8cd3af8abbe56b5491790b46e22e19c0d57463583e"
 dependencies = [
  "deranged",
  "itoa",
+ "powerfmt",
  "serde",
  "time-core",
  "time-macros",
@@ -4464,9 +4967,9 @@ checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
 
 [[package]]
 name = "time-macros"
-version = "0.2.15"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ad70d68dba9e1f8aceda7aa6711965dfec1cac869f311a51bd08b3a2ccbce20"
+checksum = "26197e33420244aeb70c3e8c78376ca46571bc4e701e4791c2cd9f57dcb3a43f"
 dependencies = [
  "time-core",
 ]
@@ -4513,9 +5016,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tokio"
-version = "1.32.0"
+version = "1.35.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17ed6077ed6cd6c74735e21f37eb16dc3935f96878b1fe961074089cc80893f9"
+checksum = "841d45b238a16291a4e1584e61820b8ae57d696cc5015c459c229ccc6990cc1c"
 dependencies = [
  "backtrace",
  "bytes",
@@ -4525,20 +5028,30 @@ dependencies = [
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
- "socket2 0.5.4",
+ "socket2 0.5.5",
  "tokio-macros",
  "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "2.1.0"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "630bdcf245f78637c13ec01ffae6187cca34625e8c63150d424b59e55af2675e"
+checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
+]
+
+[[package]]
+name = "tokio-native-tls"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbae76ab933c85776efabc971569dd6119c580d8f5d448769dec1764bf796ef2"
+dependencies = [
+ "native-tls",
+ "tokio",
 ]
 
 [[package]]
@@ -4555,34 +5068,35 @@ dependencies = [
 
 [[package]]
 name = "tokio-util"
-version = "0.7.9"
+version = "0.7.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1d68074620f57a0b21594d9735eb2e98ab38b17f80d3fcb189fca266771ca60d"
+checksum = "5419f34732d9eb6ee4c3578b7989078579b7f039cbbb9ca2c4da015749371e15"
 dependencies = [
  "bytes",
  "futures-core",
  "futures-sink",
  "pin-project-lite",
  "tokio",
+ "tracing",
 ]
 
 [[package]]
 name = "toml"
-version = "0.7.8"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd79e69d3b627db300ff956027cc6c3798cef26d22526befdfcd12feeb6d2257"
+checksum = "a1a195ec8c9da26928f773888e0742ca3ca1040c6cd859c919c9f59c1954ab35"
 dependencies = [
  "serde",
  "serde_spanned",
  "toml_datetime",
- "toml_edit",
+ "toml_edit 0.21.0",
 ]
 
 [[package]]
 name = "toml_datetime"
-version = "0.6.3"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7cda73e2f1397b1262d6dfdcef8aafae14d1de7748d66822d3bfeeb6d03e5e4b"
+checksum = "3550f4e9685620ac18a50ed434eb3aec30db8ba93b0287467bca5826ea25baf1"
 dependencies = [
  "serde",
 ]
@@ -4593,7 +5107,18 @@ version = "0.19.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
 dependencies = [
- "indexmap 2.0.1",
+ "indexmap 2.1.0",
+ "toml_datetime",
+ "winnow",
+]
+
+[[package]]
+name = "toml_edit"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d34d383cd00a163b4a5b85053df514d45bc330f6de7737edfe0a93311d1eaa03"
+dependencies = [
+ "indexmap 2.1.0",
  "serde",
  "serde_spanned",
  "toml_datetime",
@@ -4606,13 +5131,18 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ea68304e134ecd095ac6c3574494fc62b909f416c4fca77e440530221e549d3d"
 
+[[package]]
+name = "tower-service"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6bc1c9ce2b5135ac7f93c72918fc37feb872bdc6a5533a8b85eb4b86bfdae52"
+
 [[package]]
 name = "tracing"
-version = "0.1.37"
+version = "0.1.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ce8c33a8d48bd45d624a6e523445fd21ec13d3653cd51f681abf67418f54eb8"
+checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
 dependencies = [
- "cfg-if",
  "pin-project-lite",
  "tracing-attributes",
  "tracing-core",
@@ -4620,20 +5150,20 @@ dependencies = [
 
 [[package]]
 name = "tracing-attributes"
-version = "0.1.26"
+version = "0.1.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f4f31f56159e98206da9efd823404b79b6ef3143b4a7ab76e67b1751b25a4ab"
+checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "tracing-core"
-version = "0.1.31"
+version = "0.1.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0955b8137a1df6f1a2e9a37d8a6656291ff0297c1a97c24e0d8425fe2312f79a"
+checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
 dependencies = [
  "once_cell",
  "valuable",
@@ -4651,9 +5181,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30a651bc37f915e81f087d86e62a18eec5f79550c7faff886f7090b4ea757c77"
+checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
 dependencies = [
  "sharded-slab",
  "thread_local",
@@ -4670,11 +5200,17 @@ dependencies = [
  "strength_reduce",
 ]
 
+[[package]]
+name = "try-lock"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b"
+
 [[package]]
 name = "ttf-parser"
-version = "0.19.2"
+version = "0.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49d64318d8311fc2668e48b63969f4343e0a85c4a109aa8460d6672e364b8bd1"
+checksum = "17f77d76d837a7830fe1d4f12b7b4ba4192c1888001c7164257e4bc6d21d96b4"
 
 [[package]]
 name = "tungstenite"
@@ -4707,6 +5243,7 @@ dependencies = [
  "eframe",
  "egui_dock",
  "egui_extras",
+ "egui_plot",
  "fern",
  "fuzzy-matcher",
  "geometry",
@@ -4736,7 +5273,9 @@ name = "types"
 version = "0.1.0"
 dependencies = [
  "approx",
+ "approx_derive",
  "color-eyre",
+ "coordinate_systems",
  "enum-iterator",
  "geometry",
  "image",
@@ -4753,19 +5292,29 @@ dependencies = [
 
 [[package]]
 name = "uds_windows"
-version = "1.0.2"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce65604324d3cce9b966701489fbd0cf318cb1f7bd9dd07ac9a4ee6fb791930d"
+checksum = "89daebc3e6fd160ac4aa9fc8b3bf71e1f74fbf92367ae71fb83a037e8bf164b9"
 dependencies = [
+ "memoffset 0.9.0",
  "tempfile",
  "winapi",
 ]
 
+[[package]]
+name = "unicase"
+version = "2.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7d2d4dafb69621809a81864c9c1b864479e1235c0dd4e199924b9742439ed89"
+dependencies = [
+ "version_check",
+]
+
 [[package]]
 name = "unicode-bidi"
-version = "0.3.13"
+version = "0.3.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92888ba5573ff080736b3648696b70cafad7d250551175acbaa4e0385b3e1460"
+checksum = "6f2528f27a9eb2b21e69c95319b30bd0efd85d09c379741b0f78ea1d86be2416"
 
 [[package]]
 name = "unicode-ident"
@@ -4796,9 +5345,9 @@ checksum = "e51733f11c9c4f72aa0c160008246859e340b00807569a0da0e7a1079b27ba85"
 
 [[package]]
 name = "url"
-version = "2.4.1"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "143b538f18257fac9cad154828a57c6bf5157e1aa604d4816b5995bf6de87ae5"
+checksum = "31e6302e3bb753d46e83516cae55ae196fc0c309407cf11ab35cc51a4c2a4633"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -4819,9 +5368,9 @@ checksum = "711b9620af191e0cdc7468a8d14e709c3dcdb115b36f838e601583af800a370a"
 
 [[package]]
 name = "uuid"
-version = "1.4.1"
+version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79daa5ed5740825c40b389c5e50312b9c86df53fccd33f281df655642b43869d"
+checksum = "5e395fcf16a7a3d8127ec99782007af141946b4795001f876d54fb0d55978560"
 dependencies = [
  "getrandom",
 ]
@@ -4832,6 +5381,12 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
 
+[[package]]
+name = "vcpkg"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
+
 [[package]]
 name = "vec_map"
 version = "0.8.2"
@@ -4882,6 +5437,15 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "want"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bfa7760aed19e106de2c7c0b581b509f2f25d3dacaf737cb82ac61bc6d760b0e"
+dependencies = [
+ "try-lock",
+]
+
 [[package]]
 name = "wasi"
 version = "0.11.0+wasi-snapshot-preview1"
@@ -4890,9 +5454,9 @@ checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
 
 [[package]]
 name = "wasm-bindgen"
-version = "0.2.87"
+version = "0.2.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7706a72ab36d8cb1f80ffbf0e071533974a60d0a308d01a5d0375bf60499a342"
+checksum = "0ed0d4f68a3015cc185aff4db9506a015f4b96f95303897bfa23f846db54064e"
 dependencies = [
  "cfg-if",
  "wasm-bindgen-macro",
@@ -4900,24 +5464,24 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-backend"
-version = "0.2.87"
+version = "0.2.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5ef2b6d3c510e9625e5fe6f509ab07d66a760f0885d858736483c32ed7809abd"
+checksum = "1b56f625e64f3a1084ded111c4d5f477df9f8c92df113852fa5a374dbda78826"
 dependencies = [
  "bumpalo",
  "log",
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-futures"
-version = "0.4.37"
+version = "0.4.39"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c02dbc21516f9f1f04f187958890d7e6026df8d16540b7ad9492bc34a67cea03"
+checksum = "ac36a15a220124ac510204aec1c3e5db8a22ab06fd6706d881dc6149f8ed9a12"
 dependencies = [
  "cfg-if",
  "js-sys",
@@ -4927,9 +5491,9 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro"
-version = "0.2.87"
+version = "0.2.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dee495e55982a3bd48105a7b947fd2a9b4a8ae3010041b9e0faab3f9cd028f1d"
+checksum = "0162dbf37223cd2afce98f3d0785506dcb8d266223983e4b5b525859e6e182b2"
 dependencies = [
  "quote",
  "wasm-bindgen-macro-support",
@@ -4937,22 +5501,22 @@ dependencies = [
 
 [[package]]
 name = "wasm-bindgen-macro-support"
-version = "0.2.87"
+version = "0.2.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54681b18a46765f095758388f2d0cf16eb8d4169b639ab575a8f5693af210c7b"
+checksum = "f0eb82fcb7930ae6219a7ecfd55b217f5f0893484b7a13022ebb2b2bf20b5283"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.37",
+ "syn 2.0.41",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
 
 [[package]]
 name = "wasm-bindgen-shared"
-version = "0.2.87"
+version = "0.2.89"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca6ad05a4870b2bf5fe995117d3728437bd27d7cd5f06f13c17443ef369775a1"
+checksum = "7ab9b36309365056cd639da3134bf87fa8f3d86008abf99e612384a6eecd459f"
 
 [[package]]
 name = "wayland-client"
@@ -5041,9 +5605,19 @@ dependencies = [
 
 [[package]]
 name = "web-sys"
-version = "0.3.64"
+version = "0.3.66"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "50c24a44ec86bb68fbecd1b3efed7e85ea5621b39b35ef2766b66cd984f8010f"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
+
+[[package]]
+name = "web-time"
+version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b85cbef8c220a6abc02aefd892dfc0fc23afb1c6a426316ec33253a3877249b"
+checksum = "57099a701fb3a8043f993e8228dc24229c7b942e2b009a1b962e54489ba1d3bf"
 dependencies = [
  "js-sys",
  "wasm-bindgen",
@@ -5051,9 +5625,9 @@ dependencies = [
 
 [[package]]
 name = "webbrowser"
-version = "0.8.11"
+version = "0.8.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2c79b77f525a2d670cb40619d7d9c673d09e0666f72c591ebd7861f84a87e57"
+checksum = "82b2391658b02c27719fc5a0a73d6e696285138e8b12fba9d4baa70451023c71"
 dependencies = [
  "core-foundation",
  "home",
@@ -5101,14 +5675,14 @@ dependencies = [
  "either",
  "home",
  "once_cell",
- "rustix 0.38.14",
+ "rustix 0.38.28",
 ]
 
 [[package]]
 name = "wide"
-version = "0.7.11"
+version = "0.7.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa469ffa65ef7e0ba0f164183697b89b854253fd31aeb92358b7b6155177d62f"
+checksum = "c68938b57b33da363195412cfc5fc37c9ed49aa9cfe2156fde64b8d2c9498242"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -5167,12 +5741,12 @@ dependencies = [
 
 [[package]]
 name = "windows"
-version = "0.51.1"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ca229916c5ee38c2f2bc1e9d8f04df975b4bd93f9955dc69fabb5d91270045c9"
+checksum = "e48a53791691ab099e5e2ad123536d0fff50652600abaf43bbf952894110d0be"
 dependencies = [
- "windows-core",
- "windows-targets 0.48.5",
+ "windows-core 0.52.0",
+ "windows-targets 0.52.0",
 ]
 
 [[package]]
@@ -5184,6 +5758,15 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "windows-core"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "33ab640c8d7e35bf8ba19b884ba838ceb4fba93a4e8c65a9059d08afcfc683d9"
+dependencies = [
+ "windows-targets 0.52.0",
+]
+
 [[package]]
 name = "windows-implement"
 version = "0.48.0"
@@ -5224,6 +5807,15 @@ dependencies = [
  "windows-targets 0.48.5",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.0",
+]
+
 [[package]]
 name = "windows-targets"
 version = "0.42.2"
@@ -5254,6 +5846,21 @@ dependencies = [
  "windows_x86_64_msvc 0.48.5",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
+dependencies = [
+ "windows_aarch64_gnullvm 0.52.0",
+ "windows_aarch64_msvc 0.52.0",
+ "windows_i686_gnu 0.52.0",
+ "windows_i686_msvc 0.52.0",
+ "windows_x86_64_gnu 0.52.0",
+ "windows_x86_64_gnullvm 0.52.0",
+ "windows_x86_64_msvc 0.52.0",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.42.2"
@@ -5266,6 +5873,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.42.2"
@@ -5278,6 +5891,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.42.2"
@@ -5290,6 +5909,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.42.2"
@@ -5302,6 +5927,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ffe5e8e31046ce6230cc7215707b816e339ff4d4d67c65dffa206fd0f7aa7b9a"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.42.2"
@@ -5314,6 +5945,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6fa32db2bc4a2f5abeacf2b69f7992cd09dca97498da74a151a3132c26befd"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.42.2"
@@ -5326,6 +5963,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1a657e1e9d3f514745a572a6846d3c7aa7dbe1658c056ed9c3344c4109a6949e"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.42.2"
@@ -5338,6 +5981,12 @@ version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dff9641d1cd4be8d1a070daf9e3773c5f67e78b4d9d42263020c057706765c04"
+
 [[package]]
 name = "winit"
 version = "0.28.7"
@@ -5375,13 +6024,23 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.5.15"
+version = "0.5.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7c2e3184b9c4e92ad5167ca73039d0c42476302ab603e2fec4487511f38ccefc"
+checksum = "9b5c3db89721d50d0e2a673f5043fc4722f76dcc352d7b1ab8b8288bed4ed2c5"
 dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "winreg"
+version = "0.50.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "524e57b2c537c0f9b1e69f1965311ec12182b4122e45035b1508cd24d2adadb1"
+dependencies = [
+ "cfg-if",
+ "windows-sys 0.48.0",
+]
+
 [[package]]
 name = "x11-dl"
 version = "2.21.0"
@@ -5395,12 +6054,12 @@ dependencies = [
 
 [[package]]
 name = "x11rb"
-version = "0.10.1"
+version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "592b4883219f345e712b3209c62654ebda0bb50887f330cbd018d0f654bfd507"
+checksum = "b1641b26d4dec61337c35a1b1aaf9e3cba8f46f0b43636c609ab0291a648040a"
 dependencies = [
  "gethostname",
- "nix 0.24.3",
+ "nix 0.26.4",
  "winapi",
  "winapi-wsapoll",
  "x11rb-protocol",
@@ -5408,21 +6067,18 @@ dependencies = [
 
 [[package]]
 name = "x11rb-protocol"
-version = "0.10.0"
+version = "0.12.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "56b245751c0ac9db0e006dc812031482784e434630205a93c73cfefcaabeac67"
+checksum = "82d6c3f9a0fb6701fab8f6cea9b0c0bd5d6876f1f89f7fada07e558077c344bc"
 dependencies = [
- "nix 0.24.3",
+ "nix 0.26.4",
 ]
 
 [[package]]
 name = "xcursor"
-version = "0.3.4"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "463705a63313cd4301184381c5e8042f0a7e9b4bb63653f216311d4ae74690b7"
-dependencies = [
- "nom",
-]
+checksum = "6a0ccd7b4a5345edfcd0c3535718a4e9ff7798ffc536bb5b5a0e26ff84732911"
 
 [[package]]
 name = "xdg-home"
@@ -5458,8 +6114,8 @@ dependencies = [
  "async-broadcast",
  "async-executor",
  "async-fs",
- "async-io",
- "async-lock",
+ "async-io 1.13.0",
+ "async-lock 2.8.0",
  "async-process",
  "async-recursion",
  "async-task",
@@ -5515,6 +6171,26 @@ dependencies = [
  "zvariant",
 ]
 
+[[package]]
+name = "zerocopy"
+version = "0.7.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1c4061bedbb353041c12f413700357bec76df2c7e2ca8e4df8bac24c6bf68e3d"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b3c129550b3e6de3fd0ba67ba5c81818f9805e58b8d7fee80a3a59d2c9fc601a"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.41",
+]
+
 [[package]]
 name = "zune-inflate"
 version = "0.2.54"
diff --git a/Cargo.toml b/Cargo.toml
index 99a20fc..70e34f8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -2,6 +2,7 @@
 resolver = "2"
 members = [
   "crates/aliveness",
+  "crates/approx_derive",
   "crates/audio",
   "crates/calibration",
   "crates/code_generation",
@@ -9,6 +10,7 @@ members = [
   "crates/constants",
   "crates/context_attribute",
   "crates/control",
+  "crates/coordinate_systems",
   "crates/filtering",
   "crates/framework",
   "crates/geometry",
@@ -30,6 +32,7 @@ members = [
   "crates/spl_network_messages",
   "crates/types",
   "crates/vision",
+  "tools/annotato",
   "tools/behavior_simulator",
   "tools/camera_matrix_extractor",
   "tools/depp",
@@ -40,12 +43,19 @@ members = [
   "tools/twix",
 ]
 # HuLA and Aliveness are built independently by yocto
-exclude = ["tools/aliveness", "tools/hula"]
+exclude = ["tools/aliveness", "tools/breeze", "tools/hula"]
+
+[workspace.package]
+version = "0.1.0"
+edition = "2021"
+license = "GPL-3.0-only"
+homepage = "https://github.com/hulks/hulk"
 
 [workspace.dependencies]
 aliveness = { path = "crates/aliveness" }
 alsa = "0.7.0"
 approx = "0.5.1"
+approx_derive = { path = "crates/approx_derive" }
 audio = { path = "crates/audio" }
 awaitgroup = "0.6.0"
 base64 = "0.21.0"
@@ -69,12 +79,12 @@ constants = { path = "crates/constants" }
 context_attribute = { path = "crates/context_attribute" }
 control = { path = "crates/control" }
 convert_case = "0.6.0"
+coordinate_systems = { path = "crates/coordinate_systems" }
 ctrlc = { version = "3.2.3", features = ["termination"] }
-eframe = { version = "0.22.0", features = ["persistence"] }
-egui_dock = { version = "0.6.1", git = "https://github.com/knoellle/egui_dock/", tag = "0.6.1", features = [
-  "serde",
-] }
-egui_extras = { version = "0.22.0", features = ["image"] }
+eframe = { version = "0.24.1", features = ["persistence"] }
+egui_dock = { version = "0.9.1", features = ["serde"] }
+egui_extras = { version = "0.24.2", features = ["image"] }
+egui_plot = "0.24.1"
 enum_dispatch = "0.3.11"
 enum-iterator = "1.4.1"
 fast_image_resize = "2.6.0"
@@ -96,6 +106,8 @@ indicatif = "0.17.2"
 itertools = "0.10.5"
 ittapi = "0.3.3"
 kinematics = { path = "crates/kinematics" }
+once_cell = "1.19.0"
+lazy_static = "1.4.0"
 levenberg-marquardt = "0.13.0"
 libc = "0.2.137"
 log = "0.4.17"
@@ -122,6 +134,7 @@ rand = "0.8.5"
 rand_distr = "0.4.3"
 regex = "1.6.0"
 repository = { path = "crates/repository" }
+reqwest = { version = "0.11.23", features = ["blocking"] }
 rustfft = "6.0.1"
 semver = "1.0.20"
 serde = { version = "1.0.145", features = ["derive", "rc"] }
@@ -144,7 +157,7 @@ threadbound = "0.1.6"
 tokio = { version = "1.21.2", features = ["full"] }
 tokio-tungstenite = "0.19.0"
 tokio-util = "0.7.4"
-toml = "0.7.4"
+toml = "0.8.8"
 topological-sort = "0.2.2"
 types = { path = "crates/types" }
 uuid = { version = "1.1.2", features = ["v4"] }
diff --git a/README.md b/README.md
index a808e19..2a26fee 100644
--- a/README.md
+++ b/README.md
@@ -1,18 +1,11 @@
-# Tamboerijn
+# HULK
 
-This repo contains the codebase for Rinobot-Jaguar. 
-It is based in the HULKs 2023 code release.
-
-In the future we will add PT-BR docs.
+This repository contains the robot control program and associated tools of the RoboCup SPL team HULKs.
 
 See https://hulks.de/hulk/ for our documentation.
 
 See https://hulks.de/ and https://hulks.de/publications/ for more information.
 
-_dont ask about the name_
-
-<img src="./etc/img/bisnaguinha.jpeg" alt="bisnaguinha" width="200"/>
-
 ## License
 
 Copyright (C) 2018-2023 HULKs e.V.
diff --git a/annotato.toml b/annotato.toml
new file mode 100644
index 0000000..fe5ba8a
--- /dev/null
+++ b/annotato.toml
@@ -0,0 +1,23 @@
+[remote]
+rsync_path = "rsync://10.1.24.185/labelparty/output"
+
+[leaderboard]
+enable = true
+host = "10.1.24.185:3000"
+githubname = ""
+
+[keybindings]
+next = { primary = "Space" }
+previous = { primary = "Space", modifiers = ["shift"] }
+edit = { primary = "Q" }
+zoom = { primary = "E" }
+draw = { primary = "B" }
+abort = { primary = "Escape" }
+
+select_ball = "Num1"
+select_robot = "Num2"
+select_goalpost = "Num3"
+select_penaltyspot = "Num4"
+select_xspot = "Num5"
+select_lspot = "Num6"
+select_tspot = "Num7"
diff --git a/crates/aliveness/Cargo.toml b/crates/aliveness/Cargo.toml
index 0fbaed0..29174aa 100644
--- a/crates/aliveness/Cargo.toml
+++ b/crates/aliveness/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "aliveness"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 futures-util = { workspace = true }
diff --git a/crates/approx_derive/Cargo.toml b/crates/approx_derive/Cargo.toml
new file mode 100644
index 0000000..a44b4e9
--- /dev/null
+++ b/crates/approx_derive/Cargo.toml
@@ -0,0 +1,15 @@
+[package]
+name = "approx_derive"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
+
+[dependencies]
+proc-macro-error = { workspace = true }
+proc-macro2 = { workspace = true }
+quote = { workspace = true }
+syn = { workspace = true }
+
+[lib]
+proc-macro = true
diff --git a/crates/approx_derive/src/lib.rs b/crates/approx_derive/src/lib.rs
new file mode 100644
index 0000000..f119c61
--- /dev/null
+++ b/crates/approx_derive/src/lib.rs
@@ -0,0 +1,136 @@
+use proc_macro2::TokenStream;
+use proc_macro_error::{abort, proc_macro_error, OptionExt, ResultExt};
+use quote::quote;
+use syn::{
+    parse_macro_input,
+    punctuated::{self},
+    Attribute, Data, DeriveInput, Lit, Meta, MetaNameValue, NestedMeta, Type,
+};
+
+#[proc_macro_derive(AbsDiffEq, attributes(abs_diff_eq))]
+#[proc_macro_error]
+pub fn abs_diff_eq(input: proc_macro::TokenStream) -> proc_macro::TokenStream {
+    let input = parse_macro_input!(input as DeriveInput);
+    generate_abs_diff_eq(input).into()
+}
+
+fn generate_abs_diff_eq(input: DeriveInput) -> TokenStream {
+    let fields = match input.data {
+        Data::Struct(data) => data.fields,
+        Data::Enum(data) => abort!(
+            data.enum_token,
+            "`AbsDiffEq` can only be derived for `struct`",
+        ),
+        Data::Union(data) => abort!(
+            data.union_token,
+            "`AbsDiffEq` can only be derived for `struct`",
+        ),
+    };
+    let epsilon = extract_epsilon(&input.attrs).expect_or_abort("`epsilon` not specified");
+    let name = input.ident;
+
+    let conditions = fields.into_iter().map(|field| {
+        let identifier = field
+            .ident
+            .clone()
+            .unwrap_or_else(|| abort!(field, "field has to be named"));
+        quote! {
+            self.#identifier.abs_diff_eq(&other.#identifier, epsilon)
+        }
+    });
+
+    quote! {
+        impl approx::AbsDiffEq for #name {
+            type Epsilon = #epsilon;
+
+            fn default_epsilon() -> Self::Epsilon {
+                Self::Epsilon::default_epsilon()
+            }
+
+            fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
+                #(#conditions)&&*
+            }
+        }
+    }
+}
+
+fn extract_epsilon(attrs: &[Attribute]) -> Option<Type> {
+    attrs
+        .iter()
+        .filter_map(parse_meta_items)
+        .flatten()
+        .find_map(|meta| match meta {
+            NestedMeta::Meta(Meta::NameValue(MetaNameValue { path, lit, .. }))
+                if path.is_ident("epsilon") =>
+            {
+                let string = match lit {
+                    Lit::Str(string) => string,
+                    _ => abort!(lit, "expected string literal"),
+                };
+                let epsilon = string
+                    .parse()
+                    .expect_or_abort("failed to parse epsilon type");
+                Some(epsilon)
+            }
+            _ => None,
+        })
+}
+
+fn parse_meta_items(attribute: &Attribute) -> Option<punctuated::IntoIter<NestedMeta>> {
+    if !attribute.path.is_ident("abs_diff_eq") {
+        return None;
+    }
+    match attribute.parse_meta() {
+        Ok(Meta::List(meta)) => Some(meta.nested.into_iter()),
+        Ok(other) => abort!(other, "expected `#[abs_diff_eq(...)]`",),
+        Err(error) => abort!(error.span(), error.to_string()),
+    }
+}
+
+#[proc_macro_derive(RelativeEq)]
+#[proc_macro_error]
+pub fn relative_eq(input: proc_macro::TokenStream) -> proc_macro::TokenStream {
+    let input = parse_macro_input!(input as DeriveInput);
+    generate_relative_eq(input).into()
+}
+
+fn generate_relative_eq(input: DeriveInput) -> TokenStream {
+    let fields = match input.data {
+        Data::Struct(data) => data.fields,
+        Data::Enum(data) => abort!(
+            data.enum_token,
+            "`RelativeEq` can only be derived for `struct`",
+        ),
+        Data::Union(data) => abort!(
+            data.union_token,
+            "`RelativeEq` can only be derived for `struct`",
+        ),
+    };
+    let name = input.ident;
+    let conditions = fields.into_iter().map(|field| {
+        let identifier = field
+            .ident
+            .clone()
+            .unwrap_or_else(|| abort!(field, "field has to be named"));
+        quote! {
+            self.#identifier.relative_eq(&other.#identifier, epsilon, max_relative)
+        }
+    });
+
+    quote! {
+        impl approx::RelativeEq for #name {
+            fn default_max_relative() -> Self::Epsilon {
+                Self::Epsilon::default_max_relative()
+            }
+
+            fn relative_eq(
+                &self,
+                other: &Self,
+                epsilon: Self::Epsilon,
+                max_relative: Self::Epsilon,
+            ) -> bool {
+                #(#conditions)&&*
+            }
+        }
+    }
+}
diff --git a/crates/audio/Cargo.toml b/crates/audio/Cargo.toml
index 9e652ec..b71d95b 100644
--- a/crates/audio/Cargo.toml
+++ b/crates/audio/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "audio"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/crates/calibration/Cargo.toml b/crates/calibration/Cargo.toml
index c785f55..68bdbbf 100644
--- a/crates/calibration/Cargo.toml
+++ b/crates/calibration/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "calibration"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 levenberg-marquardt = { workspace = true }
diff --git a/crates/code_generation/Cargo.toml b/crates/code_generation/Cargo.toml
index 7692b33..81e88c8 100644
--- a/crates/code_generation/Cargo.toml
+++ b/crates/code_generation/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "code_generation"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 thiserror = { workspace = true }
diff --git a/crates/code_generation/src/run.rs b/crates/code_generation/src/run.rs
index 314caee..b46f565 100644
--- a/crates/code_generation/src/run.rs
+++ b/crates/code_generation/src/run.rs
@@ -119,10 +119,17 @@ fn generate_future_queues(cyclers: &Cyclers) -> TokenStream {
 fn generate_recording_thread(cyclers: &Cyclers) -> TokenStream {
     let file_creations = cyclers.instances().map(|(_cycler, instance)| {
         let instance_name_snake_case = format_ident!("{}", instance.to_case(Case::Snake));
-        let recording_file_path = format!("logs/{instance}.{{seconds}}.bincode");
-        let error_message = format!("failed to create recording file for {instance}");
+        let recording_file_name = format!("{instance}.{{seconds}}.bincode");
+        let error_message_file = format!("failed to create recording file for {instance}");
+
         quote! {
-            let mut #instance_name_snake_case = std::io::BufWriter::new(std::fs::File::create(format!(#recording_file_path)).wrap_err(#error_message)?); // TODO: possible optimization: buffer size
+            let recording_file_path = std::path::Path::new("logs").join(format!(#recording_file_name));
+            std::fs::create_dir_all(
+                recording_file_path.parent()
+                    .expect("recording file path has no parent directory")
+            ).wrap_err("failed to create logs folder")?;
+
+            let mut #instance_name_snake_case = std::io::BufWriter::new(std::fs::File::create(recording_file_path).wrap_err(#error_message_file)?); // TODO: possible optimization: buffer size
         }
     });
     let frame_writes = cyclers.instances().map(|(_cycler, instance)| {
diff --git a/crates/communication/Cargo.toml b/crates/communication/Cargo.toml
index c7a88ef..650abe1 100644
--- a/crates/communication/Cargo.toml
+++ b/crates/communication/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "communication"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 bincode = { workspace = true }
diff --git a/crates/constants/Cargo.toml b/crates/constants/Cargo.toml
index 757501e..43cb623 100644
--- a/crates/constants/Cargo.toml
+++ b/crates/constants/Cargo.toml
@@ -1,8 +1,11 @@
 [package]
 name = "constants"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
+lazy_static = {workspace = true}
+serde = {workspace = true}
+serde_json = {workspace = true}
diff --git a/crates/constants/src/lib.rs b/crates/constants/src/lib.rs
index 2dd9f53..0762f86 100644
--- a/crates/constants/src/lib.rs
+++ b/crates/constants/src/lib.rs
@@ -1,7 +1,23 @@
+use lazy_static::lazy_static;
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct HardwareId {
+    pub body_id: String,
+    pub head_id: String,
+}
+
 pub const HULA_DBUS_INTERFACE: &str = "org.hulks.hula";
 pub const HULA_DBUS_PATH: &str = "/org/hulks/HuLA";
 pub const HULA_DBUS_SERVICE: &str = "org.hulks.hula";
 pub const HULA_SOCKET_PATH: &str = "/tmp/hula";
 pub const OS_RELEASE_PATH: &str = "/etc/os-release";
-pub const OS_VERSION: &str = "5.9.0";
+pub const OS_VERSION: &str = "5.9.1";
 pub const SDK_VERSION: &str = "5.9.0";
+lazy_static! {
+    pub static ref HARDWARE_IDS: HashMap<u8, HardwareId> = {
+        let content = include_str!("../../../etc/parameters/hardware_ids.json");
+        serde_json::from_str(content).unwrap()
+    };
+}
diff --git a/crates/context_attribute/Cargo.toml b/crates/context_attribute/Cargo.toml
index 7439990..62a36e2 100644
--- a/crates/context_attribute/Cargo.toml
+++ b/crates/context_attribute/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "context_attribute"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 proc-macro-error = { workspace = true }
diff --git a/crates/control/Cargo.toml b/crates/control/Cargo.toml
index 2497bf9..6bcb653 100644
--- a/crates/control/Cargo.toml
+++ b/crates/control/Cargo.toml
@@ -1,15 +1,16 @@
 [package]
 name = "control"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 approx = { workspace = true }
 bincode = { workspace = true }
 color-eyre = { workspace = true }
 context_attribute = { workspace = true }
+coordinate_systems = { workspace = true }
 filtering = { workspace = true }
 framework = { workspace = true }
 geometry = { workspace = true }
diff --git a/crates/control/src/ball_state_composer.rs b/crates/control/src/ball_state_composer.rs
index ba73878..84b2784 100644
--- a/crates/control/src/ball_state_composer.rs
+++ b/crates/control/src/ball_state_composer.rs
@@ -9,8 +9,9 @@ use serde::{Deserialize, Serialize};
 use spl_network_messages::{SubState, Team};
 use types::{
     ball_position::BallPosition, cycle_time::CycleTime, field_dimensions::FieldDimensions,
-    game_controller_state::GameControllerState, penalty_shot_direction::PenaltyShotDirection,
-    primary_state::PrimaryState, support_foot::Side, world_state::BallState,
+    filtered_game_controller_state::FilteredGameControllerState,
+    penalty_shot_direction::PenaltyShotDirection, primary_state::PrimaryState, support_foot::Side,
+    world_state::BallState,
 };
 
 #[derive(Deserialize, Serialize)]
@@ -29,7 +30,8 @@ pub struct CycleContext {
     robot_to_field: Input<Option<Isometry2<f32>>, "robot_to_field?">,
     team_ball: Input<Option<BallPosition>, "team_ball?">,
     primary_state: Input<PrimaryState, "primary_state">,
-    game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     field_dimensions: Parameter<FieldDimensions, "field_dimensions">,
 }
 
@@ -75,12 +77,12 @@ impl BallStateComposer {
         let rule_ball = match (
             context.primary_state,
             context.robot_to_field,
-            context.game_controller_state,
+            context.filtered_game_controller_state,
         ) {
             (
                 PrimaryState::Ready,
                 Some(robot_to_field),
-                Some(GameControllerState {
+                Some(FilteredGameControllerState {
                     sub_state: Some(SubState::PenaltyKick),
                     kicking_team,
                     ..
diff --git a/crates/control/src/behavior/calibrate.rs b/crates/control/src/behavior/calibrate.rs
index a20035a..d671879 100644
--- a/crates/control/src/behavior/calibrate.rs
+++ b/crates/control/src/behavior/calibrate.rs
@@ -6,10 +6,7 @@ use types::{
 
 pub fn execute(world_state: &WorldState) -> Option<MotionCommand> {
     match world_state.robot.primary_state {
-        PrimaryState::Calibration => Some(MotionCommand::Stand {
-            head: Unstiff,
-            is_energy_saving: false,
-        }),
+        PrimaryState::Calibration => Some(MotionCommand::Stand { head: Unstiff }),
         _ => None,
     }
 }
diff --git a/crates/control/src/behavior/defend.rs b/crates/control/src/behavior/defend.rs
index 4541f3c..6920340 100644
--- a/crates/control/src/behavior/defend.rs
+++ b/crates/control/src/behavior/defend.rs
@@ -6,7 +6,7 @@ use nalgebra::{distance, point, vector, Isometry2, Point2};
 use spl_network_messages::{GamePhase, SubState, Team};
 use types::{
     field_dimensions::FieldDimensions,
-    game_controller_state::GameControllerState,
+    filtered_game_controller_state::FilteredGameControllerState,
     line::Line,
     motion_command::MotionCommand,
     parameters::RolePositionsParameters,
@@ -116,7 +116,7 @@ fn defend_left_pose(
     };
     distance_to_target = penalty_kick_defender_radius(
         distance_to_target,
-        world_state.game_controller_state,
+        world_state.filtered_game_controller_state,
         field_dimensions,
     );
     let defend_pose = block_on_circle(ball.ball_in_field, position_to_defend, distance_to_target);
@@ -145,7 +145,7 @@ fn defend_right_pose(
     };
     distance_to_target = penalty_kick_defender_radius(
         distance_to_target,
-        world_state.game_controller_state,
+        world_state.filtered_game_controller_state,
         field_dimensions,
     );
     let defend_pose = block_on_circle(ball.ball_in_field, position_to_defend, distance_to_target);
@@ -174,7 +174,7 @@ fn defend_penalty_kick(
     };
     distance_to_target = penalty_kick_defender_radius(
         distance_to_target,
-        world_state.game_controller_state,
+        world_state.filtered_game_controller_state,
         field_dimensions,
     );
 
@@ -193,16 +193,16 @@ fn defend_goal_pose(
         .or(world_state.ball)
         .unwrap_or_else(|| BallState::new_at_center(robot_to_field));
 
-    let keeper_x_offset = match world_state.game_controller_state {
+    let keeper_x_offset = match world_state.filtered_game_controller_state {
         Some(
-            GameControllerState {
+            FilteredGameControllerState {
                 game_phase:
                     GamePhase::PenaltyShootout {
                         kicking_team: Team::Opponent,
                     },
                 ..
             }
-            | GameControllerState {
+            | FilteredGameControllerState {
                 sub_state: Some(SubState::PenaltyKick),
                 kicking_team: Team::Opponent,
                 ..
@@ -295,14 +295,14 @@ fn block_on_line(
 
 fn penalty_kick_defender_radius(
     distance_to_target: f32,
-    game_controller_state: Option<GameControllerState>,
+    filtered_game_controller_state: Option<FilteredGameControllerState>,
     field_dimensions: &FieldDimensions,
 ) -> f32 {
-    if let Some(GameControllerState {
+    if let Some(FilteredGameControllerState {
         kicking_team: Team::Opponent,
         sub_state: Some(SubState::PenaltyKick),
         ..
-    }) = game_controller_state
+    }) = filtered_game_controller_state
     {
         let half_penalty_width = field_dimensions.penalty_area_width / 2.0;
         let minimum_penalty_defender_radius =
diff --git a/crates/control/src/behavior/dribble.rs b/crates/control/src/behavior/dribble.rs
index 1fdf164..ab4b783 100644
--- a/crates/control/src/behavior/dribble.rs
+++ b/crates/control/src/behavior/dribble.rs
@@ -43,12 +43,7 @@ pub fn execute(
 
     let best_kick_decision = match kick_decisions.first() {
         Some(decision) => decision,
-        None => {
-            return Some(MotionCommand::Stand {
-                head,
-                is_energy_saving: false,
-            })
-        }
+        None => return Some(MotionCommand::Stand { head }),
     };
 
     let best_pose = best_kick_decision.kick_pose;
@@ -70,10 +65,7 @@ pub fn execute(
         Some(path) => {
             Some(walk_path_planner.walk_with_obstacle_avoiding_arms(head, orientation_mode, path))
         }
-        None => Some(MotionCommand::Stand {
-            head,
-            is_energy_saving: false,
-        }),
+        None => Some(MotionCommand::Stand { head }),
     }
 }
 
diff --git a/crates/control/src/behavior/intercept_ball.rs b/crates/control/src/behavior/intercept_ball.rs
index 0c6d6d5..579800b 100644
--- a/crates/control/src/behavior/intercept_ball.rs
+++ b/crates/control/src/behavior/intercept_ball.rs
@@ -2,8 +2,8 @@ use geometry::line_segment::LineSegment;
 use nalgebra::{Isometry2, Point2, UnitComplex};
 use spl_network_messages::{GamePhase, SubState};
 use types::{
+    filtered_game_controller_state::FilteredGameControllerState,
     filtered_game_state::FilteredGameState,
-    game_controller_state::GameControllerState,
     line::Line,
     motion_command::{HeadMotion, MotionCommand, OrientationMode},
     parameters::InterceptBallParameters,
@@ -18,25 +18,32 @@ pub fn execute(
     maximum_step_size: Step,
 ) -> Option<MotionCommand> {
     if let Some(
-        GameControllerState {
+        FilteredGameControllerState {
             game_phase: GamePhase::PenaltyShootout { .. },
             ..
         }
-        | GameControllerState {
+        | FilteredGameControllerState {
             sub_state: Some(SubState::PenaltyKick),
             ..
         },
-    ) = world_state.game_controller_state
+    ) = world_state.filtered_game_controller_state
     {
         return None;
     }
+
+    let filtered_game_state = world_state
+        .filtered_game_controller_state
+        .map(|filtered_game_controller_state| filtered_game_controller_state.game_state);
     match (
-        world_state.filtered_game_state,
+        filtered_game_state,
         world_state.ball,
         world_state.robot.robot_to_field,
     ) {
         (
-            Some(FilteredGameState::Playing { ball_is_free: true }) | None,
+            Some(FilteredGameState::Playing {
+                ball_is_free: true, ..
+            })
+            | None,
             Some(ball),
             Some(robot_to_field),
         ) => {
diff --git a/crates/control/src/behavior/look_around.rs b/crates/control/src/behavior/look_around.rs
index 0a33a92..3f05982 100644
--- a/crates/control/src/behavior/look_around.rs
+++ b/crates/control/src/behavior/look_around.rs
@@ -1,16 +1,16 @@
 use spl_network_messages::GamePhase;
 use types::{
-    game_controller_state::GameControllerState, motion_command::MotionCommand,
+    filtered_game_controller_state::FilteredGameControllerState, motion_command::MotionCommand,
     primary_state::PrimaryState, world_state::WorldState,
 };
 
 pub fn execute(world_state: &WorldState) -> Option<MotionCommand> {
     match (
-        world_state.game_controller_state,
+        world_state.filtered_game_controller_state,
         world_state.robot.primary_state,
     ) {
         (
-            Some(GameControllerState {
+            Some(FilteredGameControllerState {
                 game_phase: GamePhase::PenaltyShootout { .. },
                 ..
             }),
@@ -18,7 +18,6 @@ pub fn execute(world_state: &WorldState) -> Option<MotionCommand> {
         ) => None,
         (_, PrimaryState::Ready | PrimaryState::Playing) => Some(MotionCommand::Stand {
             head: types::motion_command::HeadMotion::LookAround,
-            is_energy_saving: false,
         }),
         _ => None,
     }
diff --git a/crates/control/src/behavior/lost_ball.rs b/crates/control/src/behavior/lost_ball.rs
index 2cf8c99..94e1a5d 100644
--- a/crates/control/src/behavior/lost_ball.rs
+++ b/crates/control/src/behavior/lost_ball.rs
@@ -1,3 +1,4 @@
+use coordinate_systems::{IntoFramed, IntoTransform};
 use framework::AdditionalOutput;
 use geometry::look_at::LookAt;
 use nalgebra::Point2;
@@ -18,16 +19,26 @@ pub fn execute(
     lost_ball_parameters: &LostBallParameters,
     path_obstacles_output: &mut AdditionalOutput<Vec<PathObstacle>>,
 ) -> Option<MotionCommand> {
-    let robot_to_field = world_state.robot.robot_to_field?;
+    struct Robot;
+    struct Field;
+
+    let robot_to_field = world_state
+        .robot
+        .robot_to_field?
+        .framed_transform::<Robot, Field>();
+    let absolute_last_known_ball_position = absolute_last_known_ball_position.framed();
+    let offset_to_last_ball_location = lost_ball_parameters.offset_to_last_ball_location.framed();
     let walk_target = robot_to_field.inverse()
-        * (absolute_last_known_ball_position - lost_ball_parameters.offset_to_last_ball_location);
+        * (absolute_last_known_ball_position - offset_to_last_ball_location);
     let relative_last_known_ball_position =
         robot_to_field.inverse() * absolute_last_known_ball_position;
 
-    let orientation = Point2::origin().look_at(&relative_last_known_ball_position);
+    let orientation = Point2::origin()
+        .framed()
+        .look_at(&relative_last_known_ball_position);
     let path = walk_path_planner.plan(
-        walk_target,
-        robot_to_field,
+        walk_target.inner,
+        robot_to_field.inner,
         None,
         1.0,
         &world_state.obstacles,
@@ -36,7 +47,7 @@ pub fn execute(
     );
     Some(walk_path_planner.walk_with_obstacle_avoiding_arms(
         HeadMotion::SearchForLostBall,
-        OrientationMode::Override(orientation),
+        OrientationMode::Override(orientation.inner),
         path,
     ))
 }
diff --git a/crates/control/src/behavior/node.rs b/crates/control/src/behavior/node.rs
index e38cfcf..6669ff3 100644
--- a/crates/control/src/behavior/node.rs
+++ b/crates/control/src/behavior/node.rs
@@ -5,13 +5,13 @@ use context_attribute::context;
 use framework::{AdditionalOutput, MainOutput};
 use nalgebra::{point, Point2, Vector2};
 use serde::{Deserialize, Serialize};
-use spl_network_messages::{GamePhase, GameState, SubState, Team};
+use spl_network_messages::{GamePhase, SubState, Team};
 use types::{
     action::Action,
     cycle_time::CycleTime,
     field_dimensions::FieldDimensions,
+    filtered_game_controller_state::FilteredGameControllerState,
     filtered_game_state::FilteredGameState,
-    game_controller_state::GameControllerState,
     motion_command::MotionCommand,
     parameters::{
         BehaviorParameters, InWalkKicksParameters, InterceptBallParameters, LostBallParameters,
@@ -127,11 +127,15 @@ impl Behavior {
             }
         }
 
+        let filtered_game_state = world_state
+            .filtered_game_controller_state
+            .map(|filtered_game_controller_state| filtered_game_controller_state.game_state);
+
         match world_state.robot.role {
             Role::DefenderLeft => actions.push(Action::DefendLeft),
             Role::DefenderRight => actions.push(Action::DefendRight),
-            Role::Keeper => match world_state.game_controller_state {
-                Some(GameControllerState {
+            Role::Keeper => match world_state.filtered_game_controller_state {
+                Some(FilteredGameControllerState {
                     game_phase: GamePhase::PenaltyShootout { .. },
                     ..
                 }) => {
@@ -145,22 +149,25 @@ impl Behavior {
             Role::MidfielderRight => actions.push(Action::SupportRight),
             Role::ReplacementKeeper => actions.push(Action::DefendGoal),
             Role::Searcher => actions.push(Action::Search),
-            Role::Striker => match world_state.filtered_game_state {
-                None | Some(FilteredGameState::Playing { ball_is_free: true }) => {
+            Role::Striker => match filtered_game_state {
+                None
+                | Some(FilteredGameState::Playing {
+                    ball_is_free: true, ..
+                }) => {
                     actions.push(Action::Dribble);
                 }
                 Some(FilteredGameState::Ready {
                     kicking_team: Team::Hulks,
-                }) => match world_state.game_controller_state {
-                    Some(GameControllerState {
+                }) => match world_state.filtered_game_controller_state {
+                    Some(FilteredGameControllerState {
                         sub_state: Some(SubState::PenaltyKick),
                         ..
                     }) => actions.push(Action::WalkToPenaltyKick),
                     _ => actions.push(Action::WalkToKickOff),
                 },
-                _ => match world_state.game_controller_state {
-                    Some(GameControllerState {
-                        game_state: GameState::Ready,
+                _ => match world_state.filtered_game_controller_state {
+                    Some(FilteredGameControllerState {
+                        game_state: FilteredGameState::Ready { .. },
                         sub_state: Some(SubState::PenaltyKick),
                         kicking_team: Team::Opponent,
                         ..
diff --git a/crates/control/src/behavior/search.rs b/crates/control/src/behavior/search.rs
index 896c9c3..07dc129 100644
--- a/crates/control/src/behavior/search.rs
+++ b/crates/control/src/behavior/search.rs
@@ -99,7 +99,7 @@ fn assign_search_role(world_state: &WorldState) -> Option<SearchRole> {
     ]
     .into_iter();
     let penalties = world_state
-        .game_controller_state
+        .filtered_game_controller_state
         .map(|state| state.penalties)?;
     let available_players = penalties
         .iter()
diff --git a/crates/control/src/behavior/stand.rs b/crates/control/src/behavior/stand.rs
index 3096ca0..f4462d9 100644
--- a/crates/control/src/behavior/stand.rs
+++ b/crates/control/src/behavior/stand.rs
@@ -2,7 +2,7 @@ use nalgebra::{point, Point2};
 use spl_network_messages::{GamePhase, SubState, Team};
 use types::{
     field_dimensions::FieldDimensions,
-    game_controller_state::GameControllerState,
+    filtered_game_controller_state::FilteredGameControllerState,
     motion_command::{HeadMotion, MotionCommand},
     primary_state::PrimaryState,
     roles::Role,
@@ -16,12 +16,11 @@ pub fn execute(
     match world_state.robot.primary_state {
         PrimaryState::Initial => Some(MotionCommand::Stand {
             head: HeadMotion::ZeroAngles,
-            is_energy_saving: true,
         }),
         PrimaryState::Set => {
             let robot_to_field = world_state.robot.robot_to_field?;
-            let fallback_target = match world_state.game_controller_state {
-                Some(GameControllerState {
+            let fallback_target = match world_state.filtered_game_controller_state {
+                Some(FilteredGameControllerState {
                     sub_state: Some(SubState::PenaltyKick),
                     kicking_team,
                     ..
@@ -46,17 +45,16 @@ pub fn execute(
                     target,
                     camera: None,
                 },
-                is_energy_saving: true,
             })
         }
         PrimaryState::Playing => {
             match (
-                world_state.game_controller_state,
+                world_state.filtered_game_controller_state,
                 world_state.robot.role,
                 world_state.ball,
             ) {
                 (
-                    Some(GameControllerState {
+                    Some(FilteredGameControllerState {
                         game_phase: GamePhase::PenaltyShootout { .. },
                         ..
                     }),
@@ -64,7 +62,6 @@ pub fn execute(
                     None,
                 ) => Some(MotionCommand::Stand {
                     head: HeadMotion::Center,
-                    is_energy_saving: true,
                 }),
                 _ => None,
             }
diff --git a/crates/control/src/behavior/support.rs b/crates/control/src/behavior/support.rs
index 14f5f66..6d84434 100644
--- a/crates/control/src/behavior/support.rs
+++ b/crates/control/src/behavior/support.rs
@@ -56,10 +56,15 @@ fn support_pose(
         Side::Right => FRAC_PI_4,
     }) * -(Vector2::x() * distance_to_ball);
     let supporting_position = ball.ball_in_field + offset_vector;
-    let clamped_x = match world_state.filtered_game_state {
+
+    let filtered_game_state = world_state
+        .filtered_game_controller_state
+        .map(|filtered_game_controller_state| filtered_game_controller_state.game_state);
+    let clamped_x = match filtered_game_state {
         Some(FilteredGameState::Ready { .. })
         | Some(FilteredGameState::Playing {
             ball_is_free: false,
+            ..
         }) => supporting_position.x.clamp(
             minimum_x.min(maximum_x_in_ready_and_when_ball_is_not_free),
             minimum_x.max(maximum_x_in_ready_and_when_ball_is_not_free),
diff --git a/crates/control/src/behavior/walk_to_pose.rs b/crates/control/src/behavior/walk_to_pose.rs
index 9d93537..eea76d8 100644
--- a/crates/control/src/behavior/walk_to_pose.rs
+++ b/crates/control/src/behavior/walk_to_pose.rs
@@ -180,10 +180,7 @@ impl<'cycle> WalkAndStand<'cycle> {
         );
 
         if is_reached {
-            Some(MotionCommand::Stand {
-                head,
-                is_energy_saving: true,
-            })
+            Some(MotionCommand::Stand { head })
         } else {
             let path = self.walk_path_planner.plan(
                 target_pose * Point2::origin(),
diff --git a/crates/control/src/dribble_path_planner.rs b/crates/control/src/dribble_path_planner.rs
index 0da1e93..d5b1e69 100644
--- a/crates/control/src/dribble_path_planner.rs
+++ b/crates/control/src/dribble_path_planner.rs
@@ -3,7 +3,7 @@ use nalgebra::Point2;
 use spl_network_messages::Team;
 use std::f32::consts::PI;
 use types::{
-    game_controller_state::GameControllerState, parameters::DribblingParameters,
+    filtered_game_controller_state::FilteredGameControllerState, parameters::DribblingParameters,
     path_obstacles::PathObstacle, planned_path::PathSegment, world_state::WorldState,
 };
 
@@ -50,8 +50,8 @@ pub fn plan(
     };
 
     let rule_obstacles = if matches!(
-        world_state.game_controller_state,
-        Some(GameControllerState {
+        world_state.filtered_game_controller_state,
+        Some(FilteredGameControllerState {
             kicking_team: Team::Hulks,
             ..
         })
diff --git a/crates/control/src/fake_data.rs b/crates/control/src/fake_data.rs
index c176fef..6002b05 100644
--- a/crates/control/src/fake_data.rs
+++ b/crates/control/src/fake_data.rs
@@ -10,7 +10,7 @@ use types::{
     ball_position::BallPosition,
     cycle_time::CycleTime,
     fall_state::FallState,
-    filtered_game_state::FilteredGameState,
+    filtered_whistle::FilteredWhistle,
     game_controller_state::GameControllerState,
     joints::head::HeadJoints,
     obstacles::Obstacle,
@@ -44,7 +44,7 @@ pub struct MainOutputs {
     pub ball_position: MainOutput<Option<BallPosition>>,
     pub cycle_time: MainOutput<CycleTime>,
     pub fall_state: MainOutput<FallState>,
-    pub filtered_game_state: MainOutput<Option<FilteredGameState>>,
+    pub filtered_whistle: MainOutput<FilteredWhistle>,
     pub game_controller_state: MainOutput<Option<GameControllerState>>,
     pub has_ground_contact: MainOutput<bool>,
     pub hulk_messages: MainOutput<Vec<HulkMessage>>,
diff --git a/crates/control/src/game_state_filter.rs b/crates/control/src/game_controller_state_filter.rs
similarity index 65%
rename from crates/control/src/game_state_filter.rs
rename to crates/control/src/game_controller_state_filter.rs
index 396d617..11e1794 100644
--- a/crates/control/src/game_state_filter.rs
+++ b/crates/control/src/game_controller_state_filter.rs
@@ -8,12 +8,12 @@ use serde::{Deserialize, Serialize};
 use spl_network_messages::{GamePhase, GameState, Team};
 use types::{
     ball_position::BallPosition, cycle_time::CycleTime, field_dimensions::FieldDimensions,
+    filtered_game_controller_state::FilteredGameControllerState,
     filtered_game_state::FilteredGameState, filtered_whistle::FilteredWhistle,
     game_controller_state::GameControllerState, parameters::GameStateFilterParameters,
 };
-
 #[derive(Deserialize, Serialize)]
-pub struct GameStateFilter {
+pub struct GameControllerStateFilter {
     state: State,
     opponent_state: State,
 }
@@ -35,13 +35,11 @@ pub struct CycleContext {
 }
 
 #[context]
-#[derive(Default)]
 pub struct MainOutputs {
-    pub filtered_game_state: MainOutput<Option<FilteredGameState>>,
-    pub filtered_opponent_game_state: MainOutput<Option<FilteredGameState>>,
+    pub filtered_game_controller_state: MainOutput<Option<FilteredGameControllerState>>,
 }
 
-impl GameStateFilter {
+impl GameControllerStateFilter {
     pub fn new(_context: CreationContext) -> Result<Self> {
         Ok(Self {
             state: State::Initial,
@@ -50,59 +48,101 @@ impl GameStateFilter {
     }
 
     pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
-        let ball_detected_far_from_any_goal = ball_detected_far_from_any_goal(
+        let game_states = filter_game_states(
             *context.robot_to_field,
             context.ball_position,
             context.field_dimensions,
-            context.config.whistle_acceptance_goal_distance,
-        );
-
-        self.state = next_filtered_state(
-            self.state,
-            context.game_controller_state,
-            context.filtered_whistle.is_detected,
-            context.cycle_time.start_time,
             context.config,
-            ball_detected_far_from_any_goal,
-        );
-
-        self.opponent_state = next_filtered_state(
-            self.opponent_state,
             context.game_controller_state,
-            context.filtered_whistle.is_detected,
-            context.cycle_time.start_time,
-            context.config,
-            ball_detected_far_from_any_goal,
+            context.filtered_whistle,
+            context.cycle_time,
+            self.state,
+            self.opponent_state,
         );
+        let filtered_game_controller_state = FilteredGameControllerState {
+            game_state: game_states.own,
+            opponent_game_state: game_states.opponent,
+            game_phase: context.game_controller_state.game_phase,
+            kicking_team: context.game_controller_state.kicking_team,
+            penalties: context.game_controller_state.penalties,
+            remaining_number_of_messages: context
+                .game_controller_state
+                .remaining_amount_of_messages,
+            sub_state: context.game_controller_state.sub_state,
+            own_team_is_home_after_coin_toss: context
+                .game_controller_state
+                .hulks_team_is_home_after_coin_toss,
+        };
+        Ok(MainOutputs {
+            filtered_game_controller_state: Some(filtered_game_controller_state).into(),
+        })
+    }
+}
 
-        let ball_detected_far_from_kick_off_point = context
-            .ball_position
-            .map(|ball| {
-                let absolute_ball_position = *context.robot_to_field * ball.position;
-                distance(&absolute_ball_position, &Point2::origin())
-                    > context.config.distance_to_consider_ball_moved_in_kick_off
-            })
-            .unwrap_or(false);
+struct FilteredGameStates {
+    own: FilteredGameState,
+    opponent: FilteredGameState,
+}
 
-        let filtered_game_state = self.state.construct_hulks_filtered_game_state(
-            context.game_controller_state,
-            context.cycle_time.start_time,
-            ball_detected_far_from_kick_off_point,
-            context.config,
-        );
+#[allow(clippy::too_many_arguments)]
+fn filter_game_states(
+    robot_to_field: Isometry2<f32>,
+    ball_position: Option<&BallPosition>,
+    field_dimensions: &FieldDimensions,
+    config: &GameStateFilterParameters,
+    game_controller_state: &GameControllerState,
+    filtered_whistle: &FilteredWhistle,
+    cycle_time: &CycleTime,
+    state: State,
+    opponent_state: State,
+) -> FilteredGameStates {
+    let ball_detected_far_from_any_goal = ball_detected_far_from_any_goal(
+        robot_to_field,
+        ball_position,
+        field_dimensions,
+        config.whistle_acceptance_goal_distance,
+    );
+    let state = next_filtered_state(
+        state,
+        game_controller_state,
+        filtered_whistle.is_detected,
+        cycle_time.start_time,
+        config,
+        ball_detected_far_from_any_goal,
+    );
+    let opponent_state = next_filtered_state(
+        opponent_state,
+        game_controller_state,
+        filtered_whistle.is_detected,
+        cycle_time.start_time,
+        config,
+        ball_detected_far_from_any_goal,
+    );
+    let ball_detected_far_from_kick_off_point = ball_position
+        .map(|ball| {
+            let absolute_ball_position = robot_to_field * ball.position;
+            distance(&absolute_ball_position, &Point2::origin())
+                > config.distance_to_consider_ball_moved_in_kick_off
+        })
+        .unwrap_or(false);
 
-        let filtered_opponent_game_state =
-            self.opponent_state.construct_opponent_filtered_game_state(
-                context.game_controller_state,
-                context.cycle_time.start_time,
-                ball_detected_far_from_kick_off_point,
-                context.config,
-            );
+    let filtered_game_state = state.construct_hulks_filtered_game_state(
+        game_controller_state,
+        cycle_time.start_time,
+        ball_detected_far_from_kick_off_point,
+        config,
+    );
 
-        Ok(MainOutputs {
-            filtered_game_state: Some(filtered_game_state).into(),
-            filtered_opponent_game_state: Some(filtered_opponent_game_state).into(),
-        })
+    let filtered_opponent_game_state = opponent_state.construct_opponent_filtered_game_state(
+        game_controller_state,
+        cycle_time.start_time,
+        ball_detected_far_from_kick_off_point,
+        config,
+    );
+
+    FilteredGameStates {
+        own: filtered_game_state,
+        opponent: filtered_opponent_game_state,
     }
 }
 
@@ -116,23 +156,43 @@ fn next_filtered_state(
     ball_detected_far_from_any_goal: bool,
 ) -> State {
     match (current_state, game_controller_state.game_state) {
-        (State::Initial | State::Ready | State::Finished, _)
-        | (
-            State::Set,
-            GameState::Initial | GameState::Ready | GameState::Playing | GameState::Finished,
-        )
+        (State::Finished, _) => State::Finished,
+
+        (
+            State::TentativeFinished {
+                time_when_finished_clicked,
+            },
+            GameState::Finished,
+        ) if cycle_start_time
+            .duration_since(time_when_finished_clicked)
+            .unwrap()
+            >= config.tentative_finish_duration =>
+        {
+            State::Finished
+        }
+        (
+            State::TentativeFinished {
+                time_when_finished_clicked,
+            },
+            GameState::Finished,
+        ) => State::TentativeFinished {
+            time_when_finished_clicked,
+        },
+        (State::TentativeFinished { .. }, game_state) => State::from_game_state(game_state),
+        (_, GameState::Finished) => State::TentativeFinished {
+            time_when_finished_clicked: cycle_start_time,
+        },
+        (State::Initial | State::Ready, _)
+        | (State::Set, GameState::Initial | GameState::Ready | GameState::Playing)
         | (
             State::WhistleInSet { .. },
-            GameState::Initial | GameState::Ready | GameState::Playing | GameState::Finished,
-        )
-        | (
-            State::Playing,
-            GameState::Initial | GameState::Ready | GameState::Set | GameState::Finished,
+            GameState::Initial | GameState::Ready | GameState::Playing,
         )
+        | (State::Playing, GameState::Initial | GameState::Ready | GameState::Set)
         | (
             State::WhistleInPlaying { .. },
-            GameState::Initial | GameState::Ready | GameState::Set | GameState::Finished,
-        ) => State::from_game_controller(game_controller_state),
+            GameState::Initial | GameState::Ready | GameState::Set,
+        ) => State::from_game_state(game_controller_state.game_state),
         (State::Set, GameState::Set) => {
             if is_whistle_detected {
                 State::WhistleInSet {
@@ -231,12 +291,15 @@ enum State {
     WhistleInPlaying {
         time_when_whistle_was_detected: SystemTime,
     },
+    TentativeFinished {
+        time_when_finished_clicked: SystemTime,
+    },
     Finished,
 }
 
 impl State {
-    fn from_game_controller(game_controller_state: &GameControllerState) -> Self {
-        match game_controller_state.game_state {
+    fn from_game_state(game_state: GameState) -> Self {
+        match game_state {
             GameState::Initial => State::Initial,
             GameState::Ready => State::Ready,
             GameState::Set => State::Set,
@@ -312,10 +375,12 @@ impl State {
                 let opponent_sub_state = opponent_is_kicking_team && is_in_sub_state;
                 FilteredGameState::Playing {
                     ball_is_free: !opponent_kick_off && !opponent_sub_state,
+                    kick_off: !is_in_sub_state,
                 }
             }
             State::Playing => FilteredGameState::Playing {
                 ball_is_free: !(is_in_sub_state && opponent_is_kicking_team),
+                kick_off: false,
             },
             State::WhistleInPlaying { .. } => FilteredGameState::Ready {
                 kicking_team: Team::Uncertain,
@@ -324,6 +389,8 @@ impl State {
                 GamePhase::PenaltyShootout { .. } => FilteredGameState::Set,
                 _ => FilteredGameState::Finished,
             },
+            // is hack @schluis
+            State::TentativeFinished { .. } => FilteredGameState::Set,
         }
     }
 }
diff --git a/crates/control/src/lib.rs b/crates/control/src/lib.rs
index 71cde19..0ea7ced 100644
--- a/crates/control/src/lib.rs
+++ b/crates/control/src/lib.rs
@@ -10,7 +10,7 @@ pub mod dribble_path_planner;
 pub mod fake_data;
 pub mod fall_state_estimation;
 pub mod game_controller_filter;
-pub mod game_state_filter;
+pub mod game_controller_state_filter;
 pub mod ground_contact_detector;
 pub mod ground_provider;
 pub mod kick_selector;
diff --git a/crates/control/src/localization.rs b/crates/control/src/localization.rs
index 688ca91..1b6f342 100644
--- a/crates/control/src/localization.rs
+++ b/crates/control/src/localization.rs
@@ -18,7 +18,7 @@ use spl_network_messages::{GamePhase, Penalty, PlayerNumber, Team};
 use types::{
     field_dimensions::FieldDimensions,
     field_marks::{field_marks_from_field_dimensions, CorrespondencePoints, Direction, FieldMark},
-    game_controller_state::GameControllerState,
+    filtered_game_controller_state::FilteredGameControllerState,
     initial_pose::InitialPose,
     line::{Line, Line2},
     line_data::LineData,
@@ -55,7 +55,8 @@ pub struct CycleContext {
     current_odometry_to_last_odometry:
         HistoricInput<Option<Isometry2<f32>>, "current_odometry_to_last_odometry?">,
 
-    game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     has_ground_contact: Input<bool, "has_ground_contact">,
     primary_state: Input<PrimaryState, "primary_state">,
 
@@ -466,12 +467,12 @@ impl Localization {
     pub fn cycle(&mut self, mut context: CycleContext) -> Result<MainOutputs> {
         let primary_state = *context.primary_state;
         let penalty = context
-            .game_controller_state
+            .filtered_game_controller_state
             .and_then(|game_controller_state| {
                 game_controller_state.penalties[*context.player_number]
             });
         let game_phase = context
-            .game_controller_state
+            .filtered_game_controller_state
             .map(|game_controller_state| game_controller_state.game_phase);
 
         self.reset_state(primary_state, game_phase, &context, &penalty);
@@ -494,10 +495,10 @@ impl Localization {
             .or_else(|| {
                 robot_to_field
                     .and_then(|robot_to_field| {
-                        Some((robot_to_field, context.game_controller_state?))
+                        Some((robot_to_field, context.filtered_game_controller_state?))
                     })
                     .map(|(robot_to_field, game_controller_state)| {
-                        if !game_controller_state.hulks_team_is_home_after_coin_toss {
+                        if !game_controller_state.own_team_is_home_after_coin_toss {
                             Isometry2::from_parts(
                                 Translation2::default(),
                                 Rotation2::new(PI).into(),
diff --git a/crates/control/src/localization_recorder.rs b/crates/control/src/localization_recorder.rs
index 979061d..dacaea9 100644
--- a/crates/control/src/localization_recorder.rs
+++ b/crates/control/src/localization_recorder.rs
@@ -12,7 +12,8 @@ use framework::{HistoricInput, PerceptionInput};
 use nalgebra::Isometry2;
 use serde::{Deserialize, Serialize};
 use types::{
-    game_controller_state::GameControllerState, line_data::LineData, primary_state::PrimaryState,
+    filtered_game_controller_state::FilteredGameControllerState, line_data::LineData,
+    primary_state::PrimaryState,
 };
 
 #[derive(Deserialize, Serialize)]
@@ -35,7 +36,8 @@ pub struct CycleContext {
     current_odometry_to_last_odometry:
         HistoricInput<Option<Isometry2<f32>>, "current_odometry_to_last_odometry?">,
 
-    game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     has_ground_contact: Input<bool, "has_ground_contact">,
     primary_state: Input<PrimaryState, "primary_state">,
     robot_to_field: Input<Option<Isometry2<f32>>, "robot_to_field?">,
@@ -105,7 +107,7 @@ impl LocalizationRecorder {
             .collect();
         let recorded_context = RecordedCycleContext {
             current_odometry_to_last_odometry,
-            game_controller_state: context.game_controller_state.cloned(),
+            filtered_game_controller_state: context.filtered_game_controller_state.cloned(),
             has_ground_contact: *context.has_ground_contact,
             primary_state: *context.primary_state,
             robot_to_field: context.robot_to_field.cloned(),
@@ -149,7 +151,7 @@ impl LocalizationRecorder {
 pub struct RecordedCycleContext {
     pub current_odometry_to_last_odometry: BTreeMap<SystemTime, Option<Isometry2<f32>>>,
 
-    pub game_controller_state: Option<GameControllerState>,
+    pub filtered_game_controller_state: Option<FilteredGameControllerState>,
     pub has_ground_contact: bool,
     pub primary_state: PrimaryState,
     pub robot_to_field: Option<Isometry2<f32>>,
diff --git a/crates/control/src/motion/arms_up_squat.rs b/crates/control/src/motion/arms_up_squat.rs
index 53759bb..e3a5e4f 100644
--- a/crates/control/src/motion/arms_up_squat.rs
+++ b/crates/control/src/motion/arms_up_squat.rs
@@ -32,7 +32,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub arms_up_squat_joints_command: MainOutput<MotorCommands<f32>>,
+    pub arms_up_squat_joints_command: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl ArmsUpSquat {
diff --git a/crates/control/src/motion/command_sender.rs b/crates/control/src/motion/command_sender.rs
index f2041c9..1dc83f4 100644
--- a/crates/control/src/motion/command_sender.rs
+++ b/crates/control/src/motion/command_sender.rs
@@ -3,7 +3,9 @@ use context_attribute::context;
 use framework::AdditionalOutput;
 use hardware::ActuatorInterface;
 use serde::{Deserialize, Serialize};
-use types::{led::Leds, motion_selection::MotionSafeExits, motor_commands::MotorCommands};
+use types::{
+    joints::Joints, led::Leds, motion_selection::MotionSafeExits, motor_commands::MotorCommands,
+};
 
 #[derive(Deserialize, Serialize)]
 pub struct CommandSender {}
@@ -13,14 +15,16 @@ pub struct CreationContext {}
 
 #[context]
 pub struct CycleContext {
-    optimized_motor_commands: Input<MotorCommands<f32>, "optimized_motor_commands">,
+    optimized_motor_commands: Input<MotorCommands<Joints<f32>>, "optimized_motor_commands">,
     leds: Input<Leds, "leds">,
 
     motion_safe_exits: CyclerState<MotionSafeExits, "motion_safe_exits">,
-    last_actuated_motor_commands: CyclerState<MotorCommands<f32>, "last_actuated_motor_commands">,
+    last_actuated_motor_commands:
+        CyclerState<MotorCommands<Joints<f32>>, "last_actuated_motor_commands">,
 
     motion_safe_exits_output: AdditionalOutput<MotionSafeExits, "motion_safe_exits_output">,
-    actuated_motor_commands: AdditionalOutput<MotorCommands<f32>, "last_actuated_motor_commands">,
+    actuated_motor_commands:
+        AdditionalOutput<MotorCommands<Joints<f32>>, "last_actuated_motor_commands">,
 
     hardware_interface: HardwareInterface,
 }
diff --git a/crates/control/src/motion/dispatching_interpolator.rs b/crates/control/src/motion/dispatching_interpolator.rs
index e89a9e3..0459c54 100644
--- a/crates/control/src/motion/dispatching_interpolator.rs
+++ b/crates/control/src/motion/dispatching_interpolator.rs
@@ -7,9 +7,9 @@ use motionfile::{SplineInterpolator, TimedSpline};
 use serde::{Deserialize, Serialize};
 use types::{
     cycle_time::CycleTime,
-    joints::{head::HeadJoints, Joints},
+    joints::{body::BodyJoints, head::HeadJoints, Joints},
     motion_selection::{MotionSafeExits, MotionSelection, MotionType},
-    motor_commands::{BodyMotorCommands, MotorCommands},
+    motor_commands::MotorCommands,
 };
 
 #[derive(Deserialize, Serialize)]
@@ -25,22 +25,22 @@ pub struct CreationContext {}
 
 #[context]
 pub struct CycleContext {
-    arms_up_squat_joints_command: Input<MotorCommands<f32>, "arms_up_squat_joints_command">,
-    energy_saving_stand: Input<BodyMotorCommands<f32>, "energy_saving_stand_command">,
-    jump_left_joints_command: Input<MotorCommands<f32>, "jump_left_joints_command">,
-    jump_right_joints_command: Input<MotorCommands<f32>, "jump_right_joints_command">,
+    arms_up_squat_joints_command: Input<MotorCommands<Joints<f32>>, "arms_up_squat_joints_command">,
+    jump_left_joints_command: Input<MotorCommands<Joints<f32>>, "jump_left_joints_command">,
+    jump_right_joints_command: Input<MotorCommands<Joints<f32>>, "jump_right_joints_command">,
     motion_selection: Input<MotionSelection, "motion_selection">,
     cycle_time: Input<CycleTime, "cycle_time">,
-    sit_down_joints_command: Input<MotorCommands<f32>, "sit_down_joints_command">,
+    sit_down_joints_command: Input<MotorCommands<Joints<f32>>, "sit_down_joints_command">,
     stand_up_back_positions: Input<Joints<f32>, "stand_up_back_positions">,
     stand_up_front_positions: Input<Joints<f32>, "stand_up_front_positions">,
-    walk_joints_command: Input<BodyMotorCommands<f32>, "walk_joints_command">,
+    walk_motor_commands: Input<MotorCommands<BodyJoints<f32>>, "walk_motor_commands">,
 
     initial_pose: Parameter<Joints<f32>, "initial_pose">,
     penalized_pose: Parameter<Joints<f32>, "penalized_pose">,
 
     motion_safe_exits: CyclerState<MotionSafeExits, "motion_safe_exits">,
-    last_actuated_motor_commands: CyclerState<MotorCommands<f32>, "last_actuated_motor_commands">,
+    last_actuated_motor_commands:
+        CyclerState<MotorCommands<Joints<f32>>, "last_actuated_motor_commands">,
 
     transition_time: AdditionalOutput<Option<Duration>, "transition_time">,
 }
@@ -48,7 +48,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub dispatching_command: MainOutput<MotorCommands<f32>>,
+    pub dispatching_command: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl DispatchingInterpolator {
@@ -92,18 +92,14 @@ impl DispatchingInterpolator {
                 MotionType::SitDown => context.sit_down_joints_command.positions,
                 MotionType::Stand => Joints::from_head_and_body(
                     HeadJoints::fill(0.0),
-                    context.walk_joints_command.positions,
+                    context.walk_motor_commands.positions,
                 ),
                 MotionType::StandUpBack => *context.stand_up_back_positions,
                 MotionType::StandUpFront => *context.stand_up_front_positions,
                 MotionType::Unstiff => panic!("Dispatching Unstiff doesn't make sense"),
                 MotionType::Walk => Joints::from_head_and_body(
                     HeadJoints::fill(0.0),
-                    context.walk_joints_command.positions,
-                ),
-                MotionType::EnergySavingStand => Joints::from_head_and_body(
-                    HeadJoints::fill(0.0),
-                    context.energy_saving_stand.positions,
+                    context.walk_motor_commands.positions,
                 ),
             };
 
diff --git a/crates/control/src/motion/energy_saving_stand.rs b/crates/control/src/motion/energy_saving_stand.rs
deleted file mode 100644
index 2074839..0000000
--- a/crates/control/src/motion/energy_saving_stand.rs
+++ /dev/null
@@ -1,48 +0,0 @@
-use color_eyre::Result;
-use context_attribute::context;
-use framework::MainOutput;
-use serde::{Deserialize, Serialize};
-use types::{
-    joints::{arm::ArmJoints, body::BodyJoints, leg::LegJoints, Joints},
-    motor_commands::BodyMotorCommands,
-};
-
-#[derive(Deserialize, Serialize)]
-pub struct EnergySavingStand {}
-
-#[context]
-pub struct CreationContext {}
-
-#[context]
-pub struct CycleContext {
-    arm_stiffness: Parameter<f32, "energy_saving_stand.arm_stiffness">,
-    leg_stiffness: Parameter<f32, "energy_saving_stand.leg_stiffness">,
-    energy_saving_stand_pose: Parameter<Joints<f32>, "energy_saving_stand.pose">,
-}
-
-#[context]
-#[derive(Default)]
-pub struct MainOutputs {
-    pub energy_saving_stand_command: MainOutput<BodyMotorCommands<f32>>,
-}
-
-impl EnergySavingStand {
-    pub fn new(_context: CreationContext) -> Result<Self> {
-        Ok(Self {})
-    }
-
-    pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
-        Ok(MainOutputs {
-            energy_saving_stand_command: BodyMotorCommands {
-                positions: BodyJoints::from(*context.energy_saving_stand_pose),
-                stiffnesses: BodyJoints {
-                    left_arm: ArmJoints::fill(*context.arm_stiffness),
-                    right_arm: ArmJoints::fill(*context.arm_stiffness),
-                    left_leg: LegJoints::fill(*context.leg_stiffness),
-                    right_leg: LegJoints::fill(*context.leg_stiffness),
-                },
-            }
-            .into(),
-        })
-    }
-}
diff --git a/crates/control/src/motion/fall_protector.rs b/crates/control/src/motion/fall_protector.rs
index cd37342..e34f082 100644
--- a/crates/control/src/motion/fall_protector.rs
+++ b/crates/control/src/motion/fall_protector.rs
@@ -53,7 +53,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub fall_protection_command: MainOutput<MotorCommands<f32>>,
+    pub fall_protection_command: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl FallProtector {
diff --git a/crates/control/src/motion/head_motion.rs b/crates/control/src/motion/head_motion.rs
index 8ff3bcb..7622989 100644
--- a/crates/control/src/motion/head_motion.rs
+++ b/crates/control/src/motion/head_motion.rs
@@ -8,7 +8,7 @@ use types::{
     cycle_time::CycleTime,
     joints::head::HeadJoints,
     motion_command::{HeadMotion as HeadMotionCommand, MotionCommand},
-    motor_commands::HeadMotorCommands,
+    motor_commands::MotorCommands,
     sensor_data::SensorData,
 };
 
@@ -39,7 +39,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub head_joints_command: MainOutput<HeadMotorCommands<f32>>,
+    pub head_joints_command: MainOutput<MotorCommands<HeadJoints<f32>>>,
 }
 
 impl HeadMotion {
@@ -50,13 +50,13 @@ impl HeadMotion {
     }
 
     pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
-        let HeadMotorCommands {
+        let MotorCommands {
             positions: raw_positions,
             stiffnesses,
         } = context
             .has_ground_contact
             .then(|| Self::joints_from_motion(&context))
-            .unwrap_or_else(|| HeadMotorCommands {
+            .unwrap_or_else(|| MotorCommands {
                 positions: Default::default(),
                 stiffnesses: HeadJoints::fill(0.8),
             });
@@ -91,7 +91,7 @@ impl HeadMotion {
 
         self.last_positions = clamped_positions;
         Ok(MainOutputs {
-            head_joints_command: HeadMotorCommands {
+            head_joints_command: MotorCommands {
                 positions: clamped_positions,
                 stiffnesses,
             }
@@ -99,29 +99,29 @@ impl HeadMotion {
         })
     }
 
-    pub fn joints_from_motion(context: &CycleContext) -> HeadMotorCommands<f32> {
+    pub fn joints_from_motion(context: &CycleContext) -> MotorCommands<HeadJoints<f32>> {
         let stiffnesses = HeadJoints::fill(0.8);
         match context.motion_command.head_motion() {
-            Some(HeadMotionCommand::Center) => HeadMotorCommands {
+            Some(HeadMotionCommand::Center) => MotorCommands {
                 positions: *context.center_head_position,
                 stiffnesses,
             },
             Some(HeadMotionCommand::LookAround | HeadMotionCommand::SearchForLostBall) => {
-                HeadMotorCommands {
+                MotorCommands {
                     positions: *context.look_around,
                     stiffnesses,
                 }
             }
             Some(HeadMotionCommand::LookAt { .. })
-            | Some(HeadMotionCommand::LookLeftAndRightOf { .. }) => HeadMotorCommands {
+            | Some(HeadMotionCommand::LookLeftAndRightOf { .. }) => MotorCommands {
                 positions: *context.look_at,
                 stiffnesses,
             },
-            Some(HeadMotionCommand::Unstiff) => HeadMotorCommands {
+            Some(HeadMotionCommand::Unstiff) => MotorCommands {
                 positions: context.sensor_data.positions.head,
                 stiffnesses: HeadJoints::fill(0.0),
             },
-            Some(HeadMotionCommand::ZeroAngles) | None => HeadMotorCommands {
+            Some(HeadMotionCommand::ZeroAngles) | None => MotorCommands {
                 positions: Default::default(),
                 stiffnesses,
             },
diff --git a/crates/control/src/motion/jump_left.rs b/crates/control/src/motion/jump_left.rs
index 12087bb..199c9fa 100644
--- a/crates/control/src/motion/jump_left.rs
+++ b/crates/control/src/motion/jump_left.rs
@@ -7,13 +7,14 @@ use serde::{Deserialize, Serialize};
 use types::{
     condition_input::ConditionInput,
     cycle_time::CycleTime,
+    joints::Joints,
     motion_selection::{MotionSafeExits, MotionSelection, MotionType},
     motor_commands::MotorCommands,
 };
 
 #[derive(Deserialize, Serialize)]
 pub struct JumpLeft {
-    interpolator: MotionInterpolator<MotorCommands<f32>>,
+    interpolator: MotionInterpolator<MotorCommands<Joints<f32>>>,
 }
 
 #[context]
@@ -33,7 +34,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub jump_left_joints_command: MainOutput<MotorCommands<f32>>,
+    pub jump_left_joints_command: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl JumpLeft {
diff --git a/crates/control/src/motion/jump_right.rs b/crates/control/src/motion/jump_right.rs
index 67a8cd6..11956b4 100644
--- a/crates/control/src/motion/jump_right.rs
+++ b/crates/control/src/motion/jump_right.rs
@@ -7,13 +7,14 @@ use serde::{Deserialize, Serialize};
 use types::{
     condition_input::ConditionInput,
     cycle_time::CycleTime,
+    joints::{mirror::Mirror, Joints},
     motion_selection::{MotionSafeExits, MotionSelection, MotionType},
     motor_commands::MotorCommands,
 };
 
 #[derive(Deserialize, Serialize)]
 pub struct JumpRight {
-    interpolator: MotionInterpolator<MotorCommands<f32>>,
+    interpolator: MotionInterpolator<MotorCommands<Joints<f32>>>,
 }
 
 #[context]
@@ -33,7 +34,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub jump_right_joints_command: MainOutput<MotorCommands<f32>>,
+    pub jump_right_joints_command: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl JumpRight {
diff --git a/crates/control/src/motion/mod.rs b/crates/control/src/motion/mod.rs
index 686a8d2..d8a3a78 100644
--- a/crates/control/src/motion/mod.rs
+++ b/crates/control/src/motion/mod.rs
@@ -2,7 +2,6 @@ pub mod arms_up_squat;
 pub mod command_sender;
 pub mod condition_input_provider;
 pub mod dispatching_interpolator;
-pub mod energy_saving_stand;
 pub mod fall_protector;
 pub mod head_motion;
 pub mod jump_left;
diff --git a/crates/control/src/motion/motion_selector.rs b/crates/control/src/motion/motion_selector.rs
index 6f97f33..1ffe9cd 100644
--- a/crates/control/src/motion/motion_selector.rs
+++ b/crates/control/src/motion/motion_selector.rs
@@ -22,8 +22,6 @@ pub struct CycleContext {
     has_ground_contact: Input<bool, "has_ground_contact">,
 
     motion_safe_exits: CyclerState<MotionSafeExits, "motion_safe_exits">,
-
-    enable_energy_saving_stand: Parameter<bool, "energy_saving_stand.enabled">,
 }
 
 #[context]
@@ -42,8 +40,7 @@ impl MotionSelector {
 
     pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
         let motion_safe_to_exit = context.motion_safe_exits[self.current_motion];
-        let requested_motion =
-            motion_type_from_command(context.motion_command, *context.enable_energy_saving_stand);
+        let requested_motion = motion_type_from_command(context.motion_command);
 
         self.current_motion = transition_motion(
             self.current_motion,
@@ -72,10 +69,7 @@ impl MotionSelector {
     }
 }
 
-fn motion_type_from_command(
-    command: &MotionCommand,
-    enable_energy_saving_stand: bool,
-) -> MotionType {
+fn motion_type_from_command(command: &MotionCommand) -> MotionType {
     match command {
         MotionCommand::ArmsUpSquat => MotionType::ArmsUpSquat,
         MotionCommand::FallProtection { .. } => MotionType::FallProtection,
@@ -86,15 +80,7 @@ fn motion_type_from_command(
         },
         MotionCommand::Penalized => MotionType::Penalized,
         MotionCommand::SitDown { .. } => MotionType::SitDown,
-        MotionCommand::Stand {
-            is_energy_saving, ..
-        } => {
-            if enable_energy_saving_stand && *is_energy_saving {
-                MotionType::EnergySavingStand
-            } else {
-                MotionType::Stand
-            }
-        }
+        MotionCommand::Stand { .. } => MotionType::Stand,
         MotionCommand::StandUp { facing } => match facing {
             Facing::Down => MotionType::StandUpFront,
             Facing::Up => MotionType::StandUpBack,
diff --git a/crates/control/src/motion/motor_commands_collector.rs b/crates/control/src/motion/motor_commands_collector.rs
index d10641f..d922e1f 100644
--- a/crates/control/src/motion/motor_commands_collector.rs
+++ b/crates/control/src/motion/motor_commands_collector.rs
@@ -3,9 +3,9 @@ use context_attribute::context;
 use framework::{AdditionalOutput, MainOutput};
 use serde::{Deserialize, Serialize};
 use types::{
-    joints::Joints,
+    joints::{body::BodyJoints, head::HeadJoints, Joints},
     motion_selection::{MotionSelection, MotionType},
-    motor_commands::{BodyMotorCommands, HeadMotorCommands, MotorCommands},
+    motor_commands::MotorCommands,
     sensor_data::SensorData,
 };
 
@@ -17,19 +17,18 @@ pub struct CreationContext {}
 
 #[context]
 pub struct CycleContext {
-    arms_up_squat_joints_command: Input<MotorCommands<f32>, "arms_up_squat_joints_command">,
-    dispatching_command: Input<MotorCommands<f32>, "dispatching_command">,
-    energy_saving_stand_command: Input<BodyMotorCommands<f32>, "energy_saving_stand_command">,
-    fall_protection_command: Input<MotorCommands<f32>, "fall_protection_command">,
-    head_joints_command: Input<HeadMotorCommands<f32>, "head_joints_command">,
-    jump_left_joints_command: Input<MotorCommands<f32>, "jump_left_joints_command">,
-    jump_right_joints_command: Input<MotorCommands<f32>, "jump_right_joints_command">,
+    arms_up_squat_joints_command: Input<MotorCommands<Joints<f32>>, "arms_up_squat_joints_command">,
+    dispatching_command: Input<MotorCommands<Joints<f32>>, "dispatching_command">,
+    fall_protection_command: Input<MotorCommands<Joints<f32>>, "fall_protection_command">,
+    head_joints_command: Input<MotorCommands<HeadJoints<f32>>, "head_joints_command">,
+    jump_left_joints_command: Input<MotorCommands<Joints<f32>>, "jump_left_joints_command">,
+    jump_right_joints_command: Input<MotorCommands<Joints<f32>>, "jump_right_joints_command">,
     motion_selection: Input<MotionSelection, "motion_selection">,
     sensor_data: Input<SensorData, "sensor_data">,
-    sit_down_joints_command: Input<MotorCommands<f32>, "sit_down_joints_command">,
+    sit_down_joints_command: Input<MotorCommands<Joints<f32>>, "sit_down_joints_command">,
     stand_up_back_positions: Input<Joints<f32>, "stand_up_back_positions">,
     stand_up_front_positions: Input<Joints<f32>, "stand_up_front_positions">,
-    walk_joints_command: Input<BodyMotorCommands<f32>, "walk_joints_command">,
+    walk_motor_commands: Input<MotorCommands<BodyJoints<f32>>, "walk_motor_commands">,
 
     joint_calibration_offsets: Parameter<Joints<f32>, "joint_calibration_offsets">,
     penalized_pose: Parameter<Joints<f32>, "penalized_pose">,
@@ -41,7 +40,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub motor_commands: MainOutput<MotorCommands<f32>>,
+    pub motor_commands: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl MotorCommandCollector {
@@ -62,7 +61,7 @@ impl MotorCommandCollector {
         let sit_down = context.sit_down_joints_command;
         let stand_up_back_positions = context.stand_up_back_positions;
         let stand_up_front_positions = context.stand_up_front_positions;
-        let walk = context.walk_joints_command;
+        let walk = context.walk_motor_commands;
 
         let (positions, stiffnesses) = match motion_selection.current_motion {
             MotionType::ArmsUpSquat => (arms_up_squat.positions, arms_up_squat.stiffnesses),
@@ -87,16 +86,6 @@ impl MotorCommandCollector {
                 Joints::from_head_and_body(head_joints_command.positions, walk.positions),
                 Joints::from_head_and_body(head_joints_command.stiffnesses, walk.stiffnesses),
             ),
-            MotionType::EnergySavingStand => (
-                Joints::from_head_and_body(
-                    head_joints_command.positions,
-                    context.energy_saving_stand_command.positions,
-                ),
-                Joints::from_head_and_body(
-                    head_joints_command.stiffnesses,
-                    context.energy_saving_stand_command.stiffnesses,
-                ),
-            ),
         };
 
         // The actuators use the raw sensor data (not corrected like current_positions) in their feedback loops,
diff --git a/crates/control/src/motion/motor_commands_optimizer.rs b/crates/control/src/motion/motor_commands_optimizer.rs
index f7ca8af..50532c0 100644
--- a/crates/control/src/motion/motor_commands_optimizer.rs
+++ b/crates/control/src/motion/motor_commands_optimizer.rs
@@ -2,7 +2,7 @@ use color_eyre::Result;
 use context_attribute::context;
 use framework::MainOutput;
 use serde::{Deserialize, Serialize};
-use types::motor_commands::MotorCommands;
+use types::{joints::Joints, motor_commands::MotorCommands};
 
 #[derive(Deserialize, Serialize)]
 pub struct MotorCommandsOptimizer {}
@@ -12,13 +12,13 @@ pub struct CreationContext {}
 
 #[context]
 pub struct CycleContext {
-    motor_commands: Input<MotorCommands<f32>, "motor_commands">,
+    motor_commands: Input<MotorCommands<Joints<f32>>, "motor_commands">,
 }
 
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub optimized_motor_commands: MainOutput<MotorCommands<f32>>,
+    pub optimized_motor_commands: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl MotorCommandsOptimizer {
diff --git a/crates/control/src/motion/sit_down.rs b/crates/control/src/motion/sit_down.rs
index a782503..6d30e87 100644
--- a/crates/control/src/motion/sit_down.rs
+++ b/crates/control/src/motion/sit_down.rs
@@ -34,7 +34,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub sit_down_joints_command: MainOutput<MotorCommands<f32>>,
+    pub sit_down_joints_command: MainOutput<MotorCommands<Joints<f32>>>,
 }
 
 impl SitDown {
diff --git a/crates/control/src/motion/walking_engine.rs b/crates/control/src/motion/walking_engine.rs
index 39637ce..1e242cc 100644
--- a/crates/control/src/motion/walking_engine.rs
+++ b/crates/control/src/motion/walking_engine.rs
@@ -12,7 +12,7 @@ use types::{
     joints::{arm::ArmJoints, body::BodyJoints, leg::LegJoints},
     motion_command::{KickVariant, MotionCommand},
     motion_selection::{MotionSafeExits, MotionType},
-    motor_commands::BodyMotorCommands,
+    motor_commands::MotorCommands,
     parameters::{KickStepsParameters, StepPlannerParameters, WalkingEngineParameters},
     robot_kinematics::RobotKinematics,
     sensor_data::{InertialMeasurementUnitData, SensorData},
@@ -149,7 +149,7 @@ pub struct CycleContext {
 #[context]
 #[derive(Default)]
 pub struct MainOutputs {
-    pub walk_joints_command: MainOutput<BodyMotorCommands<f32>>,
+    pub walk_motor_commands: MainOutput<MotorCommands<BodyJoints<f32>>>,
 }
 
 impl WalkingEngine {
@@ -379,7 +379,7 @@ impl WalkingEngine {
         };
 
         Ok(MainOutputs {
-            walk_joints_command: BodyMotorCommands {
+            walk_motor_commands: MotorCommands {
                 positions: BodyJoints {
                     left_arm,
                     right_arm,
diff --git a/crates/control/src/motion/walking_engine/arms.rs b/crates/control/src/motion/walking_engine/arms.rs
index aa86c2c..93271e6 100644
--- a/crates/control/src/motion/walking_engine/arms.rs
+++ b/crates/control/src/motion/walking_engine/arms.rs
@@ -4,7 +4,7 @@ use color_eyre::Result;
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 use types::{
-    joints::arm::ArmJoints,
+    joints::{arm::ArmJoints, mirror::Mirror},
     motion_command::{ArmMotion, MotionCommand},
     parameters::SwingingArmsParameters,
     support_foot::Side,
diff --git a/crates/control/src/penalty_shot_direction_estimation.rs b/crates/control/src/penalty_shot_direction_estimation.rs
index 5624dff..c4298b2 100644
--- a/crates/control/src/penalty_shot_direction_estimation.rs
+++ b/crates/control/src/penalty_shot_direction_estimation.rs
@@ -5,8 +5,8 @@ use serde::{Deserialize, Serialize};
 use spl_network_messages::GamePhase;
 use types::{
     ball_position::BallPosition, field_dimensions::FieldDimensions,
-    game_controller_state::GameControllerState, penalty_shot_direction::PenaltyShotDirection,
-    primary_state::PrimaryState,
+    filtered_game_controller_state::FilteredGameControllerState,
+    penalty_shot_direction::PenaltyShotDirection, primary_state::PrimaryState,
 };
 
 #[derive(Deserialize, Serialize)]
@@ -24,7 +24,8 @@ pub struct CycleContext {
         Parameter<f32, "penalty_shot_direction_estimation.moving_distance_threshold">,
 
     ball_position: RequiredInput<Option<BallPosition>, "ball_position?">,
-    game_controller_state: RequiredInput<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        RequiredInput<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     primary_state: Input<PrimaryState, "primary_state">,
 }
 
@@ -44,7 +45,7 @@ impl PenaltyShotDirectionEstimation {
     pub fn cycle(&mut self, context: CycleContext) -> Result<MainOutputs> {
         match (
             context.primary_state,
-            context.game_controller_state.game_phase,
+            context.filtered_game_controller_state.game_phase,
         ) {
             (PrimaryState::Set, GamePhase::PenaltyShootout { .. }) => {
                 self.last_shot_direction = PenaltyShotDirection::NotMoving;
diff --git a/crates/control/src/primary_state_filter.rs b/crates/control/src/primary_state_filter.rs
index fe53d7b..7a61f7b 100644
--- a/crates/control/src/primary_state_filter.rs
+++ b/crates/control/src/primary_state_filter.rs
@@ -7,8 +7,8 @@ use spl_network_messages::PlayerNumber;
 use types::{
     audio::{Sound, SpeakerRequest},
     buttons::Buttons,
+    filtered_game_controller_state::FilteredGameControllerState,
     filtered_game_state::FilteredGameState,
-    game_controller_state::GameControllerState,
     primary_state::PrimaryState,
 };
 
@@ -23,8 +23,8 @@ pub struct CreationContext {}
 #[context]
 pub struct CycleContext {
     buttons: Input<Buttons, "buttons">,
-    filtered_game_state: Input<Option<FilteredGameState>, "filtered_game_state?">,
-    game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
 
     player_number: Parameter<PlayerNumber, "player_number">,
 
@@ -48,7 +48,7 @@ impl PrimaryStateFilter {
         &mut self,
         context: CycleContext<impl RecordingInterface + SpeakerInterface>,
     ) -> Result<MainOutputs> {
-        let is_penalized = match context.game_controller_state {
+        let is_penalized = match context.filtered_game_controller_state {
             Some(game_controller_state) => {
                 game_controller_state.penalties[*context.player_number].is_some()
             }
@@ -60,7 +60,7 @@ impl PrimaryStateFilter {
             context.buttons.head_buttons_touched,
             context.buttons.is_chest_button_pressed,
             context.buttons.calibration_buttons_touched,
-            context.filtered_game_state,
+            context.filtered_game_controller_state,
         ) {
             // Unstiff transitions (entering and exiting)
             (last_primary_state, true, _, _, _) => {
@@ -75,15 +75,21 @@ impl PrimaryStateFilter {
             (PrimaryState::Initial, _, _, true, _) => PrimaryState::Calibration,
 
             // GameController transitions (entering listening mode and staying within)
-            (PrimaryState::Unstiff, _, true, _, Some(game_state))
-            | (PrimaryState::Finished, _, true, _, Some(game_state)) => {
-                Self::game_state_to_primary_state(*game_state, is_penalized)
+            (PrimaryState::Unstiff, _, true, _, Some(filtered_game_controller_state))
+            | (PrimaryState::Finished, _, true, _, Some(filtered_game_controller_state)) => {
+                Self::game_state_to_primary_state(
+                    filtered_game_controller_state.game_state,
+                    is_penalized,
+                )
             }
-            (_, _, _, _, Some(game_state))
+            (_, _, _, _, Some(filtered_game_controller_state))
                 if self.last_primary_state != PrimaryState::Unstiff
                     && self.last_primary_state != PrimaryState::Finished =>
             {
-                Self::game_state_to_primary_state(*game_state, is_penalized)
+                Self::game_state_to_primary_state(
+                    filtered_game_controller_state.game_state,
+                    is_penalized,
+                )
             }
 
             // non-GameController transitions
diff --git a/crates/control/src/role_assignment.rs b/crates/control/src/role_assignment.rs
index 646d0c4..d89e02a 100644
--- a/crates/control/src/role_assignment.rs
+++ b/crates/control/src/role_assignment.rs
@@ -13,7 +13,7 @@ use types::{
     cycle_time::CycleTime,
     fall_state::FallState,
     field_dimensions::FieldDimensions,
-    game_controller_state::GameControllerState,
+    filtered_game_controller_state::FilteredGameControllerState,
     initial_pose::InitialPose,
     messages::{IncomingMessage, OutgoingMessage},
     parameters::SplNetworkParameters,
@@ -42,7 +42,8 @@ pub struct CreationContext {}
 pub struct CycleContext {
     ball_position: Input<Option<BallPosition>, "ball_position?">,
     fall_state: Input<FallState, "fall_state">,
-    game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     primary_state: Input<PrimaryState, "primary_state">,
     robot_to_field: Input<Option<Isometry2<f32>>, "robot_to_field?">,
     cycle_time: Input<CycleTime, "cycle_time">,
@@ -114,7 +115,7 @@ impl RoleAssignment {
                 seven: Role::Striker,
             };
 
-            if let Some(game_controller_state) = context.game_controller_state {
+            if let Some(game_controller_state) = context.filtered_game_controller_state {
                 if let Some(striker) = [
                     PlayerNumber::Seven,
                     PlayerNumber::Six,
@@ -227,7 +228,7 @@ impl RoleAssignment {
                 send_spl_striker_message,
                 team_ball,
                 cycle_start_time,
-                context.game_controller_state,
+                context.filtered_game_controller_state,
                 *context.player_number,
                 context.spl_network.striker_trusts_team_ball,
                 context.optional_roles,
@@ -250,7 +251,7 @@ impl RoleAssignment {
                     send_spl_striker_message,
                     team_ball,
                     cycle_start_time,
-                    context.game_controller_state,
+                    context.filtered_game_controller_state,
                     *context.player_number,
                     context.spl_network.striker_trusts_team_ball,
                     context.optional_roles,
@@ -277,8 +278,8 @@ impl RoleAssignment {
         {
             self.last_transmitted_spl_striker_message = Some(cycle_start_time);
             self.last_received_spl_striker_message = Some(cycle_start_time);
-            if let Some(game_controller_state) = context.game_controller_state {
-                if game_controller_state.remaining_amount_of_messages
+            if let Some(game_controller_state) = context.filtered_game_controller_state {
+                if game_controller_state.remaining_number_of_messages
                     > context
                         .spl_network
                         .remaining_amount_of_messages_to_stop_sending
@@ -312,7 +313,7 @@ impl RoleAssignment {
         }
         self.team_ball = team_ball;
 
-        if let Some(game_controller_state) = context.game_controller_state {
+        if let Some(game_controller_state) = context.filtered_game_controller_state {
             if game_controller_state.penalties.one.is_some() {
                 self.last_time_keeper_penalized = Some(cycle_start_time);
             }
@@ -337,12 +338,12 @@ fn process_role_state_machine(
     send_spl_striker_message: bool,
     team_ball: Option<BallPosition>,
     cycle_start_time: SystemTime,
-    game_controller_state: Option<&GameControllerState>,
+    filtered_game_controller_state: Option<&FilteredGameControllerState>,
     player_number: PlayerNumber,
     striker_trusts_team_ball: Duration,
     optional_roles: &[Role],
 ) -> (Role, bool, Option<BallPosition>) {
-    if let Some(game_controller_state) = game_controller_state {
+    if let Some(game_controller_state) = filtered_game_controller_state {
         match game_controller_state.game_phase {
             GamePhase::PenaltyShootout {
                 kicking_team: Team::Hulks,
@@ -414,7 +415,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -437,7 +438,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -452,7 +453,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -479,7 +480,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -494,7 +495,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -518,7 +519,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -540,7 +541,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -571,7 +572,7 @@ fn process_role_state_machine(
                 time_to_reach_kick_position,
                 player_number,
                 cycle_start_time,
-                game_controller_state,
+                filtered_game_controller_state,
                 optional_roles,
             ),
         },
@@ -583,7 +584,7 @@ fn decide_if_claiming_striker_or_other_role(
     time_to_reach_kick_position: Option<Duration>,
     player_number: PlayerNumber,
     cycle_start_time: SystemTime,
-    game_controller_state: Option<&GameControllerState>,
+    filtered_game_controller_state: Option<&FilteredGameControllerState>,
     optional_roles: &[Role],
 ) -> (Role, bool, Option<BallPosition>) {
     if time_to_reach_kick_position < spl_message.time_to_reach_kick_position {
@@ -596,7 +597,7 @@ fn decide_if_claiming_striker_or_other_role(
         (
             generate_role(
                 player_number,
-                game_controller_state,
+                filtered_game_controller_state,
                 spl_message.player_number,
                 optional_roles,
             ),
@@ -657,7 +658,7 @@ fn team_ball_from_seen_ball(
 
 fn generate_role(
     own_player_number: PlayerNumber,
-    game_controller_state: Option<&GameControllerState>,
+    game_controller_state: Option<&FilteredGameControllerState>,
     striker_player_number: PlayerNumber,
     optional_roles: &[Role],
 ) -> Role {
diff --git a/crates/control/src/rule_obstacle_composer.rs b/crates/control/src/rule_obstacle_composer.rs
index 6b5795a..21b0bcd 100644
--- a/crates/control/src/rule_obstacle_composer.rs
+++ b/crates/control/src/rule_obstacle_composer.rs
@@ -4,11 +4,10 @@ use framework::MainOutput;
 use geometry::{circle::Circle, rectangle::Rectangle};
 use nalgebra::{point, vector, Point2};
 use serde::{Deserialize, Serialize};
-use spl_network_messages::{GameState, SubState, Team};
+use spl_network_messages::{SubState, Team};
 use types::{
-    field_dimensions::FieldDimensions, filtered_game_state::FilteredGameState,
-    game_controller_state::GameControllerState, rule_obstacles::RuleObstacle,
-    world_state::BallState,
+    field_dimensions::FieldDimensions, filtered_game_controller_state::FilteredGameControllerState,
+    filtered_game_state::FilteredGameState, rule_obstacles::RuleObstacle, world_state::BallState,
 };
 
 #[derive(Deserialize, Serialize)]
@@ -19,9 +18,11 @@ pub struct CreationContext {}
 
 #[context]
 pub struct CycleContext {
-    game_controller_state: RequiredInput<Option<GameControllerState>, "game_controller_state?">,
-    filtered_game_state: RequiredInput<Option<FilteredGameState>, "filtered_game_state?">,
+    filtered_game_controller_state:
+        RequiredInput<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     ball_state: Input<Option<BallState>, "ball_state?">,
+
+    center_circle_obstacle_increase: Parameter<f32, "center_circle_obstacle_increase">,
     field_dimensions: Parameter<FieldDimensions, "field_dimensions">,
 }
 
@@ -40,13 +41,9 @@ impl RuleObstacleComposer {
         let free_kick_obstacle_radius = 0.75;
 
         let mut rule_obstacles = Vec::new();
-        match (
-            context.game_controller_state,
-            context.filtered_game_state,
-            context.ball_state,
-        ) {
+        match (context.filtered_game_controller_state, context.ball_state) {
             (
-                GameControllerState {
+                FilteredGameControllerState {
                     sub_state:
                         Some(
                             SubState::KickIn
@@ -55,47 +52,47 @@ impl RuleObstacleComposer {
                             | SubState::PushingFreeKick,
                         ),
                     kicking_team: Team::Opponent | Team::Uncertain,
-                    game_state: GameState::Playing,
+                    game_state: FilteredGameState::Playing { .. },
                     ..
                 },
-                _,
                 Some(ball),
             ) => {
-                let obstacle = RuleObstacle::Circle(Circle::new(
+                let free_kick_obstacle = RuleObstacle::Circle(Circle::new(
                     ball.ball_in_field,
                     free_kick_obstacle_radius,
                 ));
-                rule_obstacles.push(obstacle);
+                rule_obstacles.push(free_kick_obstacle);
             }
             (
-                GameControllerState {
-                    game_state: GameState::Playing,
-                    sub_state: None,
+                FilteredGameControllerState {
+                    game_state:
+                        FilteredGameState::Playing {
+                            ball_is_free: false,
+                            kick_off: true,
+                        },
                     ..
                 },
-                FilteredGameState::Playing {
-                    ball_is_free: false,
-                },
                 _,
             ) => {
-                let obstacle = RuleObstacle::Circle(Circle::new(
+                let center_circle_obstacle = RuleObstacle::Circle(Circle::new(
                     Point2::origin(),
-                    context.field_dimensions.center_circle_diameter / 2.0,
+                    context.field_dimensions.center_circle_diameter / 2.0
+                        * context.center_circle_obstacle_increase,
                 ));
-                rule_obstacles.push(obstacle);
+                dbg!("center circle obstacle created");
+                rule_obstacles.push(center_circle_obstacle);
             }
             (
-                GameControllerState {
+                FilteredGameControllerState {
                     sub_state: Some(SubState::PenaltyKick),
-                    game_state: GameState::Playing,
+                    game_state: FilteredGameState::Playing { .. },
                     ..
                 },
                 _,
-                _,
             ) => {
                 let penalty_box_obstacle = create_penalty_box(
                     context.field_dimensions,
-                    context.game_controller_state.kicking_team,
+                    context.filtered_game_controller_state.kicking_team,
                 );
                 rule_obstacles.push(penalty_box_obstacle);
             }
diff --git a/crates/control/src/world_state_composer.rs b/crates/control/src/world_state_composer.rs
index caa88cb..f4a7b57 100644
--- a/crates/control/src/world_state_composer.rs
+++ b/crates/control/src/world_state_composer.rs
@@ -6,8 +6,7 @@ use serde::{Deserialize, Serialize};
 use spl_network_messages::PlayerNumber;
 use types::{
     fall_state::FallState,
-    filtered_game_state::FilteredGameState,
-    game_controller_state::GameControllerState,
+    filtered_game_controller_state::FilteredGameControllerState,
     kick_decision::KickDecision,
     obstacles::Obstacle,
     primary_state::PrimaryState,
@@ -26,8 +25,8 @@ pub struct CreationContext {}
 pub struct CycleContext {
     ball: Input<Option<BallState>, "ball_state?">,
     rule_ball: Input<Option<BallState>, "rule_ball_state?">,
-    filtered_game_state: Input<Option<FilteredGameState>, "filtered_game_state?">,
-    game_controller_state: Input<Option<GameControllerState>, "game_controller_state?">,
+    filtered_game_controller_state:
+        Input<Option<FilteredGameControllerState>, "filtered_game_controller_state?">,
     robot_to_field: Input<Option<Isometry2<f32>>, "robot_to_field?">,
     kick_decisions: Input<Option<Vec<KickDecision>>, "kick_decisions?">,
     instant_kick_decisions: Input<Option<Vec<KickDecision>>, "instant_kick_decisions?">,
@@ -67,14 +66,13 @@ impl WorldStateComposer {
         let world_state = WorldState {
             ball: context.ball.copied(),
             rule_ball: context.rule_ball.copied(),
-            filtered_game_state: context.filtered_game_state.copied(),
             obstacles: context.obstacles.clone(),
             rule_obstacles: context.rule_obstacles.clone(),
             position_of_interest: *context.position_of_interest,
             robot,
             kick_decisions: context.kick_decisions.cloned(),
             instant_kick_decisions: context.instant_kick_decisions.cloned(),
-            game_controller_state: context.game_controller_state.copied(),
+            filtered_game_controller_state: context.filtered_game_controller_state.copied(),
         };
 
         Ok(MainOutputs {
diff --git a/crates/coordinate_systems/Cargo.toml b/crates/coordinate_systems/Cargo.toml
new file mode 100644
index 0000000..53b1c26
--- /dev/null
+++ b/crates/coordinate_systems/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "coordinate_systems"
+version = "0.1.0"
+edition = "2021"
+license = "GPL-3.0-only"
+homepage = "https://github.com/hulks/hulk"
+
+[dependencies]
+nalgebra = { workspace = true }
+geometry = { workspace = true }
diff --git a/crates/coordinate_systems/src/framed.rs b/crates/coordinate_systems/src/framed.rs
new file mode 100644
index 0000000..cd5db66
--- /dev/null
+++ b/crates/coordinate_systems/src/framed.rs
@@ -0,0 +1,65 @@
+use std::{
+    marker::PhantomData,
+    ops::{Add, Sub},
+};
+
+use geometry::look_at::LookAt;
+
+#[derive(Debug)]
+pub struct Framed<Frame, Inner> {
+    frame: PhantomData<Frame>,
+    pub inner: Inner,
+}
+
+impl<Frame, Inner> Clone for Framed<Frame, Inner>
+where
+    Inner: Clone,
+{
+    fn clone(&self) -> Self {
+        Self::new(self.inner.clone())
+    }
+}
+
+impl<Frame, Inner> Copy for Framed<Frame, Inner> where Inner: Copy {}
+
+impl<Frame, Inner> Framed<Frame, Inner> {
+    pub fn new(inner: Inner) -> Self {
+        Self {
+            frame: PhantomData,
+            inner,
+        }
+    }
+}
+
+impl<Frame, SelfInner, RightInner> Add<Framed<Frame, RightInner>> for Framed<Frame, SelfInner>
+where
+    SelfInner: Add<RightInner>,
+{
+    type Output = Framed<Frame, SelfInner::Output>;
+
+    fn add(self, right: Framed<Frame, RightInner>) -> Self::Output {
+        Self::Output::new(self.inner + right.inner)
+    }
+}
+
+impl<Frame, SelfInner, RightInner> Sub<Framed<Frame, RightInner>> for Framed<Frame, SelfInner>
+where
+    SelfInner: Sub<RightInner>,
+{
+    type Output = Framed<Frame, SelfInner::Output>;
+
+    fn sub(self, right: Framed<Frame, RightInner>) -> Self::Output {
+        Self::Output::new(self.inner - right.inner)
+    }
+}
+
+impl<Frame, Inner> LookAt<Framed<Frame, Inner>> for Framed<Frame, Inner>
+where
+    Inner: LookAt<Inner>,
+{
+    type Rotation = Framed<Frame, Inner::Rotation>;
+
+    fn look_at(&self, target: &Self) -> Self::Rotation {
+        Self::Rotation::new(self.inner.look_at(&target.inner))
+    }
+}
diff --git a/crates/coordinate_systems/src/into.rs b/crates/coordinate_systems/src/into.rs
new file mode 100644
index 0000000..836efa2
--- /dev/null
+++ b/crates/coordinate_systems/src/into.rs
@@ -0,0 +1,27 @@
+use crate::{framed::Framed, transform::Transform};
+
+pub trait IntoFramed
+where
+    Self: Sized,
+{
+    fn framed<Frame>(self) -> Framed<Frame, Self>;
+}
+
+impl<Inner> IntoFramed for Inner {
+    fn framed<Frame>(self) -> Framed<Frame, Self> {
+        Framed::new(self)
+    }
+}
+
+pub trait IntoTransform
+where
+    Self: Sized,
+{
+    fn framed_transform<From, To>(self) -> Transform<From, To, Self>;
+}
+
+impl<T> IntoTransform for T {
+    fn framed_transform<From, To>(self) -> Transform<From, To, Self> {
+        Transform::new(self)
+    }
+}
diff --git a/crates/coordinate_systems/src/lib.rs b/crates/coordinate_systems/src/lib.rs
new file mode 100644
index 0000000..665fb06
--- /dev/null
+++ b/crates/coordinate_systems/src/lib.rs
@@ -0,0 +1,14 @@
+mod framed;
+mod into;
+mod transform;
+
+pub use framed::Framed;
+pub use into::{IntoFramed, IntoTransform};
+pub use transform::Transform;
+
+#[macro_export]
+macro_rules! transform {
+    ($source:ty => $destination:ty; $inner:expr) => {
+        $inner.framed_transform::<$source, $destination>()
+    };
+}
diff --git a/crates/coordinate_systems/src/transform.rs b/crates/coordinate_systems/src/transform.rs
new file mode 100644
index 0000000..986218f
--- /dev/null
+++ b/crates/coordinate_systems/src/transform.rs
@@ -0,0 +1,56 @@
+use std::{marker::PhantomData, ops::Mul};
+
+use nalgebra::{AbstractRotation, Isometry, SimdRealField};
+
+use crate::framed::Framed;
+
+#[derive(Debug)]
+pub struct Transform<From, To, Inner> {
+    from: PhantomData<From>,
+    to: PhantomData<To>,
+    pub inner: Inner,
+}
+
+impl<From, To, Inner> Clone for Transform<From, To, Inner>
+where
+    Inner: Clone,
+{
+    fn clone(&self) -> Self {
+        Self::new(self.inner.clone())
+    }
+}
+
+impl<From, To, Inner> Copy for Transform<From, To, Inner> where Inner: Copy {}
+
+impl<From, To, Transformer> Transform<From, To, Transformer> {
+    pub fn new(inner: Transformer) -> Self {
+        Self {
+            from: PhantomData,
+            to: PhantomData,
+            inner,
+        }
+    }
+}
+
+impl<From, To, Transformer, Entity> Mul<Framed<From, Entity>> for Transform<From, To, Transformer>
+where
+    Transformer: Mul<Entity, Output = Entity>,
+{
+    type Output = Framed<To, Entity>;
+
+    fn mul(self, rhs: Framed<From, Entity>) -> Self::Output {
+        Self::Output::new(self.inner * rhs.inner)
+    }
+}
+
+impl<From, To, Type, Rotation, const DIMENSION: usize>
+    Transform<From, To, Isometry<Type, Rotation, DIMENSION>>
+where
+    Type::Element: SimdRealField,
+    Type: SimdRealField,
+    Rotation: AbstractRotation<Type, DIMENSION>,
+{
+    pub fn inverse(&self) -> Transform<To, From, Isometry<Type, Rotation, DIMENSION>> {
+        Transform::<To, From, _>::new(self.inner.inverse())
+    }
+}
diff --git a/crates/filtering/Cargo.toml b/crates/filtering/Cargo.toml
index bf335e2..04ea5ef 100644
--- a/crates/filtering/Cargo.toml
+++ b/crates/filtering/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "filtering"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 nalgebra = { workspace = true }
diff --git a/crates/filtering/src/low_pass_filter.rs b/crates/filtering/src/low_pass_filter.rs
index 284045b..e55cf78 100644
--- a/crates/filtering/src/low_pass_filter.rs
+++ b/crates/filtering/src/low_pass_filter.rs
@@ -1,5 +1,5 @@
 use std::{
-    f32::consts::PI,
+    f32::consts::TAU,
     ops::{Add, Mul, Sub},
 };
 
@@ -23,7 +23,7 @@ where
     }
 
     pub fn with_cutoff(initial_state: State, cutoff_frequency: f32, sampling_rate: f32) -> Self {
-        let rc = 1.0 / (cutoff_frequency * 2.0 * PI);
+        let rc = 1.0 / (cutoff_frequency * TAU);
         let dt = 1.0 / sampling_rate;
         let smoothing_factor = dt / (rc + dt);
         Self {
diff --git a/crates/filtering/src/orientation_filtering.rs b/crates/filtering/src/orientation_filtering.rs
index b55d37a..a40c992 100644
--- a/crates/filtering/src/orientation_filtering.rs
+++ b/crates/filtering/src/orientation_filtering.rs
@@ -187,7 +187,7 @@ fn calculate_initial_orientation(linear_acceleration: Vector3<f32>) -> UnitQuate
 
 #[cfg(test)]
 mod test {
-    use std::f32::consts::PI;
+    use std::f32::consts::{PI, TAU};
 
     use approx::assert_relative_eq;
     use nalgebra::vector;
@@ -286,7 +286,7 @@ mod test {
     fn full_rotation() {
         let mut measured_acceleration = Vec::new();
         let mut measured_angular_velocity = Vec::new();
-        let frequency = 2.0 * PI;
+        let frequency = TAU;
         for _ in 0..=NUMBER_OF_MEASUREMENTS {
             measured_acceleration.push(vector![0.0, 0.0, GRAVITATIONAL_CONSTANT]);
             measured_angular_velocity.push(frequency * Vector3::z());
@@ -313,7 +313,7 @@ mod test {
 
         let mut measured_acceleration = Vec::new();
         let mut measured_angular_velocity = Vec::new();
-        let frequency = 2.0 * PI;
+        let frequency = TAU;
         for _ in 0..NUMBER_OF_MEASUREMENTS {
             measured_acceleration.push(
                 vector![0.0, 0.0, GRAVITATIONAL_CONSTANT]
@@ -350,7 +350,7 @@ mod test {
         let mut measured_angular_velocity = Vec::new();
         let mut left_force_sensitive_resistor = Vec::new();
         let mut right_force_sensitive_resistor = Vec::new();
-        let frequency = 2.0 * PI;
+        let frequency = TAU;
 
         for _ in 0..NUMBER_OF_MEASUREMENTS {
             measured_acceleration.push(
diff --git a/crates/framework/Cargo.toml b/crates/framework/Cargo.toml
index 95db53b..2da87c0 100644
--- a/crates/framework/Cargo.toml
+++ b/crates/framework/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "framework"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 parking_lot = { workspace = true }
diff --git a/crates/geometry/Cargo.toml b/crates/geometry/Cargo.toml
index d01f46d..11fa152 100644
--- a/crates/geometry/Cargo.toml
+++ b/crates/geometry/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "geometry"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 approx = { workspace = true }
diff --git a/crates/geometry/src/arc.rs b/crates/geometry/src/arc.rs
index 2959fa6..aaac9d0 100644
--- a/crates/geometry/src/arc.rs
+++ b/crates/geometry/src/arc.rs
@@ -1,4 +1,4 @@
-use std::f32::consts::PI;
+use std::f32::consts::TAU;
 
 use approx::{AbsDiffEq, RelativeEq};
 use nalgebra::Point2;
@@ -59,11 +59,11 @@ impl Arc {
         let mut angle = vector_end.y.atan2(vector_end.x) - angle_x_axis_to_start;
 
         if (orientation == Orientation::Clockwise) && (angle > 0.0) {
-            angle -= 2.0 * PI;
+            angle -= TAU;
             angle *= -1.0;
         }
         if (orientation == Orientation::Counterclockwise) && (angle < 0.0) {
-            angle += 2.0 * PI;
+            angle += TAU;
         }
         (angle * self.circle.radius).abs()
     }
@@ -106,9 +106,9 @@ mod tests {
     #[test]
     fn arc_cost_generic() {
         for angle_index in 0..100 {
-            let angle = angle_index as f32 / 100.0 * 2.0 * PI;
+            let angle = angle_index as f32 / 100.0 * TAU;
             for angle_distance_index in 1..100 {
-                let angle_distance = angle_distance_index as f32 / 100.0 * 2.0 * PI;
+                let angle_distance = angle_distance_index as f32 / 100.0 * TAU;
                 let start = UnitComplex::from_angle(angle) * vector![1.0, 0.0];
                 let end = UnitComplex::from_angle(angle + angle_distance) * vector![1.0, 0.0];
                 let center = point![PI, 4.20];
@@ -127,7 +127,7 @@ mod tests {
                 );
                 assert_relative_eq!(
                     arc.length(Orientation::Clockwise),
-                    radius * (2.0 * PI - angle_distance),
+                    radius * (TAU - angle_distance),
                     epsilon = 0.001
                 );
             }
diff --git a/crates/geometry/src/circle.rs b/crates/geometry/src/circle.rs
index 3bb6561..7310c95 100644
--- a/crates/geometry/src/circle.rs
+++ b/crates/geometry/src/circle.rs
@@ -1,4 +1,4 @@
-use std::f32::consts::PI;
+use std::f32::consts::TAU;
 
 use approx::{AbsDiffEq, RelativeEq};
 use nalgebra::{distance, vector, Point2};
@@ -87,11 +87,11 @@ impl Circle {
         let mut angle_start_to_end = vector_end.y.atan2(vector_end.x) - angle_x_axis_to_start;
 
         if angle_start_to_obstacle < 0.0 {
-            angle_start_to_obstacle += 2.0 * PI;
+            angle_start_to_obstacle += TAU;
         }
 
         if angle_start_to_end < 0.0 {
-            angle_start_to_end += 2.0 * PI;
+            angle_start_to_end += TAU;
         }
 
         (angle_start_to_obstacle < angle_start_to_end) ^ (orientation == Orientation::Clockwise)
diff --git a/crates/geometry/src/line_segment.rs b/crates/geometry/src/line_segment.rs
index 213df93..729a330 100644
--- a/crates/geometry/src/line_segment.rs
+++ b/crates/geometry/src/line_segment.rs
@@ -1,4 +1,4 @@
-use std::f32::consts::PI;
+use std::f32::consts::TAU;
 
 use approx::{AbsDiffEq, RelativeEq};
 use nalgebra::{vector, Point2, Vector2};
@@ -159,11 +159,11 @@ impl LineSegment {
                 vector_obstacle.y.atan2(vector_obstacle.x) - angle_x_axis_to_start;
 
             if angle_start_to_obstacle < 0.0 {
-                angle_start_to_obstacle += 2.0 * PI;
+                angle_start_to_obstacle += TAU;
             }
 
             if angle_start_to_end < 0.0 {
-                angle_start_to_end += 2.0 * PI;
+                angle_start_to_end += TAU;
             }
 
             if (angle_start_to_obstacle < angle_start_to_end)
diff --git a/crates/hardware/Cargo.toml b/crates/hardware/Cargo.toml
index 80dd0f6..943f702 100644
--- a/crates/hardware/Cargo.toml
+++ b/crates/hardware/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "hardware"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/crates/hulk/Cargo.toml b/crates/hulk/Cargo.toml
index 2034e6e..96865d4 100644
--- a/crates/hulk/Cargo.toml
+++ b/crates/hulk/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "hulk"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 audio = { workspace = true }
diff --git a/crates/hulk/build.rs b/crates/hulk/build.rs
index d260ce8..842dd96 100644
--- a/crates/hulk/build.rs
+++ b/crates/hulk/build.rs
@@ -44,7 +44,7 @@ fn main() -> Result<()> {
                     "control::center_of_mass_provider",
                     "control::fall_state_estimation",
                     "control::game_controller_filter",
-                    "control::game_state_filter",
+                    "control::game_controller_state_filter",
                     "control::ground_contact_detector",
                     "control::ground_provider",
                     "control::kick_selector",
@@ -55,7 +55,6 @@ fn main() -> Result<()> {
                     "control::motion::arms_up_squat",
                     "control::motion::condition_input_provider",
                     "control::motion::dispatching_interpolator",
-                    "control::motion::energy_saving_stand",
                     "control::motion::fall_protector",
                     "control::motion::head_motion",
                     "control::motion::motor_commands_collector",
diff --git a/crates/hulk_nao/Cargo.toml b/crates/hulk_nao/Cargo.toml
index 1a4942d..66d6ee1 100644
--- a/crates/hulk_nao/Cargo.toml
+++ b/crates/hulk_nao/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "hulk_nao"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 alsa = { workspace = true }
diff --git a/crates/hulk_nao/src/hardware_interface.rs b/crates/hulk_nao/src/hardware_interface.rs
index 3f50d27..5356142 100644
--- a/crates/hulk_nao/src/hardware_interface.rs
+++ b/crates/hulk_nao/src/hardware_interface.rs
@@ -59,7 +59,7 @@ pub struct HardwareInterface {
     paths: Paths,
     spl_network_endpoint: Endpoint,
     async_runtime: Runtime,
-    camera_top: Camera,
+    //camera_top: Camera,
     camera_bottom: Camera,
     enable_recording: AtomicBool,
     keep_running: CancellationToken,
@@ -88,13 +88,13 @@ impl HardwareInterface {
                 .block_on(Endpoint::new(parameters.spl_network_ports))
                 .wrap_err("failed to initialize SPL network")?,
             async_runtime: runtime,
-            camera_top: Camera::new(
+            /*camera_top: Camera::new(
                 "/dev/video-top",
                 CameraPosition::Top,
                 parameters.camera_top,
                 i2c_head_mutex.clone(),
             )
-            .wrap_err("failed to initialize top camera")?,
+            .wrap_err("failed to initialize top camera")?,*/
 
             camera_bottom: Camera::new(
                 "/dev/video-bottom",
@@ -126,7 +126,7 @@ impl ActuatorInterface for HardwareInterface {
 impl CameraInterface for HardwareInterface {
     fn read_from_camera(&self, camera_position: CameraPosition) -> Result<YCbCr422Image> {
         match camera_position {
-            CameraPosition::Top => self.camera_bottom.read(),
+            CameraPosition::Top => self.camera_bottom.read(), //antigo "CameraPosition::Top => self.camera_top.read(),"
             CameraPosition::Bottom => self.camera_bottom.read(),
         }
     }
diff --git a/crates/hulk_webots/Cargo.toml b/crates/hulk_webots/Cargo.toml
index 5195958..f84cce5 100644
--- a/crates/hulk_webots/Cargo.toml
+++ b/crates/hulk_webots/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "hulk_webots"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 chrono = { workspace = true }
diff --git a/crates/kinematics/Cargo.toml b/crates/kinematics/Cargo.toml
index 1257ff9..c3d594c 100644
--- a/crates/kinematics/Cargo.toml
+++ b/crates/kinematics/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "kinematics"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 nalgebra = { workspace = true }
diff --git a/crates/motionfile/Cargo.toml b/crates/motionfile/Cargo.toml
index fec1a17..1c04fb7 100644
--- a/crates/motionfile/Cargo.toml
+++ b/crates/motionfile/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "motionfile"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/crates/nao/Cargo.toml b/crates/nao/Cargo.toml
index 175fda9..7c931bc 100644
--- a/crates/nao/Cargo.toml
+++ b/crates/nao/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "nao"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/crates/nao/src/lib.rs b/crates/nao/src/lib.rs
index c0b5d94..b5e12c0 100644
--- a/crates/nao/src/lib.rs
+++ b/crates/nao/src/lib.rs
@@ -18,7 +18,7 @@ use tokio::{
 pub const PING_TIMEOUT_SECONDS: u32 = 2;
 
 pub struct Nao {
-    host: Ipv4Addr,
+    pub host: Ipv4Addr,
 }
 
 impl Nao {
@@ -151,8 +151,8 @@ impl Nao {
         let status = self
             .ssh_to_nao()
             .arg("rm")
-            .arg("--recursive")
-            .arg("--force")
+            .arg("-r")
+            .arg("-f")
             .arg("/home/nao/hulk/logs/*")
             .status()
             .await
diff --git a/crates/nao_camera/Cargo.toml b/crates/nao_camera/Cargo.toml
index a72b5bd..ed4664e 100644
--- a/crates/nao_camera/Cargo.toml
+++ b/crates/nao_camera/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "nao_camera"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 i2cdev = { workspace = true }
diff --git a/crates/parameters/Cargo.toml b/crates/parameters/Cargo.toml
index c6dfb0f..2468be7 100644
--- a/crates/parameters/Cargo.toml
+++ b/crates/parameters/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "parameters"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 serde = { workspace = true }
diff --git a/crates/projection/Cargo.toml b/crates/projection/Cargo.toml
index 99c3e27..b2da544 100644
--- a/crates/projection/Cargo.toml
+++ b/crates/projection/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "projection"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 nalgebra = { workspace = true }
diff --git a/crates/repository/Cargo.toml b/crates/repository/Cargo.toml
index c693bbf..f0d2a0b 100644
--- a/crates/repository/Cargo.toml
+++ b/crates/repository/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "repository"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/crates/serialize_hierarchy/Cargo.toml b/crates/serialize_hierarchy/Cargo.toml
index bed166e..a04f9de 100644
--- a/crates/serialize_hierarchy/Cargo.toml
+++ b/crates/serialize_hierarchy/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "serialize_hierarchy"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 bincode = { workspace = true }
diff --git a/crates/serialize_hierarchy/src/implementation.rs b/crates/serialize_hierarchy/src/implementation.rs
index f2558fc..0e1c479 100644
--- a/crates/serialize_hierarchy/src/implementation.rs
+++ b/crates/serialize_hierarchy/src/implementation.rs
@@ -1,6 +1,6 @@
 use std::{
     collections::BTreeSet,
-    ops::{Deref, Range},
+    ops::{Deref, DerefMut, Range},
     sync::Arc,
 };
 
@@ -9,6 +9,37 @@ use serde::{de::DeserializeOwned, Deserialize, Deserializer, Serialize, Serializ
 
 use crate::{error::Error, SerializeHierarchy};
 
+impl<T> SerializeHierarchy for Box<T>
+where
+    T: SerializeHierarchy,
+{
+    fn serialize_path<S>(&self, path: &str, serializer: S) -> Result<S::Ok, Error<S::Error>>
+    where
+        S: Serializer,
+    {
+        self.deref().serialize_path(path, serializer)
+    }
+
+    fn deserialize_path<'de, D>(&mut self, path: &str, data: D) -> Result<(), Error<D::Error>>
+    where
+        D: Deserializer<'de>,
+    {
+        self.deref_mut().deserialize_path(path, data)
+    }
+
+    fn exists(path: &str) -> bool {
+        T::exists(path)
+    }
+
+    fn get_fields() -> BTreeSet<String> {
+        T::get_fields()
+    }
+
+    fn fill_fields(fields: &mut BTreeSet<String>, prefix: &str) {
+        T::fill_fields(fields, prefix)
+    }
+}
+
 impl<T> SerializeHierarchy for Arc<T>
 where
     T: SerializeHierarchy,
diff --git a/crates/serialize_hierarchy_derive/Cargo.toml b/crates/serialize_hierarchy_derive/Cargo.toml
index 045ef0f..55876eb 100644
--- a/crates/serialize_hierarchy_derive/Cargo.toml
+++ b/crates/serialize_hierarchy_derive/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "serialize_hierarchy_derive"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 proc-macro-error = { workspace = true }
diff --git a/crates/source_analyzer/Cargo.toml b/crates/source_analyzer/Cargo.toml
index cec0dad..cc46d28 100644
--- a/crates/source_analyzer/Cargo.toml
+++ b/crates/source_analyzer/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "source_analyzer"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 convert_case = { workspace = true }
diff --git a/crates/spl_network/Cargo.toml b/crates/spl_network/Cargo.toml
index e741ab8..31992d4 100644
--- a/crates/spl_network/Cargo.toml
+++ b/crates/spl_network/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "spl_network"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 bincode = { workspace = true }
diff --git a/crates/spl_network_messages/Cargo.toml b/crates/spl_network_messages/Cargo.toml
index 8d750ad..684fd78 100644
--- a/crates/spl_network_messages/Cargo.toml
+++ b/crates/spl_network_messages/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "spl_network_messages"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [build-dependencies]
 bindgen = { workspace = true }
diff --git a/crates/spl_network_messages/src/game_controller_state_message.rs b/crates/spl_network_messages/src/game_controller_state_message.rs
index d2cf9fc..d35459e 100644
--- a/crates/spl_network_messages/src/game_controller_state_message.rs
+++ b/crates/spl_network_messages/src/game_controller_state_message.rs
@@ -229,10 +229,13 @@ impl CompetitionType {
     }
 }
 
-#[derive(Clone, Copy, Debug, Deserialize, Serialize, SerializeHierarchy)]
+#[derive(Clone, Copy, Debug, Default, Deserialize, Serialize, SerializeHierarchy)]
 pub enum GamePhase {
+    #[default]
     Normal,
-    PenaltyShootout { kicking_team: Team },
+    PenaltyShootout {
+        kicking_team: Team,
+    },
     Overtime,
     Timeout,
 }
diff --git a/crates/types/Cargo.toml b/crates/types/Cargo.toml
index 5f96cfc..cdd3852 100644
--- a/crates/types/Cargo.toml
+++ b/crates/types/Cargo.toml
@@ -1,13 +1,15 @@
 [package]
 name = "types"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 approx = { workspace = true }
+approx_derive = { workspace = true }
 color-eyre = { workspace = true }
+coordinate_systems = { workspace = true }
 enum-iterator = { workspace = true }
 geometry = { workspace = true }
 image = { workspace = true }
diff --git a/crates/types/src/ball.rs b/crates/types/src/ball.rs
index 28833b8..c8e2e68 100644
--- a/crates/types/src/ball.rs
+++ b/crates/types/src/ball.rs
@@ -1,4 +1,4 @@
-use approx::{AbsDiffEq, RelativeEq};
+use approx_derive::{AbsDiffEq, RelativeEq};
 use geometry::circle::Circle;
 use nalgebra::Point2;
 use serde::{Deserialize, Serialize};
@@ -13,42 +13,11 @@ pub struct CandidateEvaluation {
     pub merge_weight: Option<f32>,
 }
 
-#[derive(Clone, Debug, Deserialize, PartialEq, Serialize, SerializeHierarchy)]
+#[derive(
+    Clone, Debug, Deserialize, PartialEq, Serialize, SerializeHierarchy, AbsDiffEq, RelativeEq,
+)]
+#[abs_diff_eq(epsilon = "f32")]
 pub struct Ball {
     pub position: Point2<f32>,
     pub image_location: Circle,
 }
-
-impl AbsDiffEq for Ball {
-    type Epsilon = f32;
-
-    fn default_epsilon() -> Self::Epsilon {
-        Self::Epsilon::default_epsilon()
-    }
-
-    fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
-        self.position.abs_diff_eq(&other.position, epsilon)
-            && self
-                .image_location
-                .abs_diff_eq(&other.image_location, epsilon)
-    }
-}
-
-impl RelativeEq for Ball {
-    fn default_max_relative() -> Self::Epsilon {
-        Self::Epsilon::default_max_relative()
-    }
-
-    fn relative_eq(
-        &self,
-        other: &Self,
-        epsilon: Self::Epsilon,
-        max_relative: Self::Epsilon,
-    ) -> bool {
-        self.position
-            .relative_eq(&other.position, epsilon, max_relative)
-            && self
-                .image_location
-                .relative_eq(&other.image_location, epsilon, max_relative)
-    }
-}
diff --git a/crates/types/src/filtered_game_controller_state.rs b/crates/types/src/filtered_game_controller_state.rs
new file mode 100644
index 0000000..00aa878
--- /dev/null
+++ b/crates/types/src/filtered_game_controller_state.rs
@@ -0,0 +1,17 @@
+use serde::{Deserialize, Serialize};
+use serialize_hierarchy::SerializeHierarchy;
+use spl_network_messages::{GamePhase, Penalty, SubState, Team};
+
+use crate::{filtered_game_state::FilteredGameState, players::Players};
+
+#[derive(Default, Clone, Copy, Debug, Serialize, Deserialize, SerializeHierarchy)]
+pub struct FilteredGameControllerState {
+    pub game_state: FilteredGameState,
+    pub opponent_game_state: FilteredGameState,
+    pub game_phase: GamePhase,
+    pub kicking_team: Team,
+    pub penalties: Players<Option<Penalty>>,
+    pub remaining_number_of_messages: u16,
+    pub sub_state: Option<SubState>,
+    pub own_team_is_home_after_coin_toss: bool,
+}
diff --git a/crates/types/src/filtered_game_state.rs b/crates/types/src/filtered_game_state.rs
index f1532f0..4cf24b5 100644
--- a/crates/types/src/filtered_game_state.rs
+++ b/crates/types/src/filtered_game_state.rs
@@ -2,11 +2,17 @@ use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 use spl_network_messages::Team;
 
-#[derive(Clone, Copy, Debug, Serialize, Deserialize, SerializeHierarchy)]
+#[derive(Clone, Copy, Debug, Default, Serialize, Deserialize, SerializeHierarchy)]
 pub enum FilteredGameState {
+    #[default]
     Initial,
-    Ready { kicking_team: Team },
+    Ready {
+        kicking_team: Team,
+    },
     Set,
-    Playing { ball_is_free: bool },
+    Playing {
+        ball_is_free: bool,
+        kick_off: bool,
+    },
     Finished,
 }
diff --git a/crates/types/src/joints/arm.rs b/crates/types/src/joints/arm.rs
index c5cb55a..fedcc38 100644
--- a/crates/types/src/joints/arm.rs
+++ b/crates/types/src/joints/arm.rs
@@ -8,6 +8,8 @@ use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 use splines::impl_Interpolate;
 
+use super::mirror::Mirror;
+
 #[derive(Clone, Copy)]
 pub enum ArmJoint {
     ShoulderPitch,
@@ -152,8 +154,8 @@ impl Div<ArmJoints<f32>> for ArmJoints<f32> {
     }
 }
 
-impl ArmJoints<f32> {
-    pub fn mirrored(self) -> Self {
+impl Mirror for ArmJoints<f32> {
+    fn mirrored(self) -> Self {
         Self {
             shoulder_pitch: self.shoulder_pitch,
             shoulder_roll: -self.shoulder_roll,
diff --git a/crates/types/src/joints/head.rs b/crates/types/src/joints/head.rs
index 0eb5084..074ee35 100644
--- a/crates/types/src/joints/head.rs
+++ b/crates/types/src/joints/head.rs
@@ -6,6 +6,8 @@ use std::{
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 
+use super::mirror::Mirror;
+
 #[derive(Clone, Copy)]
 pub enum HeadJoint {
     Yaw,
@@ -104,8 +106,8 @@ impl Div<HeadJoints<f32>> for HeadJoints<f32> {
     }
 }
 
-impl HeadJoints<f32> {
-    pub fn mirrored(self) -> Self {
+impl Mirror for HeadJoints<f32> {
+    fn mirrored(self) -> Self {
         Self {
             yaw: -self.yaw,
             pitch: self.pitch,
diff --git a/crates/types/src/joints/leg.rs b/crates/types/src/joints/leg.rs
index 6bd8e3a..eb6db7b 100644
--- a/crates/types/src/joints/leg.rs
+++ b/crates/types/src/joints/leg.rs
@@ -6,6 +6,8 @@ use std::{
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 
+use super::mirror::Mirror;
+
 #[derive(Clone, Copy)]
 pub enum LegJoint {
     AnklePitch,
@@ -146,8 +148,8 @@ impl Div<LegJoints<f32>> for LegJoints<f32> {
     }
 }
 
-impl LegJoints<f32> {
-    pub fn mirrored(self) -> Self {
+impl Mirror for LegJoints<f32> {
+    fn mirrored(self) -> Self {
         Self {
             hip_yaw_pitch: self.hip_yaw_pitch,
             hip_roll: -self.hip_roll,
@@ -157,7 +159,8 @@ impl LegJoints<f32> {
             ankle_roll: -self.ankle_roll,
         }
     }
-
+}
+impl LegJoints<f32> {
     pub fn clamp(self, min: Self, max: Self) -> Self {
         Self {
             hip_yaw_pitch: self
diff --git a/crates/types/src/joints/mirror.rs b/crates/types/src/joints/mirror.rs
new file mode 100644
index 0000000..1b34298
--- /dev/null
+++ b/crates/types/src/joints/mirror.rs
@@ -0,0 +1,3 @@
+pub trait Mirror {
+    fn mirrored(self) -> Self;
+}
diff --git a/crates/types/src/joints/mod.rs b/crates/types/src/joints/mod.rs
index d92fde0..e81d247 100644
--- a/crates/types/src/joints/mod.rs
+++ b/crates/types/src/joints/mod.rs
@@ -2,6 +2,7 @@ pub mod arm;
 pub mod body;
 pub mod head;
 pub mod leg;
+pub mod mirror;
 
 use std::{
     array::IntoIter,
@@ -19,6 +20,7 @@ use self::{
     body::BodyJoints,
     head::{HeadJoint, HeadJoints},
     leg::{LegJoint, LegJoints},
+    mirror::Mirror,
 };
 
 #[derive(Clone, Copy)]
@@ -160,6 +162,15 @@ impl<T> Joints<T> {
         }
         .into_iter()
     }
+
+    pub fn body(self) -> BodyJoints<T> {
+        BodyJoints {
+            left_arm: self.left_arm,
+            right_arm: self.right_arm,
+            left_leg: self.left_leg,
+            right_leg: self.right_leg,
+        }
+    }
 }
 
 impl<T> Index<JointsName> for Joints<T> {
@@ -320,8 +331,8 @@ impl Div<f32> for Joints<f32> {
 
 impl_Interpolate!(f32, Joints<f32>, PI);
 
-impl Joints<f32> {
-    pub fn mirrored(self) -> Self {
+impl Mirror for Joints<f32> {
+    fn mirrored(self) -> Self {
         Self {
             head: self.head.mirrored(),
             left_arm: self.right_arm.mirrored(),
diff --git a/crates/types/src/lib.rs b/crates/types/src/lib.rs
index a845aca..ece1f83 100644
--- a/crates/types/src/lib.rs
+++ b/crates/types/src/lib.rs
@@ -17,6 +17,7 @@ pub mod field_border;
 pub mod field_color;
 pub mod field_dimensions;
 pub mod field_marks;
+pub mod filtered_game_controller_state;
 pub mod filtered_game_state;
 pub mod filtered_segments;
 pub mod filtered_whistle;
diff --git a/crates/types/src/motion_command.rs b/crates/types/src/motion_command.rs
index bbdfc0e..0cb3460 100644
--- a/crates/types/src/motion_command.rs
+++ b/crates/types/src/motion_command.rs
@@ -26,7 +26,6 @@ pub enum MotionCommand {
     },
     Stand {
         head: HeadMotion,
-        is_energy_saving: bool,
     },
     StandUp {
         facing: Facing,
diff --git a/crates/types/src/motion_selection.rs b/crates/types/src/motion_selection.rs
index cb465ac..5ddb46c 100644
--- a/crates/types/src/motion_selection.rs
+++ b/crates/types/src/motion_selection.rs
@@ -13,7 +13,6 @@ pub struct MotionSelection {
 pub enum MotionType {
     ArmsUpSquat,
     Dispatching,
-    EnergySavingStand,
     FallProtection,
     Initial,
     JumpLeft,
@@ -37,7 +36,6 @@ impl Default for MotionType {
 pub struct MotionSafeExits {
     arms_up_squat: bool,
     dispatching: bool,
-    energy_saving_stand: bool,
     fall_protection: bool,
     initial: bool,
     jump_left: bool,
@@ -56,7 +54,6 @@ impl Default for MotionSafeExits {
         Self {
             arms_up_squat: true,
             dispatching: false,
-            energy_saving_stand: true,
             fall_protection: true,
             initial: true,
             jump_left: false,
@@ -79,7 +76,6 @@ impl Index<MotionType> for MotionSafeExits {
         match motion_type {
             MotionType::ArmsUpSquat => &self.arms_up_squat,
             MotionType::Dispatching => &self.dispatching,
-            MotionType::EnergySavingStand => &self.energy_saving_stand,
             MotionType::Initial => &self.initial,
             MotionType::JumpLeft => &self.jump_left,
             MotionType::JumpRight => &self.jump_right,
@@ -100,7 +96,6 @@ impl IndexMut<MotionType> for MotionSafeExits {
         match motion_type {
             MotionType::ArmsUpSquat => &mut self.arms_up_squat,
             MotionType::Dispatching => &mut self.dispatching,
-            MotionType::EnergySavingStand => &mut self.energy_saving_stand,
             MotionType::Initial => &mut self.initial,
             MotionType::JumpLeft => &mut self.jump_left,
             MotionType::JumpRight => &mut self.jump_right,
diff --git a/crates/types/src/motor_commands.rs b/crates/types/src/motor_commands.rs
index 7936f4a..72f013e 100644
--- a/crates/types/src/motor_commands.rs
+++ b/crates/types/src/motor_commands.rs
@@ -3,7 +3,7 @@ use std::{
     ops::{Add, Div, Mul, Sub},
 };
 
-use crate::joints::{body::BodyJoints, head::HeadJoints, Joints};
+use crate::joints::{mirror::Mirror, Joints};
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 use splines::impl_Interpolate;
@@ -11,34 +11,21 @@ use splines::impl_Interpolate;
 #[derive(
     Clone, Copy, Debug, Default, Deserialize, PartialEq, Eq, Serialize, SerializeHierarchy,
 )]
-#[serialize_hierarchy(bound = "T: SerializeHierarchy + Serialize, for<'de> T: Deserialize<'de>")]
-pub struct MotorCommands<T> {
-    pub positions: Joints<T>,
-    pub stiffnesses: Joints<T>,
-}
-
-impl_Interpolate!(f32, MotorCommands<f32>, PI);
-
-#[derive(
-    Clone, Copy, Debug, Default, Deserialize, PartialEq, Eq, Serialize, SerializeHierarchy,
+#[serialize_hierarchy(
+    bound = "Joints: SerializeHierarchy + Serialize, for<'de> Joints: Deserialize<'de>"
 )]
-#[serialize_hierarchy(bound = "T: SerializeHierarchy + Serialize, for<'de> T: Deserialize<'de>")]
-pub struct HeadMotorCommands<T> {
-    pub positions: HeadJoints<T>,
-    pub stiffnesses: HeadJoints<T>,
+pub struct MotorCommands<Joints> {
+    pub positions: Joints,
+    pub stiffnesses: Joints,
 }
 
-#[derive(
-    Clone, Copy, Debug, Default, Deserialize, PartialEq, Eq, Serialize, SerializeHierarchy,
-)]
-#[serialize_hierarchy(bound = "T: SerializeHierarchy + Serialize, for<'de> T: Deserialize<'de>")]
-pub struct BodyMotorCommands<T> {
-    pub positions: BodyJoints<T>,
-    pub stiffnesses: BodyJoints<T>,
-}
+impl_Interpolate!(f32, MotorCommands<Joints<f32>>, PI);
 
-impl MotorCommands<f32> {
-    pub fn mirrored(self) -> Self {
+impl<Joints> Mirror for MotorCommands<Joints>
+where
+    Joints: Mirror,
+{
+    fn mirrored(self) -> Self {
         Self {
             positions: Joints::mirrored(self.positions),
             stiffnesses: Joints::mirrored(self.stiffnesses),
@@ -46,8 +33,11 @@ impl MotorCommands<f32> {
     }
 }
 
-impl Mul<f32> for MotorCommands<f32> {
-    type Output = MotorCommands<f32>;
+impl<Joints> Mul<f32> for MotorCommands<Joints>
+where
+    Joints: Mul<f32>,
+{
+    type Output = MotorCommands<Joints::Output>;
 
     fn mul(self, right: f32) -> Self::Output {
         Self::Output {
@@ -57,10 +47,13 @@ impl Mul<f32> for MotorCommands<f32> {
     }
 }
 
-impl Add<MotorCommands<f32>> for MotorCommands<f32> {
-    type Output = MotorCommands<f32>;
+impl<Joints> Add<MotorCommands<Joints>> for MotorCommands<Joints>
+where
+    Joints: Add<Joints>,
+{
+    type Output = MotorCommands<Joints::Output>;
 
-    fn add(self, right: MotorCommands<f32>) -> Self::Output {
+    fn add(self, right: MotorCommands<Joints>) -> Self::Output {
         Self::Output {
             positions: self.positions + right.positions,
             stiffnesses: self.stiffnesses + right.stiffnesses,
@@ -68,10 +61,13 @@ impl Add<MotorCommands<f32>> for MotorCommands<f32> {
     }
 }
 
-impl Sub<MotorCommands<f32>> for MotorCommands<f32> {
-    type Output = MotorCommands<f32>;
+impl<Joints> Sub<MotorCommands<Joints>> for MotorCommands<Joints>
+where
+    Joints: Sub<Joints>,
+{
+    type Output = MotorCommands<Joints::Output>;
 
-    fn sub(self, right: MotorCommands<f32>) -> Self::Output {
+    fn sub(self, right: MotorCommands<Joints>) -> Self::Output {
         Self::Output {
             positions: self.positions - right.positions,
             stiffnesses: self.stiffnesses - right.stiffnesses,
@@ -79,8 +75,11 @@ impl Sub<MotorCommands<f32>> for MotorCommands<f32> {
     }
 }
 
-impl Div<f32> for MotorCommands<f32> {
-    type Output = MotorCommands<f32>;
+impl<Joints> Div<f32> for MotorCommands<Joints>
+where
+    Joints: Div<f32>,
+{
+    type Output = MotorCommands<Joints::Output>;
 
     fn div(self, right: f32) -> Self::Output {
         Self::Output {
diff --git a/crates/types/src/parameters.rs b/crates/types/src/parameters.rs
index e84f92e..8ac853c 100644
--- a/crates/types/src/parameters.rs
+++ b/crates/types/src/parameters.rs
@@ -163,6 +163,7 @@ pub struct GameStateFilterParameters {
     pub playing_message_delay: Duration,
     pub ready_message_delay: Duration,
     pub kick_off_grace_period: Duration,
+    pub tentative_finish_duration: Duration,
     pub distance_to_consider_ball_moved_in_kick_off: f32,
     pub whistle_acceptance_goal_distance: Vector2<f32>,
 }
diff --git a/crates/types/src/world_state.rs b/crates/types/src/world_state.rs
index 45e1634..ac8cad8 100644
--- a/crates/types/src/world_state.rs
+++ b/crates/types/src/world_state.rs
@@ -6,18 +6,16 @@ use serialize_hierarchy::SerializeHierarchy;
 use spl_network_messages::PlayerNumber;
 
 use crate::{
-    fall_state::FallState, filtered_game_state::FilteredGameState,
-    game_controller_state::GameControllerState, kick_decision::KickDecision, obstacles::Obstacle,
-    penalty_shot_direction::PenaltyShotDirection, primary_state::PrimaryState, roles::Role,
-    rule_obstacles::RuleObstacle, support_foot::Side,
+    fall_state::FallState, filtered_game_controller_state::FilteredGameControllerState,
+    kick_decision::KickDecision, obstacles::Obstacle, penalty_shot_direction::PenaltyShotDirection,
+    primary_state::PrimaryState, roles::Role, rule_obstacles::RuleObstacle, support_foot::Side,
 };
 
 #[derive(Clone, Debug, Default, Serialize, Deserialize, SerializeHierarchy)]
 pub struct WorldState {
     pub ball: Option<BallState>,
     pub rule_ball: Option<BallState>,
-    pub filtered_game_state: Option<FilteredGameState>,
-    pub game_controller_state: Option<GameControllerState>,
+    pub filtered_game_controller_state: Option<FilteredGameControllerState>,
     pub obstacles: Vec<Obstacle>,
     pub rule_obstacles: Vec<RuleObstacle>,
     pub position_of_interest: Point2<f32>,
diff --git a/crates/vision/Cargo.toml b/crates/vision/Cargo.toml
index c0a9d88..e02c606 100644
--- a/crates/vision/Cargo.toml
+++ b/crates/vision/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "vision"
-version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version.workspace = true
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 approx = { workspace = true }
diff --git a/crates/vision/src/line_detection.rs b/crates/vision/src/line_detection.rs
index 5f717f1..de49205 100644
--- a/crates/vision/src/line_detection.rs
+++ b/crates/vision/src/line_detection.rs
@@ -38,8 +38,8 @@ pub struct CycleContext {
     gradient_alignment: Parameter<f32, "line_detection.$cycler_instance.gradient_alignment">,
     maximum_distance_to_robot:
         Parameter<f32, "line_detection.$cycler_instance.maximum_distance_to_robot">,
-    maximum_fit_distance_in_pixels:
-        Parameter<f32, "line_detection.$cycler_instance.maximum_fit_distance_in_pixels">,
+    maximum_fit_distance_in_ground:
+        Parameter<f32, "line_detection.$cycler_instance.maximum_fit_distance_in_ground">,
     maximum_gap_on_line: Parameter<f32, "line_detection.$cycler_instance.maximum_gap_on_line">,
     maximum_number_of_lines:
         Parameter<usize, "line_detection.$cycler_instance.maximum_number_of_lines">,
@@ -77,7 +77,10 @@ impl LineDetection {
             *context.gradient_alignment,
         );
         if context.lines_in_image.is_subscribed() {
-            image_lines.points = line_points.clone();
+            image_lines.points = line_points
+                .iter()
+                .map(|point| context.camera_matrix.ground_to_pixel(*point).unwrap())
+                .collect();
         }
         let mut ransac = Ransac::new(line_points);
         let mut lines_in_robot = Vec::new();
@@ -88,7 +91,7 @@ impl LineDetection {
             let RansacResult {
                 line: ransac_line,
                 used_points,
-            } = ransac.next_line(20, *context.maximum_fit_distance_in_pixels);
+            } = ransac.next_line(20, *context.maximum_fit_distance_in_ground);
             let ransac_line =
                 ransac_line.expect("Insufficient number of line points. Cannot fit line.");
             if used_points.len() < *context.minimum_number_of_points_on_line {
@@ -123,36 +126,16 @@ impl LineDetection {
                     .push((ransac_line, LineDiscardReason::TooFewPoints));
                 continue;
             }
-            let (start_point_in_image, start_point_in_robot) =
-                match points_with_projection_onto_line.iter().copied().find_map(
-                    |(point, projected_point)| {
-                        Some((
-                            point,
-                            context
-                                .camera_matrix
-                                .pixel_to_ground(projected_point)
-                                .ok()?,
-                        ))
-                    },
-                ) {
-                    Some(start) => start,
-                    None => break,
-                };
-            let (end_point_in_image, end_point_in_robot) = match points_with_projection_onto_line
-                .iter()
-                .copied()
-                .rev()
-                .find_map(|(point, projected_point)| {
-                    Some((
-                        point,
-                        context
-                            .camera_matrix
-                            .pixel_to_ground(projected_point)
-                            .ok()?,
-                    ))
-                }) {
-                Some(end) => end,
-                None => break,
+
+            let Some((start_point_in_image, start_point_in_robot)) =
+                points_with_projection_onto_line.first().copied()
+            else {
+                break;
+            };
+            let Some((end_point_in_image, end_point_in_robot)) =
+                points_with_projection_onto_line.last().copied()
+            else {
+                break;
             };
 
             let line_in_robot = Line(start_point_in_robot, end_point_in_robot);
@@ -195,7 +178,20 @@ impl LineDetection {
             lines_in_robot,
             used_vertical_filtered_segments,
         };
-        context.lines_in_image.fill_if_subscribed(|| image_lines);
+
+        context.lines_in_image.fill_if_subscribed(|| {
+            for line in image_lines.lines.iter_mut().chain(
+                image_lines
+                    .discarded_lines
+                    .iter_mut()
+                    .map(|line| &mut line.0),
+            ) {
+                line.0 = context.camera_matrix.ground_to_pixel(line.0).unwrap();
+                line.1 = context.camera_matrix.ground_to_pixel(line.1).unwrap();
+            }
+            image_lines
+        });
+
         Ok(MainOutputs {
             line_data: Some(line_data).into(),
         })
@@ -271,12 +267,14 @@ fn filter_segments_for_lines(
                 }
             })
         })
-        .map(|(scan_line_position, segment)| {
+        .filter_map(|(scan_line_position, segment)| {
             let center = (segment.start + segment.end) as f32 / 2.0;
-            (
-                point![scan_line_position as f32, center],
+            Some((
+                camera_matrix
+                    .pixel_to_ground(point![scan_line_position as f32, center])
+                    .ok()?,
                 point![scan_line_position, segment.start],
-            )
+            ))
         })
         .unzip();
     (line_points, used_vertical_filtered_segments)
diff --git a/docs/robotics/overview.md b/docs/robotics/overview.md
index 4c7f7ce..d4792ee 100644
--- a/docs/robotics/overview.md
+++ b/docs/robotics/overview.md
@@ -1,5 +1,21 @@
 # Overview
 
+Currently there are 5 different [threads](https://en.wikipedia.org/wiki/Thread_(computing)), termed [cyclers](../framework/cyclers.md) in hulks terminology
+
+- `Control`
+- `VisionTop`
+- `VisionBottom`
+- `Audio`
+- `SPLNetwork`
+
+#### `Control`
+
+#### `VisionTop/Bottom`
+
+#### `Audio`
+
+#### `SPLNetwork`
+
 TODO: Elaborate
 
 ## Perception
diff --git a/docs/setup/git_setup.md b/docs/setup/git_setup.md
new file mode 100644
index 0000000..abf6f4f
--- /dev/null
+++ b/docs/setup/git_setup.md
@@ -0,0 +1,17 @@
+# Github Setup
+
+If you haven't set up git before, follow this guide.
+
+## Configuring Username and Email
+
+The first thing you should do when you install Git is to set your user name and email address. This is important because every Git commit uses this information, and it’s immutably baked into the commits you start creating:
+
+```
+git config --global user.name "<your-name>"
+git config --global user.email <your-email>
+
+```
+
+## Creating and adding a SSH-Key
+
+You can access and write data in repositories on GitHub.com using SSH (Secure Shell Protocol). When you connect via SSH, you authenticate using a private key file on your local machine. You can follow this [guide](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) to generate and add a key to GitHub. If you already have a key, you can skip the part about generating a new one, and simply add your existing key to GitHub.
diff --git a/docs/workflow/getting_started.md b/docs/workflow/getting_started.md
new file mode 100644
index 0000000..239d40f
--- /dev/null
+++ b/docs/workflow/getting_started.md
@@ -0,0 +1,70 @@
+# Getting Started Programming at HULKs
+
+Please follow the instructions given in [Setup](../setup/overview.md) to setup [`rust`](../setup/main_setup.md) on your machine.
+The tool used for compiling, uploading or changing the robot state otherwise is called [`pepsi`](../tooling/pepsi.md).
+Another tool often used to debug on the robot is called [`twix`](../tooling/twix.md). With `twix` you can connect to a robot and inspect the output of [nodes](../framework/nodes.md).
+## Starting Development
+### Setting up `git`
+Head into your webbrowser and **fork** the repository. This will add a copy of the hulks repository under your user. All development should happen on your personal fork of the project and should be brought into the hulks repository only using pull requests.
+When you have created a fork, head into the cloned hulks repository. When typing
+```bash
+git remote -v
+```
+all your currently configured remotes will be shown.
+```
+origin	git@github.com:HULKs/hulk.git (fetch)
+origin	git@github.com:HULKs/hulk.git (push)
+```
+You can add your fork as a remote by running 
+```
+git remote add <NAME> <FORK_LINK>
+```
+and substituting `<NAME>` with a suitable name for your fork and fork link with the link of your git repo.
+If you list your remotes again, it should now look similar to this:
+```bash
+origin	git@github.com:HULKs/hulk.git (fetch)
+origin	git@github.com:HULKs/hulk.git (push)
+okiwi6	git@github.com:okiwi6/hulk.git (fetch)
+okiwi6	git@github.com:okiwi6/hulk.git (push)
+```
+Of course instead of `okiwi6`, your name should appear there 😉.
+If you like, you can rename the `origin` remote to something more descriptive, for example `git remote rename origin hulk` to name it hulk.
+
+### Creating a branch
+When running `git status`, you'll most likely see that you are on the `main` branch of the repository.
+```bash
+On branch main
+Your branch is up to date with 'origin/main'.
+
+nothing to commit, working tree clean
+```
+To create a new feature branch, run `git switch -c <branch_name>`.
+Here you can start developing your feature.
+
+### Developing
+For a overview of the current robotics code, check out this [overview](../robotics/overview.md). If you don't have a task already, have a look at our [development board](https://github.com/orgs/HULKs/projects/2) or ask one of our Dev-Leads.
+An introduction to how our project management works, can be found [here](./development.md)
+
+### Commiting
+Commiting is a crucial git action, that allows to set "checkpoints" of your work. It is possible to jump between different commits or include them in other branches. Therefore it is important that you commit frequently. Optimally the code should be in a compilable state whenever you commit.
+In order to commit, you first have to add your changes to the staging area. This can be done easily in Visual Studio Code using the `Source Control` side bar and hitting `+` on the correct files. Alternatively, you can run `git status` in the hulks repository to see all changes. Then you can add files manually using the `git add <path_to_file>` command. To commit all changes listed in your staging area, in Visual Studio Code you can use the `Source Control` panel again. Create a suitable commit message and then hit the green commit button. In the terminal the equivalent action is `git commit`, which will open a text editor for your commit message (Alternatively, run `git commit -m"<your_commit_message>"`) to avoid entering a text editor). Commit messages should be short and descriptive.
+You can inspect your commit history by running `git log --oneline`, this will produce something similar to this
+```bash
+b356357ba Add nixgl as dependency
+4de357b34 Add nix development shell via flake
+bb072fd4b Add approx_derive
+9951fcd6c Update hula lock file
+73449edd0 Add non-workspace lock files to check
+...
+```
+
+### Pushing
+To push to your remote, run `git push <remote_name>`. You can also configure remotes of other team mates and push to their fork, given they add you as a collaborator with write access to their fork.
+
+### Creating a Pull Request
+Head to the [Hulks Repository Pull Requests section](https://github.com/HULKs/hulk/pulls). There you can click `New pull request`, then click `compare across forks`.
+Select your fork and branch to merge into `hulk/main`.
+Then fill out the given markdown template. Please be as descriptive as possible, since other people need to understand what you did. By adding a issue number behind the `Fixes #` line, you can automatically link an issue that gets closed when your PR is merged.
+Then create the pull request.
+After that assign corresponding labels and select the `Development` Project and `Request for Review`.
+After creating your PR, our [CI]() will start running. If it generates findings, you need to fix the issues on your branch and push again.
\ No newline at end of file
diff --git a/etc/parameters/default.json b/etc/parameters/default.json
index b473c7c..77904d4 100644
--- a/etc/parameters/default.json
+++ b/etc/parameters/default.json
@@ -98,8 +98,8 @@
       "check_edge_gradient": false,
       "gradient_alignment": -0.95,
       "maximum_distance_to_robot": 6.0,
-      "maximum_fit_distance_in_pixels": 3.0,
-      "maximum_gap_on_line": 30.0,
+      "maximum_fit_distance_in_ground": 0.05,
+      "maximum_gap_on_line": 0.5,
       "maximum_number_of_lines": 10,
       "maximum_projected_segment_length": 0.3,
       "minimum_number_of_points_on_line": 5
@@ -115,8 +115,8 @@
       "check_edge_gradient": false,
       "gradient_alignment": -0.95,
       "maximum_distance_to_robot": 6.0,
-      "maximum_fit_distance_in_pixels": 3.0,
-      "maximum_gap_on_line": 30.0,
+      "maximum_fit_distance_in_ground": 0.05,
+      "maximum_gap_on_line": 0.5,
       "maximum_number_of_lines": 10,
       "maximum_projected_segment_length": 0.3,
       "minimum_number_of_points_on_line": 4
@@ -258,49 +258,6 @@
       "minimum_samples_per_cluster": 3
     }
   },
-  "energy_saving_stand": {
-    "enabled": false,
-    "arm_stiffness": 0.1,
-    "leg_stiffness": 0.5,
-    "pose": {
-      "head": {
-        "yaw": 0.0,
-        "pitch": 0.0
-      },
-      "left_arm": {
-        "shoulder_pitch": 1.57,
-        "shoulder_roll": 0.0,
-        "elbow_yaw": 0.0,
-        "elbow_roll": 0.0,
-        "wrist_yaw": -1.57,
-        "hand": 0.0
-      },
-      "right_arm": {
-        "shoulder_pitch": 1.57,
-        "shoulder_roll": 0.0,
-        "elbow_yaw": 0.0,
-        "elbow_roll": 0.0,
-        "wrist_yaw": 1.57,
-        "hand": 0.0
-      },
-      "left_leg": {
-        "hip_yaw_pitch": 0.0,
-        "hip_roll": 0.0,
-        "hip_pitch": -0.0872,
-        "knee_pitch": 0.0,
-        "ankle_pitch": 0.0,
-        "ankle_roll": 0.0
-      },
-      "right_leg": {
-        "hip_yaw_pitch": 0.0,
-        "hip_roll": 0.0,
-        "hip_pitch": -0.0872,
-        "knee_pitch": 0.0,
-        "ankle_pitch": 0.0,
-        "ankle_roll": 0.0
-      }
-    }
-  },
   "fall_protection": {
     "ground_impact_angular_threshold": 0.9,
     "ground_impact_body_stiffness": 0.2,
@@ -945,6 +902,10 @@
       "nanos": 0,
       "secs": 15
     },
+    "tentative_finish_duration": {
+      "nanos": 0,
+      "secs": 4
+    },
     "distance_to_consider_ball_moved_in_kick_off": 0.2,
     "whistle_acceptance_goal_distance": [0.5, 0.5]
   },
@@ -1163,5 +1124,6 @@
       "knee_pitch": 0.0
     }
   },
-  "angular_velocity_smoothing_factor": 0.1
+  "angular_velocity_smoothing_factor": 0.1,
+  "center_circle_obstacle_increase": 1.2
 }
diff --git a/etc/parameters/head.P0000074A06S9A900031.json b/etc/parameters/head.P0000074A06S9A900031.json
index f2d98ea..24f4451 100644
--- a/etc/parameters/head.P0000074A06S9A900031.json
+++ b/etc/parameters/head.P0000074A06S9A900031.json
@@ -15,4 +15,4 @@
       ]
     }
   }
-}
+}
\ No newline at end of file
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..db4e862
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,111 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1694529238,
+        "narHash": "sha256-zsNZZGTGnMOf9YpHKJqMSsa0dXbfmxeoJ7xHlrt+xmY=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "ff7b65b44d01cf9ba6a71320833626af21126384",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "flake-utils_2": {
+      "locked": {
+        "lastModified": 1659877975,
+        "narHash": "sha256-zllb8aq3YO3h8B/U0/J1WBgAL8EX5yWf5pMj3G0NAmc=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "c0e246b9b83f637f4681389ecabcb2681b4f3af0",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nixgl": {
+      "inputs": {
+        "flake-utils": "flake-utils_2",
+        "nixpkgs": "nixpkgs"
+      },
+      "locked": {
+        "lastModified": 1685908677,
+        "narHash": "sha256-E4zUPEUFyVWjVm45zICaHRpfGepfkE9Z2OECV9HXfA4=",
+        "owner": "guibou",
+        "repo": "nixGL",
+        "rev": "489d6b095ab9d289fe11af0219a9ff00fe87c7c5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "guibou",
+        "repo": "nixGL",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1660551188,
+        "narHash": "sha256-a1LARMMYQ8DPx1BgoI/UN4bXe12hhZkCNqdxNi6uS0g=",
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "rev": "441dc5d512153039f19ef198e662e4f3dbb9fd65",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs_2": {
+      "locked": {
+        "lastModified": 1701068326,
+        "narHash": "sha256-vmMceA+q6hG1yrjb+MP8T0YFDQIrW3bl45e7z24IEts=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "8cfef6986adfb599ba379ae53c9f5631ecd2fd9c",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixgl": "nixgl",
+        "nixpkgs": "nixpkgs_2"
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 0000000..c7232f4
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,81 @@
+{
+  description = "Dev environment for HULKs";
+
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+    flake-utils.url = "github:numtide/flake-utils";
+    nixgl.url = "github:guibou/nixGL";
+  };
+
+  outputs = { self, nixpkgs, flake-utils, nixgl }:
+    flake-utils.lib.eachDefaultSystem
+      (system:
+        let
+          pkgs = import nixpkgs {
+            inherit system;
+            overlays = [ nixgl.overlay ];
+          };
+
+          nao_sdk_version = "5.9.0";
+          nao_sdk_environment_path = "$HOME/.naosdk/${nao_sdk_version}/environment-setup-corei7-64-aldebaran-linux";
+        in
+        {
+          devShells = {
+            tools = pkgs.mkShell
+              rec {
+                buildInputs = with pkgs;[
+                  # Tools
+                  cargo
+                  rustc
+                  rustfmt
+                  cmake
+                  pkg-config
+                  llvmPackages.clang
+                  python312
+                  rsync
+
+                  # Libs
+                  luajit
+                  systemdLibs
+                  hdf5
+                  alsa-lib
+                  opusfile
+                  libogg
+                  libGL
+                  libxkbcommon
+                  wayland
+                  xorg.libX11
+                  xorg.libXcursor
+                  xorg.libXi
+                  xorg.libXrandr
+                  pkgs.nixgl.auto.nixGLDefault
+                  rustPlatform.bindgenHook
+                  openssl
+                ];
+                env = {
+                  LD_LIBRARY_PATH = "${pkgs.lib.makeLibraryPath buildInputs}";
+                  LIBCLANG_PATH = "${pkgs.llvmPackages.libclang.lib}/lib";
+                };
+              };
+
+
+            robot = (pkgs.buildFHSUserEnv {
+              name = "hulk-robot-dev-env";
+              targetPkgs = pkgs: ([]);
+              extraOutputsToInstall = [ "dev" ];
+              runScript = "bash";
+              profile = ''
+                if [[ ! -f "${nao_sdk_environment_path}" ]]; then
+                  echo "WARNING: nao sdk v${nao_sdk_version} not found! Please install it."
+                  exit 1
+                fi
+                echo "Unsetting LD_LIBRARY_PATH..."
+                unset LD_LIBRARY_PATH
+                echo "Sourcing nao sdk v${nao_sdk_version}..."
+                source ${nao_sdk_environment_path}
+              '';
+            }).env;
+          };
+        }
+      );
+}
diff --git a/mkdocs.yml b/mkdocs.yml
index b2f7269..daca581 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -29,6 +29,7 @@ nav:
       - Main Setup & Webots: setup/main_setup.md
       - NAO Image & SDK: setup/nao_image_and_sdk.md
       - NAO Setup: setup/nao_setup.md
+      - Git Setup: setup/git_setup.md
   - Framework:
       - Overview: framework/overview.md
       - Directory Structure: framework/directory_structure.md
@@ -78,6 +79,7 @@ nav:
       - Miscellaneous:
           - Create URDF and PROTO for NAOv6: robotics/miscellaneous/create_urdf.md
   - Workflow:
+      - Getting Started: workflow/getting_started.md
       - Overview: workflow/overview.md
       - Competition: workflow/competition.md
       - Development: workflow/development.md
diff --git a/tests/behavior/demonstration.lua b/tests/behavior/demonstration.lua
index 5a6ebd9..99b3746 100644
--- a/tests/behavior/demonstration.lua
+++ b/tests/behavior/demonstration.lua
@@ -32,7 +32,8 @@ function on_cycle()
   if state.cycle_count == 1000 then
     state.filtered_game_state = {
       Playing = {
-        ball_is_free = true
+        ball_is_free = true,
+        kick_off = false
       }
     }
   end
diff --git a/tests/behavior/golden_goal.lua b/tests/behavior/golden_goal.lua
index 67f1462..4149d5e 100644
--- a/tests/behavior/golden_goal.lua
+++ b/tests/behavior/golden_goal.lua
@@ -38,7 +38,7 @@ function on_cycle()
         state.game_controller_state.game_state = "Ready"
         state.filtered_game_state = {
             Ready = {
-                kicking_team = "Hulks"
+                kicking_team = "Hulks",
             }
         }
     end
@@ -51,7 +51,8 @@ function on_cycle()
     if state.cycle_count == 1700 then
         state.filtered_game_state = {
             Playing = {
-                ball_is_free = true
+                ball_is_free = true,
+                kick_off = true
             }
         }
     end
diff --git a/tools/aliveness/Cargo.lock b/tools/aliveness/Cargo.lock
index 5ef108c..2d0b94b 100644
--- a/tools/aliveness/Cargo.lock
+++ b/tools/aliveness/Cargo.lock
@@ -328,6 +328,11 @@ dependencies = [
 [[package]]
 name = "constants"
 version = "0.1.0"
+dependencies = [
+ "lazy_static",
+ "serde",
+ "serde_json",
+]
 
 [[package]]
 name = "cpufeatures"
diff --git a/tools/annotato/Cargo.toml b/tools/annotato/Cargo.toml
new file mode 100644
index 0000000..d5d3bf5
--- /dev/null
+++ b/tools/annotato/Cargo.toml
@@ -0,0 +1,20 @@
+[package]
+name = "annotato"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+clap = { workspace = true}
+color-eyre = { workspace = true}
+eframe = { workspace = true}
+egui_extras = { workspace = true}
+egui_plot = { workspace = true}
+glob = { workspace = true}
+image = { workspace = true}
+once_cell = { workspace = true}
+reqwest = { workspace = true}
+serde = { workspace = true}
+serde_json = { workspace = true}
+toml = { workspace = true }
diff --git a/tools/annotato/scripts/prepare_for_labelling.py b/tools/annotato/scripts/prepare_for_labelling.py
new file mode 100644
index 0000000..8e4becf
--- /dev/null
+++ b/tools/annotato/scripts/prepare_for_labelling.py
@@ -0,0 +1,86 @@
+import argparse
+import json
+from pathlib import Path
+
+import cv2
+from PIL import Image
+from tqdm import tqdm
+import numpy as np
+from ultralytics import YOLO
+from uuid import uuid4
+from wonderwords import RandomWord
+
+CLASS_CONVERSION = [
+    "Ball",
+    "Robot",
+    "GoalPost",
+    "PenaltySpot",
+]
+
+
+def generate_random_chunk_name():
+    rng = RandomWord()
+
+    adjective = rng.word(include_categories=[
+                         "adjective"], regex="[a-zA-Z]+").lower()
+    noun = rng.word(include_categories=["noun"], regex="[a-zA-Z]+").lower()
+
+    return f"{adjective}-{noun}"
+
+
+def main(args):
+    image_paths = Path(args.image_folder).glob("*.png")
+    if len(image_paths) == 0:
+        raise RuntimeError("No images found in the image folder")
+
+    yolo_model = None
+    if args.yolo:
+        yolo_model = YOLO(args.yolo)
+
+    number_of_chunks = len(image_paths) // int(args.chunksize)
+
+    output_path = Path("output")
+
+    for chunk in tqdm(np.array_split(image_paths, number_of_chunks)):
+        # create labelling folder
+        chunk_annotations = {}
+        chunk_name = generate_random_chunk_name()
+
+        images_path = output_path.joinpath(chunk_name, "images")
+        images_path.mkdir(parents=True, exist_ok=False)
+
+        for image_path in chunk:
+            image = cv2.imread(str(image_path))
+            if args.convert_colors:
+                image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+                image = cv2.cvtColor(image, cv2.COLOR_YCrCb2RGB)
+
+            if yolo_model:
+                detection = yolo_model(image, verbose=False)
+
+                chunk_annotations[image_name] = [
+                    {
+                        "class": CLASS_CONVERSION[int(box.cls)],
+                        "points": box.xyxy.reshape(2, 2).tolist(),
+                    }
+                    for box in detection[0].boxes
+                ]
+
+            image_name = str(uuid4()) + ".png"
+            cv2.imwrite(str(images_path.joinpath(image_name)), image)
+
+        with open(images_path.parent.joinpath("data.json"), 'w') as f:
+            json.dump(chunk_annotations, f)
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--image_folder", help="the images folder")
+    parser.add_argument(
+        "--yolo", help="the yolo checkpoint used for inference", default=None)
+    parser.add_argument(
+        "--chunksize", help="the chunksize of one labelling task", default=200)
+    parser.add_argument("--convert-colors",
+                        help="whether to convert ycbcr to rgb", default=True)
+
+    main(parser.parse_args())
diff --git a/tools/annotato/src/ai_assistant.rs b/tools/annotato/src/ai_assistant.rs
new file mode 100644
index 0000000..73a67bf
--- /dev/null
+++ b/tools/annotato/src/ai_assistant.rs
@@ -0,0 +1,34 @@
+use std::{collections::HashMap, fs, path::Path};
+
+use color_eyre::{eyre::Context, Result};
+use serde::{Deserialize, Serialize};
+
+use crate::{annotation::AnnotationFormat, boundingbox::BoundingBox};
+
+#[derive(Serialize, Deserialize)]
+pub struct ModelAnnotations {
+    #[serde(flatten)]
+    images: HashMap<String, Vec<AnnotationFormat>>,
+}
+
+impl ModelAnnotations {
+    pub fn try_new(path: impl AsRef<Path>) -> Result<Self> {
+        let file_content = fs::read_to_string(&path)
+            .wrap_err_with(|| format!("failed to find {}", path.as_ref().display()))?;
+
+        Ok(Self {
+            images: serde_json::from_str(&file_content)
+                .wrap_err_with(|| format!("failed to parse {}", path.as_ref().display()))?,
+        })
+    }
+
+    pub fn for_image(&self, image_name: &String) -> Option<Vec<BoundingBox>> {
+        Some(
+            self.images
+                .get(image_name)?
+                .iter()
+                .map(|annotation| annotation.clone().into())
+                .collect(),
+        )
+    }
+}
diff --git a/tools/annotato/src/annotation.rs b/tools/annotato/src/annotation.rs
new file mode 100644
index 0000000..3ceee92
--- /dev/null
+++ b/tools/annotato/src/annotation.rs
@@ -0,0 +1,37 @@
+use eframe::epaint::Pos2;
+use egui_plot::PlotPoint;
+use serde::{Deserialize, Serialize};
+
+use crate::{boundingbox::BoundingBox, classes::Class};
+
+#[derive(Serialize, Deserialize, Debug, Clone)]
+pub struct AnnotationFormat {
+    points: [[f32; 2]; 2],
+    class: Class,
+}
+
+impl From<AnnotationFormat> for BoundingBox {
+    fn from(value: AnnotationFormat) -> Self {
+        let [[min_x, min_y], [max_x, max_y]] = value.points;
+        let class = value.class;
+
+        Self {
+            corner: PlotPoint::new(min_x as f64, 480. - max_y as f64),
+            opposing_corner: PlotPoint::new(max_x as f64, 480. - min_y as f64),
+            class,
+        }
+    }
+}
+
+impl From<BoundingBox> for AnnotationFormat {
+    fn from(value: BoundingBox) -> Self {
+        let rect = value.rect();
+        let Pos2 { x: x1, y: y1 } = rect.left_top();
+        let Pos2 { x: x2, y: y2 } = rect.right_bottom();
+
+        Self {
+            points: [[x1, 480. - y2], [x2, 480. - y1]],
+            class: value.class,
+        }
+    }
+}
diff --git a/tools/annotato/src/annotator_app.rs b/tools/annotato/src/annotator_app.rs
new file mode 100644
index 0000000..e9f3432
--- /dev/null
+++ b/tools/annotato/src/annotator_app.rs
@@ -0,0 +1,284 @@
+use std::{
+    collections::VecDeque,
+    path::{Path, PathBuf},
+};
+
+use crate::{
+    ai_assistant::ModelAnnotations, label_widget::LabelWidget, paths::Paths, user_toml::CONFIG,
+    widgets::image_list::ImageList,
+};
+use color_eyre::{eyre::Context as C, Result};
+use eframe::{
+    egui::{CentralPanel, Context, RichText, SidePanel, TextStyle},
+    App, CreationContext,
+};
+use glob::glob;
+
+#[derive(Clone, Debug, PartialEq, Eq)]
+pub enum AnnotationPhase {
+    Started,
+    Labelling { current_index: usize },
+    Finished,
+}
+
+pub struct AnnotatorApp {
+    phase: AnnotationPhase,
+    paths: VecDeque<Paths>,
+    label_widget: LabelWidget,
+    model_annotations: ModelAnnotations,
+}
+
+impl AnnotatorApp {
+    fn convert_image_to_label_path(image_path: &Path) -> PathBuf {
+        image_path.with_extension("json")
+    }
+
+    pub fn try_new(
+        _: &CreationContext,
+        image_folder: impl AsRef<Path>,
+        annotation_json_path: impl AsRef<Path>,
+        skip_introduction: bool,
+    ) -> Result<Self> {
+        let image_paths = glob(
+            &image_folder
+                .as_ref()
+                .to_path_buf()
+                .join("*.png")
+                .display()
+                .to_string(),
+        )?
+        .collect::<Result<VecDeque<_>, _>>()?;
+
+        let model_annotations = ModelAnnotations::try_new(annotation_json_path)?;
+
+        let paths = image_paths
+            .into_iter()
+            .map(|image_path| {
+                let label_path = Self::convert_image_to_label_path(&image_path);
+                Ok(Paths::new(image_path, label_path))
+            })
+            .collect::<Result<VecDeque<_>>>()
+            .expect("failed to build paths");
+
+        let phase = if skip_introduction {
+            AnnotationPhase::Labelling { current_index: 0 }
+        } else {
+            AnnotationPhase::Started
+        };
+
+        Ok(AnnotatorApp {
+            phase,
+            paths,
+            label_widget: LabelWidget::default(),
+            model_annotations,
+        })
+    }
+
+    fn next(&mut self) -> Result<()> {
+        self.phase = match self.phase {
+            AnnotationPhase::Started => AnnotationPhase::Labelling { current_index: 0 },
+            AnnotationPhase::Labelling { current_index } => {
+                self.label_widget
+                    .save_annotation()
+                    .wrap_err("failed to go to next image")?;
+
+                let new_index = current_index + 1;
+                if new_index < self.paths.len() {
+                    AnnotationPhase::Labelling {
+                        current_index: new_index,
+                    }
+                } else {
+                    AnnotationPhase::Finished
+                }
+            }
+            AnnotationPhase::Finished => AnnotationPhase::Finished,
+        };
+
+        Ok(())
+    }
+
+    fn previous(&mut self) -> Result<()> {
+        self.phase = match self.phase {
+            AnnotationPhase::Started => AnnotationPhase::Started,
+            AnnotationPhase::Labelling { current_index } => {
+                self.label_widget
+                    .save_annotation()
+                    .wrap_err("failed to go to previous image")?;
+
+                if current_index > 0 {
+                    let new_index = current_index - 1;
+                    AnnotationPhase::Labelling {
+                        current_index: new_index,
+                    }
+                } else {
+                    AnnotationPhase::Started
+                }
+            }
+            AnnotationPhase::Finished => {
+                let new_index = self.paths.len() - 1;
+                AnnotationPhase::Labelling {
+                    current_index: new_index,
+                }
+            }
+        };
+
+        Ok(())
+    }
+
+    fn load_image(&mut self) -> Result<()> {
+        let index = match self.phase {
+            AnnotationPhase::Started => 0,
+            AnnotationPhase::Labelling { current_index } => current_index,
+            AnnotationPhase::Finished => self.paths.len() - 1,
+        };
+
+        if let Some(paths) = self.paths.get_mut(index) {
+            if self.label_widget.has_paths(paths) {
+                return Ok(());
+            }
+            // get file name of the path as a string
+            let annotations = self
+                .model_annotations
+                .for_image(
+                    &paths
+                        .image_path
+                        .file_name()
+                        .unwrap()
+                        .to_str()
+                        .unwrap()
+                        .to_string(),
+                )
+                .unwrap_or_default();
+
+            self.label_widget
+                .load_new_image_with_labels(paths.clone(), annotations)?;
+        }
+
+        self.paths.iter_mut().for_each(|paths| {
+            paths.check_existence();
+        });
+
+        Ok(())
+    }
+
+    fn show_phase_started(&mut self, ctx: &Context) {
+        CentralPanel::default().show(ctx, |ui| {
+            ui.vertical_centered(|ui| {
+                ui.add_space(200.0);
+                ui.label(RichText::new("Annotato-rs").size(32.0).strong());
+                let number_unlabelled_images = self
+                    .paths
+                    .iter()
+                    .filter(|paths| !paths.label_present)
+                    .count();
+                ui.label(format!(
+                    "You are about to label {number_unlabelled_images} images."
+                ));
+                ui.add_space(100.0);
+
+                ui.label(RichText::new("Labelling Instructions").text_style(TextStyle::Heading));
+                ui.add_space(50.0);
+                ui.vertical_centered(|ui| {
+                    ui.label(RichText::new(
+                        r#"
+                    • select a class with a number key
+                    • start drawing a box with 'b' key
+                    • end drawing a box with 'b' key
+                    • delete a box by hovering and rightclicking
+                    • move in the image with left click dragging
+                    • zoom in the image ctrl + mousewheel
+                    • proceed to the next image with 'n' key
+                    "#,
+                    ));
+                });
+
+                ui.add_space(50.0);
+                if ui.button("Start Labelling").clicked() {
+                    self.next().expect("failed to start labelling")
+                }
+            });
+        });
+    }
+
+    fn show_phase_labelling(&mut self, ctx: &Context) {
+        CentralPanel::default().show(ctx, |ui| {
+            self.load_image().expect("failed to update image");
+            self.label_widget.ui(ui);
+        });
+    }
+
+    fn show_phase_finished(&mut self, ctx: &Context) {
+        CentralPanel::default().show(ctx, |ui| {
+            ui.centered_and_justified(|ui| {
+                ui.label("You finished the data chunk, take the next and go on :)")
+            })
+        });
+    }
+}
+
+impl App for AnnotatorApp {
+    fn update(&mut self, ctx: &Context, _frame: &mut eframe::Frame) {
+        egui_extras::install_image_loaders(ctx);
+
+        let width = ctx.screen_rect().x_range().span();
+        SidePanel::left("image-path-list")
+            .default_width(0.3 * width)
+            .show(ctx, |ui| {
+                let mut current_phase = self.phase.clone();
+                ui.add(ImageList::new(&self.paths, &mut current_phase));
+
+                if current_phase != self.phase {
+                    if let AnnotationPhase::Labelling { .. } = self.phase {
+                        self.label_widget
+                            .save_annotation()
+                            .expect("failed to save annotation");
+                    }
+                    self.phase = current_phase;
+                }
+
+                ui.vertical_centered(|ui| {
+                    ui.horizontal(|ui| {
+                        let config = CONFIG.get().unwrap();
+                        if ui
+                            .button("<")
+                            .on_hover_text("Previous image (p, <)")
+                            .clicked()
+                            || ui.input(|i| config.keybindings.previous.is_pressed(i))
+                        {
+                            self.previous().expect("failed to load previous image");
+                        }
+                        if ui.button(">").on_hover_text("Next image (n, >)").clicked()
+                            || ui.input(|i| config.keybindings.next.is_pressed(i))
+                        {
+                            self.next().expect("failed to load next image");
+                        }
+                        if ui
+                            .button(">>")
+                            .on_hover_text("Go to the first unlabelled image")
+                            .clicked()
+                        {
+                            if let Some((unlabelled_index, _)) = self
+                                .paths
+                                .iter()
+                                .enumerate()
+                                .find(|(_, paths)| !paths.label_present)
+                            {
+                                self.phase = AnnotationPhase::Labelling {
+                                    current_index: unlabelled_index,
+                                };
+                            } else {
+                                // no more unlabelled images
+                                self.phase = AnnotationPhase::Finished;
+                            }
+                        }
+                    })
+                })
+            });
+
+        match self.phase {
+            AnnotationPhase::Started => self.show_phase_started(ctx),
+            AnnotationPhase::Labelling { .. } => self.show_phase_labelling(ctx),
+            AnnotationPhase::Finished => self.show_phase_finished(ctx),
+        }
+    }
+}
diff --git a/tools/annotato/src/boundingbox.rs b/tools/annotato/src/boundingbox.rs
new file mode 100644
index 0000000..4088b55
--- /dev/null
+++ b/tools/annotato/src/boundingbox.rs
@@ -0,0 +1,164 @@
+use eframe::epaint::{Pos2, Rect};
+use egui_plot::{PlotPoint, PlotPoints, Polygon};
+
+use crate::classes::Class;
+
+#[derive(Debug, Clone)]
+pub struct BoundingBox {
+    pub corner: PlotPoint,
+    pub opposing_corner: PlotPoint,
+    pub class: Class,
+}
+
+impl From<&BoundingBox> for Polygon {
+    fn from(value: &BoundingBox) -> Self {
+        let x1 = value.corner.x;
+        let y1 = value.corner.y;
+        let x2 = value.opposing_corner.x;
+        let y2 = value.opposing_corner.y;
+        let plotpoints = PlotPoints::new(vec![[x1, y1], [x1, y2], [x2, y2], [x2, y1]]);
+        Polygon::new(plotpoints)
+    }
+}
+
+impl BoundingBox {
+    pub fn new(corner: PlotPoint, opposing_corner: PlotPoint, class: Class) -> Self {
+        BoundingBox {
+            corner,
+            opposing_corner,
+            class,
+        }
+    }
+
+    pub fn set_opposing_corner(&mut self, plot_bottom_right: PlotPoint) {
+        self.opposing_corner = plot_bottom_right;
+    }
+
+    pub fn rect(&self) -> Rect {
+        let to_pos2 = |point: PlotPoint| Pos2::new(point.x as f32, point.y as f32);
+        Rect::from_points(&[to_pos2(self.corner), to_pos2(self.opposing_corner)])
+    }
+
+    pub fn top_left(&self) -> PlotPoint {
+        let x1 = self.corner.x;
+        let y1 = self.corner.y;
+        let x2 = self.opposing_corner.x;
+        let y2 = self.opposing_corner.y;
+
+        PlotPoint::new(x1.min(x2), y1.max(y2))
+    }
+
+    pub fn contains(&self, mouse_position: PlotPoint) -> bool {
+        let x1 = self.corner.x;
+        let y1 = self.corner.y;
+        let x2 = self.opposing_corner.x;
+        let y2 = self.opposing_corner.y;
+
+        (x1.min(x2)..=x1.max(x2)).contains(&mouse_position.x)
+            && (y1.min(y2)..=y1.max(y2)).contains(&mouse_position.y)
+    }
+
+    pub fn clip_to_image(&mut self) {
+        let x1 = self.corner.x;
+        let y1 = self.corner.y;
+        let x2 = self.opposing_corner.x;
+        let y2 = self.opposing_corner.y;
+
+        self.corner = PlotPoint::new(x1.clamp(0., 640.), y1.clamp(0., 480.));
+        self.opposing_corner = PlotPoint::new(x2.clamp(0., 640.), y2.clamp(0., 480.));
+    }
+
+    pub fn is_valid(&self) -> bool {
+        let rect = self.rect();
+        rect.area() >= 4.0
+    }
+
+    pub fn iou(&self, other: &BoundingBox) -> f32 {
+        let this_rect = self.rect();
+        let other_rect = other.rect();
+
+        let intersection = this_rect.intersect(other_rect).area();
+        let union = this_rect.area() + other_rect.area() - intersection;
+
+        intersection / union
+    }
+
+    fn closest_and_furthest_corner(&self, position: PlotPoint) -> (PlotPoint, PlotPoint) {
+        let rect = self.rect();
+        let position = Pos2::new(position.x as f32, position.y as f32);
+
+        let corners = [
+            rect.left_bottom(),
+            rect.left_top(),
+            rect.right_top(),
+            rect.right_bottom(),
+        ];
+        let closest = corners
+            .iter()
+            .min_by(|corner1, corner2| {
+                corner1
+                    .distance_sq(position)
+                    .total_cmp(&corner2.distance_sq(position))
+            })
+            .unwrap();
+        let furthest = corners
+            .iter()
+            .max_by(|corner1, corner2| {
+                corner1
+                    .distance_sq(position)
+                    .total_cmp(&corner2.distance_sq(position))
+            })
+            .unwrap();
+
+        (
+            PlotPoint::new(closest.x as f64, closest.y as f64),
+            PlotPoint::new(furthest.x as f64, furthest.y as f64),
+        )
+    }
+
+    pub fn get_closest_corner(&self, position: PlotPoint) -> PlotPoint {
+        self.closest_and_furthest_corner(position).0
+    }
+
+    pub fn closest_corner_distance_sq(&self, position: PlotPoint) -> f32 {
+        let closest = self.get_closest_corner(position);
+        closest.to_pos2().distance_sq(position.to_pos2())
+    }
+
+    pub fn has_corner_at(&self, position: PlotPoint) -> bool {
+        let closest = self.get_closest_corner(position);
+        let closest = Pos2::new(closest.x as f32, closest.y as f32);
+        let position = Pos2::new(position.x as f32, position.y as f32);
+
+        closest.distance(position) < 5.0
+    }
+
+    pub fn prepare_for_corner_move(&mut self, position: PlotPoint) {
+        let (closest, furthest) = self.closest_and_furthest_corner(position);
+        self.corner = furthest;
+        self.opposing_corner = closest;
+    }
+
+    pub fn to_annotation(&self) -> (Class, [f32; 4]) {
+        let rect = self.rect();
+        let Pos2 { x: min_x, y: min_y } = rect.left_top();
+        let Pos2 { x: max_x, y: max_y } = rect.right_bottom();
+
+        (
+            self.class,
+            [
+                min_x / 640.,
+                (480. - max_y) / 480.,
+                max_x / 640.,
+                (480. - min_y) / 480.,
+            ],
+        )
+    }
+
+    pub fn from_annotation((class, [min_x, min_y, max_x, max_y]): (Class, [f32; 4])) -> Self {
+        let corner = PlotPoint::new(min_x * 640., (1.0 - max_y) * 480.);
+        let opposing_corner = PlotPoint::new(max_x * 640., (1. - min_y) * 480.);
+
+        Self::new(corner, opposing_corner, class)
+    }
+}
diff --git a/tools/annotato/src/classes.rs b/tools/annotato/src/classes.rs
new file mode 100644
index 0000000..b1c7b66
--- /dev/null
+++ b/tools/annotato/src/classes.rs
@@ -0,0 +1,53 @@
+use eframe::{egui::Key, epaint::Color32};
+use serde::{Deserialize, Serialize};
+
+use crate::{user_toml::CONFIG, widgets::class_selector::EnumIter};
+
+#[derive(Copy, Clone, Debug, PartialEq, Eq, Serialize, Deserialize, Hash)]
+pub enum Class {
+    Ball,
+    Robot,
+    GoalPost,
+    PenaltySpot,
+    LSpot,
+    TSpot,
+    XSpot,
+}
+
+impl EnumIter for Class {
+    fn list() -> Vec<Self> {
+        use Class::*;
+        vec![Ball, Robot, GoalPost, PenaltySpot, LSpot, TSpot, XSpot]
+    }
+}
+
+impl Class {
+    pub fn from_key(key: Key) -> Option<Class> {
+        let keybindings = &CONFIG.get().unwrap().keybindings;
+        if key == keybindings.select_ball {
+            return Some(Class::Ball);
+        }
+        match key {
+            x if x == keybindings.select_ball => Some(Class::Ball),
+            x if x == keybindings.select_robot => Some(Class::Robot),
+            x if x == keybindings.select_goalpost => Some(Class::GoalPost),
+            x if x == keybindings.select_penaltyspot => Some(Class::PenaltySpot),
+            x if x == keybindings.select_lspot => Some(Class::LSpot),
+            x if x == keybindings.select_tspot => Some(Class::TSpot),
+            x if x == keybindings.select_xspot => Some(Class::XSpot),
+            _ => None,
+        }
+    }
+
+    pub fn color(&self) -> Color32 {
+        match self {
+            Class::Robot => Color32::BLUE,
+            Class::Ball => Color32::LIGHT_RED,
+            Class::GoalPost => Color32::DARK_RED,
+            Class::PenaltySpot => Color32::GOLD,
+            Class::LSpot => Color32::BLACK,
+            Class::TSpot => Color32::LIGHT_GREEN,
+            Class::XSpot => Color32::LIGHT_BLUE,
+        }
+    }
+}
diff --git a/tools/annotato/src/label_widget.rs b/tools/annotato/src/label_widget.rs
new file mode 100644
index 0000000..04e4ab8
--- /dev/null
+++ b/tools/annotato/src/label_widget.rs
@@ -0,0 +1,144 @@
+use std::{
+    fs::{self, File},
+    io::Write,
+};
+
+use crate::{
+    annotation::AnnotationFormat,
+    boundingbox::BoundingBox,
+    classes::Class,
+    leaderboard,
+    paths::Paths,
+    utils,
+    widgets::{bounding_box_annotator::BoundingBoxAnnotator, class_selector::ClassSelector},
+};
+use color_eyre::eyre::{ContextCompat, Result};
+use eframe::{
+    egui::Id,
+    epaint::{Color32, TextureHandle},
+};
+
+pub struct LabelWidget {
+    current_paths: Option<Paths>,
+    texture_id: Option<TextureHandle>,
+    selected_class: Class,
+    bounding_boxes: Vec<BoundingBox>,
+    editing_bounding_box: Option<BoundingBox>,
+    disable_saving: bool,
+    use_model_annotations: bool,
+}
+
+impl Default for LabelWidget {
+    fn default() -> Self {
+        Self {
+            current_paths: None,
+            texture_id: None,
+            selected_class: Class::Robot,
+            bounding_boxes: Vec::new(),
+            editing_bounding_box: None,
+            disable_saving: false,
+            use_model_annotations: true,
+        }
+    }
+}
+
+impl LabelWidget {
+    pub fn has_paths(&self, paths: &Paths) -> bool {
+        self.current_paths
+            .as_ref()
+            .map(|current_paths| paths.image_path == current_paths.image_path)
+            .unwrap_or(false)
+    }
+
+    pub fn ui(&mut self, ui: &mut eframe::egui::Ui) {
+        if self.texture_id.is_none() {
+            self.texture_id.get_or_insert_with(|| {
+                if let Some(paths) = self.current_paths.as_ref() {
+                    utils::load_image(ui, &paths.image_path).expect("failed to load image")
+                } else {
+                    panic!("No image loaded");
+                }
+            });
+        }
+
+        ui.vertical(|ui| {
+            ui.horizontal(|ui| {
+                if let Some(paths) = &self.current_paths {
+                    ui.label(paths.image_path.display().to_string());
+                    if paths.label_present {
+                        ui.colored_label(Color32::GREEN, "✔");
+                    } else {
+                        ui.colored_label(Color32::RED, "❌");
+                    }
+                }
+                ui.add(ClassSelector::new(
+                    "class-selector",
+                    &mut self.selected_class,
+                ));
+                ui.checkbox(&mut self.disable_saving, "Disable Annotation Saving");
+                ui.checkbox(&mut self.use_model_annotations, "AI-ssist");
+            });
+            if let Some(texture_id) = self.texture_id.clone() {
+                ui.add(BoundingBoxAnnotator::new(
+                    Id::new(&texture_id).with("image-plot"), // using the texture_id as hash to reset plot on new image
+                    texture_id.clone(),
+                    &mut self.bounding_boxes,
+                    &mut self.editing_bounding_box,
+                    &mut self.selected_class,
+                ));
+            }
+        });
+    }
+
+    pub fn load_new_image_with_labels(
+        &mut self,
+        paths: Paths,
+        model_annotations: Vec<BoundingBox>,
+    ) -> Result<()> {
+        self.bounding_boxes.clear();
+
+        if paths.label_path.exists() {
+            let existing_annotations = fs::read_to_string(&paths.label_path)?;
+            let mut existing_annotations: Vec<AnnotationFormat> =
+                serde_json::from_str(&existing_annotations)?;
+            self.bounding_boxes = existing_annotations
+                .drain(..)
+                .map(|annotation| annotation.into())
+                .collect();
+        } else if self.use_model_annotations {
+            self.bounding_boxes.extend(model_annotations);
+        }
+
+        self.texture_id = None;
+        self.current_paths = Some(paths);
+
+        Ok(())
+    }
+
+    pub fn save_annotation(&mut self) -> Result<()> {
+        let paths = self
+            .current_paths
+            .as_ref()
+            .wrap_err("no image loaded currently")?;
+
+        if self.disable_saving {
+            return Ok(());
+        }
+
+        if !paths.label_path.exists() {
+            leaderboard::send_score_up()?;
+        }
+
+        let annotations: Vec<AnnotationFormat> = self
+            .bounding_boxes
+            .drain(..)
+            .map(|bbox| bbox.into())
+            .collect();
+        let annotations = serde_json::to_string_pretty(&annotations)?;
+
+        let mut file = File::create(&paths.label_path)?;
+        file.write_all(annotations.as_bytes())?;
+
+        Ok(())
+    }
+}
diff --git a/tools/annotato/src/leaderboard.rs b/tools/annotato/src/leaderboard.rs
new file mode 100644
index 0000000..ed38e09
--- /dev/null
+++ b/tools/annotato/src/leaderboard.rs
@@ -0,0 +1,21 @@
+use color_eyre::eyre::{ContextCompat, Result};
+
+use crate::user_toml::CONFIG;
+
+pub fn send_score_up() -> Result<()> {
+    let config = CONFIG.get().wrap_err("could not find config file")?;
+    if !config.leaderboard.enable {
+        return Ok(());
+    }
+
+    std::thread::spawn(move || {
+        if let Err(_error) = reqwest::blocking::get(format!(
+            "http://{}/score/{}",
+            config.leaderboard.host, config.leaderboard.githubname
+        )) {
+            eprintln!("Failed to send score up");
+        }
+    });
+
+    Ok(())
+}
diff --git a/tools/annotato/src/main.rs b/tools/annotato/src/main.rs
new file mode 100644
index 0000000..efe1ec2
--- /dev/null
+++ b/tools/annotato/src/main.rs
@@ -0,0 +1,121 @@
+pub mod ai_assistant;
+pub mod annotation;
+pub mod annotator_app;
+pub mod boundingbox;
+pub mod classes;
+pub mod label_widget;
+pub mod leaderboard;
+pub mod paths;
+pub mod remotedata;
+pub mod rsync;
+pub mod theme;
+pub mod user_toml;
+pub mod utils;
+pub mod widgets;
+
+use std::{fs, path::PathBuf};
+
+use annotator_app::AnnotatorApp;
+use clap::{Parser, Subcommand};
+use color_eyre::eyre::{bail, Report, Result};
+use eframe::{egui::ViewportBuilder, run_native, NativeOptions};
+use remotedata::DataCommand;
+use theme::{apply_theme, MOCHA};
+
+use crate::user_toml::CONFIG;
+
+#[derive(Parser, Debug)]
+#[clap(name = "annotato")]
+pub struct Args {
+    #[command(subcommand)]
+    command: Command,
+}
+
+#[derive(Subcommand, Debug)]
+pub enum Command {
+    /// Download and upload datasets
+    Data {
+        #[command(subcommand)]
+        subcommand: DataCommand,
+    },
+    /// Start labelling data, also downloads and uploads datasets automagically
+    Label {
+        /// The dataset name to be labelled
+        #[arg(required = true)]
+        dataset_name: String,
+        /// Skips the introduction dialog
+        #[arg(short, long, default_value = "false")]
+        skip_introduction: bool,
+        /// Skips downloading and uploading datasets, command will fail if dataset is not present
+        #[arg(short, long, default_value = "false")]
+        offline: bool,
+    },
+}
+
+fn start_labelling_ui(
+    image_folder: PathBuf,
+    annotation_json: PathBuf,
+    skip_introduction: bool,
+) -> eframe::Result<()> {
+    let native_options = NativeOptions {
+        viewport: ViewportBuilder {
+            title: Some("annotato-rs".to_string()),
+            maximized: Some(true),
+            ..Default::default()
+        },
+        ..Default::default()
+    };
+
+    run_native(
+        "annotato-rs",
+        native_options,
+        Box::new(move |cc| {
+            egui_extras::install_image_loaders(&cc.egui_ctx);
+
+            let context = &cc.egui_ctx;
+            apply_theme(context, MOCHA);
+            Box::new(
+                AnnotatorApp::try_new(cc, image_folder, annotation_json, skip_introduction)
+                    .expect("failed to start annotato-rs"),
+            )
+        }),
+    )
+}
+
+fn main() -> Result<()> {
+    let arguments = Args::parse();
+
+    CONFIG
+        .set(toml::from_str(&fs::read_to_string("annotato.toml")?)?)
+        .expect("once_cell::set failed");
+
+    match arguments.command {
+        Command::Data { subcommand } => remotedata::handle(&subcommand),
+        Command::Label {
+            dataset_name,
+            skip_introduction,
+            offline,
+        } => {
+            let image_folder = PathBuf::from_iter(["current", &dataset_name, "images"].iter());
+            let annotation_json = PathBuf::from_iter(["current", &dataset_name, "data.json"]);
+            if !image_folder.exists() {
+                if offline {
+                    bail!("dataset {dataset_name} not present, but offline flag was set")
+                }
+                println!("dataset {dataset_name} not present, downloading...");
+                rsync::rsync_to_local("current", &dataset_name)?;
+            }
+            start_labelling_ui(image_folder, annotation_json, skip_introduction)
+                .map_err(|err| Report::msg(err.to_string()))?;
+
+            if !offline {
+                println!("Uploading {dataset_name}...");
+                rsync::rsync_to_host("current", &dataset_name)?;
+            }
+
+            Ok(())
+        }
+    }?;
+
+    Ok(())
+}
diff --git a/tools/annotato/src/paths.rs b/tools/annotato/src/paths.rs
new file mode 100644
index 0000000..e28d46a
--- /dev/null
+++ b/tools/annotato/src/paths.rs
@@ -0,0 +1,26 @@
+use std::path::PathBuf;
+
+#[derive(Debug, Clone)]
+pub struct Paths {
+    pub image_path: PathBuf,
+    pub label_path: PathBuf,
+
+    pub image_present: bool,
+    pub label_present: bool,
+}
+
+impl Paths {
+    pub fn new(image_path: PathBuf, label_path: PathBuf) -> Self {
+        Self {
+            image_present: image_path.exists(),
+            label_present: label_path.exists(),
+            image_path,
+            label_path,
+        }
+    }
+
+    pub fn check_existence(&mut self) {
+        self.image_present = self.image_path.exists();
+        self.label_present = self.label_path.exists();
+    }
+}
diff --git a/tools/annotato/src/remotedata.rs b/tools/annotato/src/remotedata.rs
new file mode 100644
index 0000000..7f97666
--- /dev/null
+++ b/tools/annotato/src/remotedata.rs
@@ -0,0 +1,63 @@
+use std::fs;
+
+use clap::Subcommand;
+use color_eyre::Result;
+
+use crate::rsync;
+
+#[derive(Subcommand, Debug)]
+pub enum DataCommand {
+    /// Prints all available remote datasets
+    ListRemote,
+    /// Prints all available local datasets and their completion
+    ListLocal,
+    /// Downloads a dataset to the local machine
+    ToLocal {
+        /// The dataset name to be downloaded
+        #[arg(required = true)]
+        dataset_name: String,
+    },
+    /// Uploads a dataset to the remote machine including annotations
+    ToRemote {
+        #[arg(required = true)]
+        /// The dataset name to be uploaded
+        dataset_name: String,
+    },
+}
+
+pub fn handle(command: &DataCommand) -> Result<()> {
+    match command {
+        DataCommand::ListLocal => {
+            for dataset_path in fs::read_dir("current")?.filter_map(|x| x.ok()) {
+                let entries = fs::read_dir(dataset_path.path().join("images"))?;
+                let mut annotations = 0;
+                let mut images = 0;
+
+                for entry in entries.filter_map(|x| x.ok()) {
+                    if "json" == entry.path().extension().unwrap() {
+                        annotations += 1;
+                    } else if "png" == entry.path().extension().unwrap() {
+                        images += 1;
+                    }
+                }
+                println!(
+                    "- {} ({annotations}/{images})",
+                    dataset_path.file_name().as_os_str().to_str().unwrap(),
+                );
+            }
+        }
+        DataCommand::ListRemote => {
+            for dataset_name in rsync::rsync_dataset_list()? {
+                println!("- {dataset_name}")
+            }
+        }
+        DataCommand::ToLocal { dataset_name } => {
+            rsync::rsync_to_local("current", dataset_name)?;
+        }
+        DataCommand::ToRemote { dataset_name } => {
+            rsync::rsync_to_host("current", dataset_name)?;
+        }
+    }
+
+    Ok(())
+}
diff --git a/tools/annotato/src/rsync.rs b/tools/annotato/src/rsync.rs
new file mode 100644
index 0000000..c6fe670
--- /dev/null
+++ b/tools/annotato/src/rsync.rs
@@ -0,0 +1,72 @@
+use color_eyre::{
+    eyre::{bail, ContextCompat},
+    Result,
+};
+use std::{
+    path::Path,
+    process::{Command, Stdio},
+};
+
+use crate::user_toml::CONFIG;
+
+fn full_dataset_path(dataset_name: &str) -> Result<String> {
+    let config = CONFIG.get().wrap_err("could not find config file")?;
+
+    Ok(format!("{}/{}", config.remote.rsync_path, dataset_name))
+}
+
+pub fn rsync_dataset_list() -> Result<Vec<String>> {
+    let output = Command::new("rsync")
+        .arg(full_dataset_path("")?)
+        .arg("-o")
+        .arg("ConnectTimeout=2")
+        .arg("--list-only")
+        .output()?;
+    if !output.status.success() {
+        bail!(String::from_utf8(output.stderr)?)
+    }
+    let output = String::from_utf8(output.stdout)?;
+    Ok(output.lines().map(|line| line.to_owned()).collect())
+}
+
+pub fn rsync_to_local(local_folder: impl AsRef<Path>, dataset_name: &str) -> Result<()> {
+    let output = Command::new("rsync")
+        .arg("--timeout")
+        .arg("2")
+        .arg("--recursive")
+        .arg("--info=progress2")
+        .arg("--no-inc-recursive")
+        .arg("--human-readable")
+        .arg(full_dataset_path(dataset_name)?)
+        .arg(local_folder.as_ref())
+        .stdout(Stdio::inherit())
+        .stderr(Stdio::inherit())
+        .output()?;
+
+    if !output.status.success() {
+        bail!(String::from_utf8(output.stderr)?)
+    }
+
+    Ok(())
+}
+
+pub fn rsync_to_host(local_folder: impl AsRef<Path>, dataset_name: &str) -> Result<()> {
+    let output = Command::new("rsync")
+        .arg("--timeout")
+        .arg("2")
+        .arg("--recursive")
+        .arg("--info=progress2")
+        .arg("--no-inc-recursive")
+        .arg("--human-readable")
+        .arg(local_folder.as_ref().join(dataset_name))
+        .arg(full_dataset_path("")?)
+        .stdout(Stdio::inherit())
+        .stderr(Stdio::inherit())
+        .output()?;
+
+    if !output.status.success() {
+        bail!(String::from_utf8(output.stderr)?)
+    }
+
+    Ok(())
+}
diff --git a/tools/annotato/src/theme.rs b/tools/annotato/src/theme.rs
new file mode 100644
index 0000000..626672d
--- /dev/null
+++ b/tools/annotato/src/theme.rs
@@ -0,0 +1,124 @@
+use eframe::{
+    egui::{self, style, Context},
+    epaint::{self, Color32},
+};
+
+pub struct Theme {
+    pub rosewater: Color32,
+    pub flamingo: Color32,
+    pub pink: Color32,
+    pub mauve: Color32,
+    pub red: Color32,
+    pub maroon: Color32,
+    pub peach: Color32,
+    pub yellow: Color32,
+    pub green: Color32,
+    pub teal: Color32,
+    pub sky: Color32,
+    pub sapphire: Color32,
+    pub blue: Color32,
+    pub lavender: Color32,
+    pub text: Color32,
+    pub subtext1: Color32,
+    pub subtext0: Color32,
+    pub overlay2: Color32,
+    pub overlay1: Color32,
+    pub overlay0: Color32,
+    pub surface2: Color32,
+    pub surface1: Color32,
+    pub surface0: Color32,
+    pub base: Color32,
+    pub mantle: Color32,
+    pub crust: Color32,
+}
+
+pub const MOCHA: Theme = Theme {
+    rosewater: Color32::from_rgb(245, 224, 220),
+    flamingo: Color32::from_rgb(242, 205, 205),
+    pink: Color32::from_rgb(245, 194, 231),
+    mauve: Color32::from_rgb(203, 166, 247),
+    red: Color32::from_rgb(243, 139, 168),
+    maroon: Color32::from_rgb(235, 160, 172),
+    peach: Color32::from_rgb(250, 179, 135),
+    yellow: Color32::from_rgb(249, 226, 175),
+    green: Color32::from_rgb(166, 227, 161),
+    teal: Color32::from_rgb(148, 226, 213),
+    sky: Color32::from_rgb(137, 220, 235),
+    sapphire: Color32::from_rgb(116, 199, 236),
+    blue: Color32::from_rgb(137, 180, 250),
+    lavender: Color32::from_rgb(180, 190, 254),
+    text: Color32::from_rgb(205, 214, 244),
+    subtext1: Color32::from_rgb(186, 194, 222),
+    subtext0: Color32::from_rgb(166, 173, 200),
+    overlay2: Color32::from_rgb(147, 153, 178),
+    overlay1: Color32::from_rgb(127, 132, 156),
+    overlay0: Color32::from_rgb(108, 112, 134),
+    surface2: Color32::from_rgb(88, 91, 112),
+    surface1: Color32::from_rgb(69, 71, 90),
+    surface0: Color32::from_rgb(49, 50, 68),
+    base: Color32::from_rgb(30, 30, 46),
+    mantle: Color32::from_rgb(24, 24, 37),
+    crust: Color32::from_rgb(17, 17, 27),
+};
+
+pub fn apply_theme(ctx: &Context, theme: Theme) {
+    let old = ctx.style().visuals.clone();
+    ctx.set_visuals(egui::Visuals {
+        override_text_color: Some(theme.text),
+        hyperlink_color: theme.rosewater,
+        faint_bg_color: theme.surface0,
+        extreme_bg_color: theme.crust,
+        code_bg_color: theme.mantle,
+        warn_fg_color: theme.peach,
+        error_fg_color: theme.maroon,
+        window_fill: theme.base,
+        panel_fill: theme.base,
+        window_stroke: egui::Stroke {
+            color: theme.overlay1,
+            ..old.window_stroke
+        },
+        widgets: style::Widgets {
+            noninteractive: make_widget_visual(old.widgets.noninteractive, &theme, theme.base),
+            inactive: make_widget_visual(old.widgets.inactive, &theme, theme.surface0),
+            hovered: make_widget_visual(old.widgets.hovered, &theme, theme.surface2),
+            active: make_widget_visual(old.widgets.active, &theme, theme.surface1),
+            open: make_widget_visual(old.widgets.open, &theme, theme.surface0),
+        },
+        selection: style::Selection {
+            bg_fill: theme.blue.linear_multiply(0.2),
+            stroke: egui::Stroke {
+                color: theme.overlay1,
+                ..old.selection.stroke
+            },
+        },
+        window_shadow: epaint::Shadow {
+            color: theme.base,
+            ..old.window_shadow
+        },
+        popup_shadow: epaint::Shadow {
+            color: theme.base,
+            ..old.popup_shadow
+        },
+        ..old
+    });
+}
+
+fn make_widget_visual(
+    old: style::WidgetVisuals,
+    theme: &Theme,
+    bg_fill: egui::Color32,
+) -> style::WidgetVisuals {
+    style::WidgetVisuals {
+        bg_fill,
+        weak_bg_fill: bg_fill,
+        bg_stroke: egui::Stroke {
+            color: theme.overlay1,
+            ..old.bg_stroke
+        },
+        fg_stroke: egui::Stroke {
+            color: theme.text,
+            ..old.fg_stroke
+        },
+        ..old
+    }
+}
diff --git a/tools/annotato/src/user_toml.rs b/tools/annotato/src/user_toml.rs
new file mode 100644
index 0000000..ce73d06
--- /dev/null
+++ b/tools/annotato/src/user_toml.rs
@@ -0,0 +1,87 @@
+use std::net::SocketAddr;
+
+use eframe::egui::{InputState, Key, Modifiers};
+use once_cell::sync::OnceCell;
+use serde::{Deserialize, Serialize};
+
+pub static CONFIG: OnceCell<ConfigFile> = OnceCell::new();
+
+#[derive(Debug, Deserialize)]
+pub struct ConfigFile {
+    pub keybindings: KeyBindings,
+    pub remote: Remote,
+    pub leaderboard: LeaderBoard,
+}
+
+#[derive(Debug, Deserialize)]
+
+pub struct KeyBindings {
+    pub next: KeyBind,
+    pub previous: KeyBind,
+    pub zoom: KeyBind,
+    pub edit: KeyBind,
+    pub draw: KeyBind,
+    pub abort: KeyBind,
+
+    pub select_ball: Key,
+    pub select_robot: Key,
+    pub select_goalpost: Key,
+    pub select_penaltyspot: Key,
+    pub select_xspot: Key,
+    pub select_lspot: Key,
+    pub select_tspot: Key,
+}
+
+#[derive(Debug, Deserialize)]
+pub struct KeyBind {
+    pub primary: Key,
+    #[serde(default)]
+    pub extra: Vec<Key>,
+    #[serde(deserialize_with = "deserialize_modifiers", default)]
+    pub modifiers: Modifiers,
+}
+
+impl KeyBind {
+    pub fn is_pressed(&self, input: &InputState) -> bool {
+        let modifiers_pressed = input.modifiers == self.modifiers;
+        let keys_pressed = [self.primary]
+            .iter()
+            .chain(self.extra.iter())
+            .all(|&key| input.key_pressed(key));
+
+        modifiers_pressed && keys_pressed
+    }
+}
+
+fn deserialize_modifiers<'de, D>(deserializer: D) -> Result<Modifiers, D::Error>
+where
+    D: serde::Deserializer<'de>,
+{
+    let string_modifiers = Vec::<String>::deserialize(deserializer)?;
+    let mut modifiers = Modifiers::default();
+    for modifier in string_modifiers {
+        match modifier.as_str() {
+            "alt" => modifiers = modifiers | Modifiers::ALT,
+            "ctrl" => modifiers = modifiers | Modifiers::CTRL,
+            "shift" => modifiers = modifiers | Modifiers::SHIFT,
+            invalid => {
+                return Err(serde::de::Error::custom(format!(
+                    "invalid modifier: {invalid}"
+                )))
+            }
+        }
+    }
+    Ok(modifiers)
+}
+
+#[derive(Debug, Deserialize)]
+pub struct Remote {
+    pub rsync_path: String,
+}
+
+#[derive(Debug, Deserialize, Serialize)]
+pub struct LeaderBoard {
+    pub enable: bool,
+    pub githubname: String,
+    pub host: SocketAddr,
+}
diff --git a/tools/annotato/src/utils.rs b/tools/annotato/src/utils.rs
new file mode 100644
index 0000000..5c5c81f
--- /dev/null
+++ b/tools/annotato/src/utils.rs
@@ -0,0 +1,25 @@
+use std::path::{Path, PathBuf};
+
+use color_eyre::Result;
+use eframe::{
+    egui::Ui,
+    epaint::{ColorImage, TextureHandle},
+};
+use image::{io::Reader, ImageError};
+
+pub fn load_image_from_path(path: impl AsRef<Path>) -> Result<ColorImage, ImageError> {
+    let image = Reader::open(path)?.decode()?;
+    let size = [image.width() as _, image.height() as _];
+    let image_buffer = image.to_rgba8();
+    let pixels = image_buffer.as_flat_samples();
+    Ok(ColorImage::from_rgba_unmultiplied(size, pixels.as_slice()))
+}
+
+pub fn load_image(ui: &Ui, image_path: &PathBuf) -> Result<TextureHandle> {
+    let image = load_image_from_path(image_path)?;
+    let handle = ui
+        .ctx()
+        .load_texture(image_path.display().to_string(), image, Default::default());
+
+    Ok(handle)
+}
diff --git a/tools/annotato/src/widgets/bounding_box_annotator.rs b/tools/annotato/src/widgets/bounding_box_annotator.rs
new file mode 100644
index 0000000..d8c525c
--- /dev/null
+++ b/tools/annotato/src/widgets/bounding_box_annotator.rs
@@ -0,0 +1,256 @@
+use eframe::{
+    egui::{Event, Id, PointerButton, Response, RichText, Ui, Widget},
+    emath::{Align2, Vec2b},
+    epaint::{Color32, Stroke, TextureHandle, Vec2},
+};
+use egui_plot::{Plot, PlotBounds, PlotImage, PlotPoint, PlotResponse, PlotUi, Polygon, Text};
+use std::hash::Hash;
+
+use crate::{boundingbox::BoundingBox, classes::Class, user_toml::CONFIG};
+
+pub struct BoundingBoxAnnotator<'a> {
+    id: Id,
+    texture_handle: TextureHandle,
+    selected_class: &'a mut Class,
+    bounding_boxes: &'a mut Vec<BoundingBox>,
+    box_in_editing: &'a mut Option<BoundingBox>,
+}
+
+impl<'a> BoundingBoxAnnotator<'a> {
+    pub fn new(
+        id_source: impl Hash,
+        image: TextureHandle,
+        bounding_boxes: &'a mut Vec<BoundingBox>,
+        box_in_editing: &'a mut Option<BoundingBox>,
+        selected_class: &'a mut Class,
+    ) -> Self {
+        Self {
+            id: Id::new(id_source),
+            texture_handle: image,
+            bounding_boxes,
+            box_in_editing,
+            selected_class,
+        }
+    }
+
+    fn delete_box_from(mouse_position: PlotPoint, bbox_list: &mut Vec<BoundingBox>) -> bool {
+        if let Some(clicked_bbox_index) = bbox_list
+            .iter()
+            .enumerate()
+            .filter(|(_, bbox)| bbox.contains(mouse_position))
+            .min_by(|(_, bbox1), (_, bbox2)| bbox1.rect().area().total_cmp(&bbox2.rect().area()))
+            .map(|(idx, _)| idx)
+        {
+            bbox_list.remove(clicked_bbox_index);
+            return true;
+        }
+        false
+    }
+
+    fn handle_bounding_box_input(&mut self, response: &PlotResponse<()>, ui: &Ui) {
+        let mouse_position = response
+            .response
+            .hover_pos()
+            .map(|position| response.transform.value_from_position(position));
+
+        let config = CONFIG.get().unwrap();
+
+        let editing_bounding_box = match (
+            self.box_in_editing.take(),
+            ui.input(|i| config.keybindings.draw.is_pressed(i))
+                || response.response.clicked_by(PointerButton::Primary),
+            ui.input(|i| config.keybindings.edit.is_pressed(i)),
+            response.response.clicked_by(PointerButton::Secondary)
+                || ui.input(|i| config.keybindings.abort.is_pressed(i)),
+        ) {
+            (Some(_), _, _, true) => {
+                // delete the currently edited bounding box
+                None
+            }
+            (None, _, _, true) => {
+                // delete a bounding box
+                mouse_position.map(|position| Self::delete_box_from(position, self.bounding_boxes));
+                None
+            }
+            (Some(mut bounding_box), b_pressed, q_pressed, false) if b_pressed || q_pressed => {
+                // finish the box
+                bounding_box.clip_to_image();
+                if bounding_box.is_valid() {
+                    self.bounding_boxes.push(bounding_box);
+                }
+                None
+            }
+            (Some(mut bounding_box), false, false, false) => {
+                // move the box corner
+                if let Some(position) = mouse_position {
+                    bounding_box.set_opposing_corner(position);
+                }
+                bounding_box.class = *self.selected_class;
+                Some(bounding_box)
+            }
+            (None, true, false, false) => {
+                // create a new box
+                mouse_position
+                    .map(|position| BoundingBox::new(position, position, *self.selected_class))
+            }
+            (None, false, true, false) => {
+                // select a box for editing
+                mouse_position.and_then(|position| {
+                    if let Some((index, _)) = self.bounding_boxes.iter().enumerate().min_by(
+                        |(_, bounding_box1), (_, bounding_box2)| {
+                            bounding_box1
+                                .closest_corner_distance_sq(position)
+                                .total_cmp(&bounding_box2.closest_corner_distance_sq(position))
+                        },
+                    ) {
+                        let mut bbox = self.bounding_boxes.remove(index);
+                        bbox.prepare_for_corner_move(position);
+                        *self.selected_class = bbox.class;
+                        return Some(bbox);
+                    }
+                    None
+                })
+            }
+
+            (_, _, _, _) => None,
+        };
+        if let Some(bbox) = editing_bounding_box {
+            let _ = self.box_in_editing.insert(bbox);
+        }
+    }
+}
+
+impl<'a> Widget for BoundingBoxAnnotator<'a> {
+    fn ui(mut self, ui: &mut Ui) -> Response {
+        let response = Plot::new(self.id)
+            .data_aspect(1.)
+            .view_aspect(640. / 480.)
+            .show_axes([false, false])
+            .show_grid([false, false])
+            .set_margin_fraction(Vec2::splat(0.1))
+            .auto_bounds_x()
+            .auto_bounds_y()
+            .show_background(true)
+            .allow_scroll(false)
+            .allow_zoom(false)
+            .allow_boxed_zoom(false)
+            .show(ui, |plot_ui| {
+                zoom_on_scroll_wheel(plot_ui);
+                focus_when_e_held_down(plot_ui);
+
+                plot_ui.image(PlotImage::new(
+                    &self.texture_handle,
+                    PlotPoint::new(320., 240.),
+                    Vec2::new(640., 480.),
+                ));
+                self.bounding_boxes
+                    .iter()
+                    .chain(self.box_in_editing.iter())
+                    .filter(|bbox| bbox.is_valid())
+                    .for_each(|bbox| {
+                        let polygon: Polygon = bbox.into();
+                        plot_ui.polygon(
+                            polygon
+                                .fill_color(bbox.class.color().gamma_multiply(0.1))
+                                .stroke(Stroke::new(1.0, bbox.class.color().to_opaque())),
+                        );
+                        plot_ui.text(
+                            Text::new(
+                                bbox.top_left(),
+                                RichText::new(format!("{:?}", bbox.class))
+                                    .color(Color32::GRAY)
+                                    .strong()
+                                    .size(18.)
+                                    .background_color(bbox.class.color().to_opaque()),
+                            )
+                            .anchor(Align2::LEFT_BOTTOM),
+                        )
+                    });
+            });
+        self.handle_bounding_box_input(&response, ui);
+
+        if let (Some(position), None) = (response.response.hover_pos(), self.box_in_editing) {
+            let position = response.transform.value_from_position(position);
+            if let Some(bbox) = self
+                .bounding_boxes
+                .iter()
+                .find(|bbox| bbox.has_corner_at(position))
+            {
+                let corner = bbox.get_closest_corner(position);
+                let corner_screen = response.transform.position_from_point(&corner);
+                let radius = 5.0 * response.transform.dpos_dvalue_x();
+                let painter = ui.painter();
+                painter.circle_stroke(
+                    corner_screen,
+                    radius as f32,
+                    Stroke::new(2.0, Color32::GRAY),
+                );
+            }
+        }
+
+        response.response
+    }
+}
+
+fn zoom_on_scroll_wheel(plot_ui: &mut PlotUi) {
+    if !plot_ui.response().hovered() {
+        return;
+    }
+    let scroll_delta = plot_ui.ctx().input(|i| {
+        i.events.iter().find_map(|e| match e {
+            Event::MouseWheel { delta, .. } => Some(*delta),
+            _ => None,
+        })
+    });
+
+    if let Some(scroll_delta) = scroll_delta {
+        let zoom_factor = ((scroll_delta.x + scroll_delta.y) / 10.0).exp();
+        zoom_plot(plot_ui, zoom_factor);
+    }
+}
+
+fn focus_when_e_held_down(plot_ui: &mut PlotUi) {
+    let config = CONFIG.get().unwrap();
+
+    if let Some(pressed) = plot_ui.ctx().input(|i| {
+        i.events.iter().find_map(|e| match e {
+            Event::Key {
+                key,
+                repeat: false,
+                pressed,
+                ..
+            } if *key == config.keybindings.zoom.primary => Some(*pressed),
+            _ => None,
+        })
+    }) {
+        if !pressed {
+            plot_ui.set_auto_bounds(Vec2b::TRUE);
+            return;
+        }
+        zoom_plot(plot_ui, 5.0);
+    }
+}
+
+fn zoom_plot(plot_ui: &mut PlotUi, zoom_factor: f32) {
+    let Some(zoom_center) = plot_ui.pointer_coordinate() else {
+        return;
+    };
+
+    let old_bounds = plot_ui.plot_bounds();
+    let new_bounds = zoom_bounds(old_bounds, Vec2::splat(zoom_factor), zoom_center);
+
+    plot_ui.set_plot_bounds(new_bounds);
+}
+
+/// Same as PlotTransform::zoom() which is inaccessible from here.
+fn zoom_bounds(bounds: PlotBounds, zoom_factor: Vec2, zoom_center: PlotPoint) -> PlotBounds {
+    let mut min = bounds.min();
+    let mut max = bounds.max();
+
+    min[0] = zoom_center.x + (min[0] - zoom_center.x) / (zoom_factor.x as f64);
+    max[0] = zoom_center.x + (max[0] - zoom_center.x) / (zoom_factor.x as f64);
+    min[1] = zoom_center.y + (min[1] - zoom_center.y) / (zoom_factor.y as f64);
+    max[1] = zoom_center.y + (max[1] - zoom_center.y) / (zoom_factor.y as f64);
+
+    PlotBounds::from_min_max(min, max)
+}
diff --git a/tools/annotato/src/widgets/class_selector.rs b/tools/annotato/src/widgets/class_selector.rs
new file mode 100644
index 0000000..331b754
--- /dev/null
+++ b/tools/annotato/src/widgets/class_selector.rs
@@ -0,0 +1,41 @@
+use eframe::egui::{ComboBox, Id, Response, Ui, Widget};
+use std::hash::Hash;
+
+use crate::classes::Class;
+pub trait EnumIter {
+    fn list() -> Vec<Self>
+    where
+        Self: Sized;
+}
+
+pub struct ClassSelector<'a> {
+    id: Id,
+    currently_selected: &'a mut Class,
+}
+
+impl<'a> ClassSelector<'a> {
+    pub fn new(id_source: impl Hash, currently_selected: &'a mut Class) -> Self {
+        Self {
+            id: Id::new(id_source),
+            currently_selected,
+        }
+    }
+}
+
+impl<'a> Widget for ClassSelector<'a> {
+    fn ui(self, ui: &mut Ui) -> Response {
+        if let Some(class) = ui.input(|i| i.keys_down.iter().find_map(|key| Class::from_key(*key)))
+        {
+            *self.currently_selected = class;
+        }
+
+        ComboBox::from_id_source(self.id)
+            .selected_text(format!("{:?}", self.currently_selected))
+            .show_ui(ui, |ui| {
+                Class::list().into_iter().for_each(|class| {
+                    ui.selectable_value(self.currently_selected, class, format!("{:?}", class));
+                });
+            })
+            .response
+    }
+}
diff --git a/tools/annotato/src/widgets/image_list.rs b/tools/annotato/src/widgets/image_list.rs
new file mode 100644
index 0000000..edc04fd
--- /dev/null
+++ b/tools/annotato/src/widgets/image_list.rs
@@ -0,0 +1,63 @@
+use std::collections::VecDeque;
+
+use eframe::egui::{ProgressBar, ScrollArea, Widget};
+
+use crate::{annotator_app::AnnotationPhase, paths::Paths};
+
+use super::path_row::Row;
+pub struct ImageList<'a> {
+    paths: &'a VecDeque<Paths>,
+    phase: &'a mut AnnotationPhase,
+}
+
+impl<'a> ImageList<'a> {
+    pub fn new(paths: &'a VecDeque<Paths>, phase: &'a mut AnnotationPhase) -> Self {
+        Self { paths, phase }
+    }
+}
+
+impl<'a> Widget for ImageList<'a> {
+    fn ui(self, ui: &mut eframe::egui::Ui) -> eframe::egui::Response {
+        ui.vertical(|ui| {
+            ui.label("Image List");
+            let images_done = self
+                .paths
+                .iter()
+                .filter(|paths| paths.label_present)
+                .count();
+            ui.add(
+                ProgressBar::new(images_done as f32 / self.paths.len() as f32)
+                    .show_percentage()
+                    .text(format!("{}/{}", images_done, self.paths.len())),
+            );
+            ui.separator();
+
+            ScrollArea::vertical()
+                .auto_shrink([false, false])
+                .max_height(0.8 * ui.available_height())
+                .show_rows(ui, 12.0, self.paths.len(), |ui, range| {
+                    for (paths, index) in self.paths.range(range.clone()).zip(range) {
+                        let row = ui.add(Row::new(paths).highlight(match self.phase {
+                            AnnotationPhase::Labelling { current_index } => *current_index == index,
+                            _ => false,
+                        }));
+
+                        if let AnnotationPhase::Labelling { current_index } = self.phase {
+                            if *current_index == index {
+                                row.scroll_to_me(None);
+                            }
+                        }
+
+                        if row.clicked() {
+                            *self.phase = AnnotationPhase::Labelling {
+                                current_index: index,
+                            };
+                        }
+                        ui.separator();
+                    }
+                });
+            ui.separator();
+        })
+        .response
+    }
+}
diff --git a/tools/annotato/src/widgets/mod.rs b/tools/annotato/src/widgets/mod.rs
new file mode 100644
index 0000000..12bf021
--- /dev/null
+++ b/tools/annotato/src/widgets/mod.rs
@@ -0,0 +1,4 @@
+pub mod bounding_box_annotator;
+pub mod class_selector;
+pub mod image_list;
+pub mod path_row;
diff --git a/tools/annotato/src/widgets/path_row.rs b/tools/annotato/src/widgets/path_row.rs
new file mode 100644
index 0000000..af6fdaf
--- /dev/null
+++ b/tools/annotato/src/widgets/path_row.rs
@@ -0,0 +1,72 @@
+use eframe::{
+    egui::{Response, RichText, Sense, TextStyle, Ui, Widget, WidgetText},
+    epaint::{Color32, Vec2},
+};
+
+use crate::paths::Paths;
+
+pub struct Row<'a> {
+    paths: &'a Paths,
+    highlight: bool,
+}
+
+impl<'a> Row<'a> {
+    pub fn new(paths: &'a Paths) -> Self {
+        Self {
+            paths,
+            highlight: false,
+        }
+    }
+
+    pub fn highlight(mut self, highlight: bool) -> Self {
+        self.highlight = highlight;
+        self
+    }
+}
+
+impl<'a> Widget for Row<'a> {
+    fn ui(self, ui: &mut Ui) -> Response {
+        let filename = self.paths.image_path.display().to_string();
+        let is_labelled = self.paths.label_present;
+
+        let text: WidgetText = RichText::new(filename).monospace().into();
+        let check_mark: WidgetText = if is_labelled {
+            RichText::new("✔").color(Color32::GREEN)
+        } else {
+            RichText::new("❌").color(Color32::RED)
+        }
+        .into();
+        let text = text.into_galley(ui, Some(false), ui.available_width(), TextStyle::Button);
+        let check_mark =
+            check_mark.into_galley(ui, Some(false), ui.available_width(), TextStyle::Button);
+
+        let desired_size = Vec2::new(
+            text.size().x + 40.0 + check_mark.size().x + 20.0,
+            text.size().y + 2.0 * 4.0,
+        );
+
+        let (rect, response) = ui.allocate_at_least(desired_size, Sense::click());
+        if ui.is_rect_visible(rect) {
+            let visuals = ui.style().interact(&response);
+            let text_height = Vec2::new(0., text.size().y);
+            let check_mark_offset = Vec2::new(text.size().x + 40.0, 0.0);
+
+            if response.hovered || self.highlight {
+                ui.painter().rect_filled(rect, 2.0, visuals.bg_fill);
+            }
+
+            text.paint_with_visuals(
+                ui.painter(),
+                rect.left_center() - 0.5 * text_height,
+                visuals,
+            );
+            check_mark.paint_with_visuals(
+                ui.painter(),
+                rect.left_center() - 0.5 * text_height + check_mark_offset,
+                visuals,
+            );
+        }
+
+        response
+    }
+}
diff --git a/tools/behavior_simulator/Cargo.toml b/tools/behavior_simulator/Cargo.toml
index cefd272..8eaac6e 100644
--- a/tools/behavior_simulator/Cargo.toml
+++ b/tools/behavior_simulator/Cargo.toml
@@ -1,8 +1,9 @@
 [package]
-edition = "2021"
-license = "GPL-3.0-only"
 name = "behavior_simulator"
 version = "0.1.0"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [[bin]]
 name = "behavior_simulator"
diff --git a/tools/behavior_simulator/build.rs b/tools/behavior_simulator/build.rs
index 264b192..9221541 100644
--- a/tools/behavior_simulator/build.rs
+++ b/tools/behavior_simulator/build.rs
@@ -19,6 +19,7 @@ fn main() -> Result<()> {
                     "control::active_vision",
                     "control::ball_state_composer",
                     "control::behavior::node",
+                    "control::game_controller_state_filter",
                     "control::kick_selector",
                     "control::motion::look_around",
                     "control::role_assignment",
diff --git a/tools/behavior_simulator/src/cycler.rs b/tools/behavior_simulator/src/cycler.rs
index ef80a37..5a44e41 100644
--- a/tools/behavior_simulator/src/cycler.rs
+++ b/tools/behavior_simulator/src/cycler.rs
@@ -83,7 +83,6 @@ impl BehaviorCycler {
         Ok(Self {
             hardware_interface,
             own_changed,
-
             active_vision,
             time_to_reach_kick_position,
             ball_state_composer,
@@ -114,15 +113,11 @@ impl BehaviorCycler {
                     .cycle(control::rule_obstacle_composer::CycleContext::new(
                         own_database
                             .main_outputs
-                            .game_controller_state
-                            .as_ref()
-                            .unwrap(),
-                        own_database
-                            .main_outputs
-                            .filtered_game_state
+                            .filtered_game_controller_state
                             .as_ref()
                             .unwrap(),
                         own_database.main_outputs.ball_state.as_ref(),
+                        &parameters.center_circle_obstacle_increase,
                         &parameters.field_dimensions,
                     ))
                     .wrap_err("failed to execute cycle of node `RuleObstacleComposer`")?
@@ -137,7 +132,10 @@ impl BehaviorCycler {
                 .cycle(role_assignment::CycleContext::new(
                     own_database.main_outputs.ball_position.as_ref(),
                     &own_database.main_outputs.fall_state,
-                    own_database.main_outputs.game_controller_state.as_ref(),
+                    own_database
+                        .main_outputs
+                        .filtered_game_controller_state
+                        .as_ref(),
                     &own_database.main_outputs.primary_state,
                     own_database.main_outputs.robot_to_field.as_ref(),
                     &own_database.main_outputs.cycle_time,
@@ -173,7 +171,10 @@ impl BehaviorCycler {
                     own_database.main_outputs.robot_to_field.as_ref(),
                     own_database.main_outputs.team_ball.as_ref(),
                     &own_database.main_outputs.primary_state,
-                    own_database.main_outputs.game_controller_state.as_ref(),
+                    own_database
+                        .main_outputs
+                        .filtered_game_controller_state
+                        .as_ref(),
                     &parameters.field_dimensions,
                 ))
                 .wrap_err("failed to execute cycle of node `BallStateComposer`")?;
@@ -244,8 +245,10 @@ impl BehaviorCycler {
                 .cycle(world_state_composer::CycleContext::new(
                     own_database.main_outputs.ball_state.as_ref(),
                     own_database.main_outputs.rule_ball_state.as_ref(),
-                    own_database.main_outputs.filtered_game_state.as_ref(),
-                    own_database.main_outputs.game_controller_state.as_ref(),
+                    own_database
+                        .main_outputs
+                        .filtered_game_controller_state
+                        .as_ref(),
                     own_database.main_outputs.robot_to_field.as_ref(),
                     own_database.main_outputs.kick_decisions.as_ref(),
                     own_database.main_outputs.instant_kick_decisions.as_ref(),
diff --git a/tools/behavior_simulator/src/state.rs b/tools/behavior_simulator/src/state.rs
index bc60a7b..67b93df 100644
--- a/tools/behavior_simulator/src/state.rs
+++ b/tools/behavior_simulator/src/state.rs
@@ -10,9 +10,7 @@ use nalgebra::{vector, Isometry2, Point2, UnitComplex, Vector2};
 use serde::{Deserialize, Serialize};
 use serialize_hierarchy::SerializeHierarchy;
 use spl_network_messages::{GamePhase, GameState, HulkMessage, PlayerNumber, Team};
-use types::motion_command::KickVariant;
 use types::motion_command::{HeadMotion, OrientationMode};
-use types::planned_path::PathSegment;
 use types::{
     ball_position::BallPosition,
     filtered_game_state::FilteredGameState,
@@ -23,6 +21,10 @@ use types::{
     primary_state::PrimaryState,
     support_foot::Side,
 };
+use types::{
+    filtered_game_controller_state::FilteredGameControllerState, motion_command::KickVariant,
+    planned_path::PathSegment,
+};
 
 use crate::{
     cycler::Database,
@@ -149,10 +151,7 @@ impl State {
                     head
                 }
                 MotionCommand::SitDown { head } => head,
-                MotionCommand::Stand {
-                    head,
-                    is_energy_saving: _,
-                } => head,
+                MotionCommand::Stand { head } => head,
                 _ => &HeadMotion::Center,
             };
 
@@ -237,7 +236,11 @@ impl State {
                     (false, FilteredGameState::Playing { .. }) => PrimaryState::Playing,
                     (false, FilteredGameState::Finished) => PrimaryState::Finished,
                 };
-            robot.database.main_outputs.filtered_game_state = Some(self.filtered_game_state);
+            robot.database.main_outputs.filtered_game_controller_state =
+                Some(FilteredGameControllerState {
+                    game_state: self.filtered_game_state,
+                    ..Default::default()
+                });
             robot.database.main_outputs.game_controller_state = Some(self.game_controller_state);
 
             robot.cycle(messages_with_time)?;
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new file mode 100644
index 0000000..68f5093
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diff --git a/tools/breeze/Cargo.toml b/tools/breeze/Cargo.toml
new file mode 100644
index 0000000..6ae6690
--- /dev/null
+++ b/tools/breeze/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "breeze"
+version = "0.1.0"
+edition = "2021"
+license = "GPL-3.0-only"
+homepage = "https://github.com/hulks/hulk"
+
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+cgos = "0.2.0"
diff --git a/tools/breeze/src/main.rs b/tools/breeze/src/main.rs
new file mode 100644
index 0000000..284c41c
--- /dev/null
+++ b/tools/breeze/src/main.rs
@@ -0,0 +1,76 @@
+use std::{thread::sleep, time::Duration};
+
+use cgos::board::BoardClass;
+use cgos::congatec::Congatec;
+use cgos::status::Status;
+
+const FAN_MAX_SPEED: f32 = 100.0;
+const FAN_MIN_SPEED: f32 = 40.0; // should be at least ~38 to allow spin up from zero
+const INTERPOLATION_X0: f32 = 50.0;
+const INTERPOLATION_Y0: f32 = 50.0;
+const INTERPOLATION_X1: f32 = 70.0;
+const INTERPOLATION_Y1: f32 = 100.0;
+const SLEEP_DURATION: Duration = Duration::from_secs(30);
+
+#[derive(Clone, Debug)]
+enum SensorState {
+    Uninitialized,
+    Broken,
+    Valid(f32),
+}
+
+fn main() {
+    let congatec = Congatec::new();
+    let board = congatec.get_board(BoardClass::ALL, 0);
+    let number_of_temperatures = board.get_number_of_temperatures();
+
+    loop {
+        let sensor_state =
+            (0..number_of_temperatures).fold(SensorState::Uninitialized, |sensor_state, index| {
+                let sensor = board.get_temperature(index);
+                let (current_temperature, current_status) = sensor.current();
+
+                match (sensor_state, current_status == Status::ACTIVE) {
+                    (SensorState::Uninitialized, true) => SensorState::Valid(current_temperature),
+                    (SensorState::Uninitialized, false)
+                    | (SensorState::Broken, _)
+                    | (SensorState::Valid(_), false) => SensorState::Broken,
+                    (SensorState::Valid(temperature), true) => {
+                        SensorState::Valid(temperature.max(current_temperature))
+                    }
+                }
+            });
+
+        let fan_speed = get_interpolated_fan_speed(sensor_state);
+        let number_of_fans = board.get_number_of_fans();
+        for index in 0..number_of_fans {
+            let fan = board.get_fan(index);
+            let mut info = fan.info();
+            info.out_maximum = fan_speed as i32;
+            fan.set_limits(info);
+        }
+
+        sleep(SLEEP_DURATION);
+    }
+}
+
+fn get_interpolated_fan_speed(sensor_state: SensorState) -> f32 {
+    if let SensorState::Valid(temperature) = sensor_state {
+        let fan_value = interpolate(
+            temperature,
+            INTERPOLATION_X0,
+            INTERPOLATION_Y0,
+            INTERPOLATION_X1,
+            INTERPOLATION_Y1,
+        );
+        fan_value.clamp(FAN_MIN_SPEED, FAN_MAX_SPEED)
+    } else {
+        // Something is wrong with the temperature sensor.
+        // Lets crank the fans up.
+        FAN_MAX_SPEED
+    }
+}
+
+fn interpolate(x: f32, x0: f32, y0: f32, x1: f32, y1: f32) -> f32 {
+    (y0 * (x1 - x) + y1 * (x - x0)) / (x1 - x0)
+}
diff --git a/tools/camera_matrix_extractor/Cargo.toml b/tools/camera_matrix_extractor/Cargo.toml
index 7757efd..8fbfb22 100644
--- a/tools/camera_matrix_extractor/Cargo.toml
+++ b/tools/camera_matrix_extractor/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "camera_matrix_extractor"
 version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/tools/depp/Cargo.toml b/tools/depp/Cargo.toml
index 5a1fa86..0664499 100644
--- a/tools/depp/Cargo.toml
+++ b/tools/depp/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "depp"
 version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 color-eyre = { workspace = true }
diff --git a/tools/fanta/Cargo.toml b/tools/fanta/Cargo.toml
index 7fe9b59..d9798d6 100644
--- a/tools/fanta/Cargo.toml
+++ b/tools/fanta/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "fanta"
 version = "0.1.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 clap = { workspace = true }
diff --git a/tools/hula/Cargo.lock b/tools/hula/Cargo.lock
index bf90c12..8c60136 100644
--- a/tools/hula/Cargo.lock
+++ b/tools/hula/Cargo.lock
@@ -245,6 +245,11 @@ dependencies = [
 [[package]]
 name = "constants"
 version = "0.1.0"
+dependencies = [
+ "lazy_static",
+ "serde",
+ "serde_json",
+]
 
 [[package]]
 name = "cpufeatures"
@@ -626,6 +631,12 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "itoa"
+version = "1.0.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
+
 [[package]]
 name = "lazy_static"
 version = "1.4.0"
@@ -1010,6 +1021,12 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "ryu"
+version = "1.0.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f98d2aa92eebf49b69786be48e4477826b256916e84a57ff2a4f21923b48eb4c"
+
 [[package]]
 name = "scopeguard"
 version = "1.1.0"
@@ -1036,6 +1053,17 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "serde_json"
+version = "1.0.99"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46266871c240a00b8f503b877622fe33430b3c7d963bdc0f2adc511e54a1eae3"
+dependencies = [
+ "itoa",
+ "ryu",
+ "serde",
+]
+
 [[package]]
 name = "serde_repr"
 version = "0.1.10"
diff --git a/tools/hula/proxy/src/idle.rs b/tools/hula/proxy/src/idle.rs
index 9236ca3..5e1429b 100644
--- a/tools/hula/proxy/src/idle.rs
+++ b/tools/hula/proxy/src/idle.rs
@@ -1,5 +1,5 @@
 use std::{
-    f32::consts::PI,
+    f32::consts::TAU,
     io::{BufWriter, Write},
     os::unix::net::UnixStream,
     time::UNIX_EPOCH,
@@ -12,7 +12,7 @@ use rmp_serde::encode::write_named;
 pub fn knight_rider_eyes() -> ([f32; 24], [f32; 24]) {
     let since_epoch = UNIX_EPOCH.elapsed().expect("time ran backwards");
     let interval_from_0_to_1 = since_epoch.subsec_millis() as f32 / 1000.0;
-    let position = ((2.0 * PI * interval_from_0_to_1).sin() + 1.0) / 2.0;
+    let position = ((TAU * interval_from_0_to_1).sin() + 1.0) / 2.0;
     let maximal_distance_from_center = 1.0 / 4.0;
 
     //     1
diff --git a/tools/localizer/Cargo.toml b/tools/localizer/Cargo.toml
index d300f63..9793c14 100644
--- a/tools/localizer/Cargo.toml
+++ b/tools/localizer/Cargo.toml
@@ -1,7 +1,9 @@
 [package]
 name = "localizer"
 version = "0.1.0"
-edition = "2021"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
diff --git a/tools/localizer/src/main.rs b/tools/localizer/src/main.rs
index 4e58a00..204a55f 100644
--- a/tools/localizer/src/main.rs
+++ b/tools/localizer/src/main.rs
@@ -27,7 +27,7 @@ use tokio_util::sync::CancellationToken;
 use types::{
     field_dimensions::FieldDimensions,
     field_marks::{field_marks_from_field_dimensions, FieldMark},
-    game_controller_state::GameControllerState,
+    filtered_game_controller_state::FilteredGameControllerState,
     line::{Line, Line2},
     line_data::LineData,
     primary_state::PrimaryState,
@@ -172,7 +172,8 @@ async fn recording_player(
             {
                 let mut database = control_writer.next();
 
-                database.main_outputs.game_controller_state = data.game_controller_state;
+                database.main_outputs.filtered_game_controller_state =
+                    data.filtered_game_controller_state;
                 database.main_outputs.has_ground_contact = data.has_ground_contact;
                 database.main_outputs.primary_state = data.primary_state;
                 database.main_outputs.robot_to_field = data.robot_to_field;
@@ -221,7 +222,7 @@ struct ControlDatabase {
 
 #[derive(Clone, Debug, Default, Deserialize, Serialize, SerializeHierarchy)]
 struct ControlMainOutputs {
-    pub game_controller_state: Option<GameControllerState>,
+    pub filtered_game_controller_state: Option<FilteredGameControllerState>,
     pub has_ground_contact: bool,
     pub primary_state: PrimaryState,
     pub robot_to_field: Option<Isometry2<f32>>,
diff --git a/tools/machine-learning/data/HULKs/datasets/ball_detection/dvc.lock b/tools/machine-learning/data/HULKs/datasets/ball_detection/dvc.lock
deleted file mode 100644
index 1378ff1..0000000
--- a/tools/machine-learning/data/HULKs/datasets/ball_detection/dvc.lock
+++ /dev/null
@@ -1,238 +0,0 @@
-merge-positives-v1:
-  cmd: transformer ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-    ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-    ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-    ../../events/2019-11-06_testGame/full-positives.tfrecord ../../events/2019-11-06_testGame/covered-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-    ../../events/2020-02-19_testGame/full-positives.tfrecord ../../events/2020-02-19_testGame/covered-positives.tfrecord
-    ../../events/2019-10-16_testGame/full-positives.tfrecord ../../events/2019-10-16_testGame/covered-positives.tfrecord
-    ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-    ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-    - 0.1:positives-v1-test.tfrecord positives-v1-train.tfrecord
-  deps:
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-    md5: bac34931e2fa13965ed9ca66f808532d
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-    md5: 92c853236690afcf11f71557f1551c15
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-    md5: 5ecea1e0527cc3c0cf14ee525b0c82ae
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-    md5: d2d28fb290ddd5e220e23bfc1d4a1a50
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-    md5: 70c11b5e202742cb3f9a48c4bb93da12
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-    md5: 681f53bb88375f5439f2c4da760052d6
-  - path: ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-    md5: 7b4a65b1a511eed8be2df79449ba780e
-  - path: ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-    md5: 3f239db0eb08869cce431183a78c718a
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-    md5: dc4570fa1233629a550b53390836320f
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-    md5: ef2ab014274e2acf8ca31c53907b6543
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-    md5: fc8aa701c1862e201b1ee1d23920e62c
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-    md5: 3f578492053228e1302cecf30478905c
-  - path: ../../events/2019-10-16_testGame/covered-positives.tfrecord
-    md5: 8275fb332bc3308bd41f9c68faea4682
-  - path: ../../events/2019-10-16_testGame/full-positives.tfrecord
-    md5: dbbb7b8f46b7fb6e1ad9288bad622973
-  - path: ../../events/2019-11-06_testGame/covered-positives.tfrecord
-    md5: cdac424a4b4b875576762197796296cb
-  - path: ../../events/2019-11-06_testGame/full-positives.tfrecord
-    md5: e46496198eca5f088475f057ddf1441b
-  - path: ../../events/2020-02-19_testGame/covered-positives.tfrecord
-    md5: 57f9b4ecab8f6a2993c59394c2ce2759
-  - path: ../../events/2020-02-19_testGame/full-positives.tfrecord
-    md5: d5ad7691f028839792ac2e78e0809aa7
-  outs:
-  - path: positives-v1-test.tfrecord
-    md5: 68208f51688362bf568429e017680a78
-  - path: positives-v1-train.tfrecord
-    md5: d74b7f030227833d3b1740373739b1b1
-merge-all-v1:
-  cmd: transformer ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/negatives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/random-negatives.tfrecord
-    ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/negatives.tfrecord
-    ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/random-negatives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-1.tfrecord ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/random-negatives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-0.tfrecord ../../events/2019-11-06_testGame/negatives-1.tfrecord
-    ../../events/2019-11-06_testGame/random-negatives.tfrecord ../../events/2019-11-06_testGame/negatives-0.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-1.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/random-negatives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-0.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/negatives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/random-negatives.tfrecord
-    ../../events/2020-08-30_simRobot_2083/negatives-1.tfrecord ../../events/2020-08-30_simRobot_2083/random-negatives.tfrecord
-    ../../events/2020-08-30_simRobot_2083/negatives-0.tfrecord ../../events/2020-02-19_testGame/negatives-1.tfrecord
-    ../../events/2020-02-19_testGame/negatives-2.tfrecord ../../events/2020-02-19_testGame/random-negatives.tfrecord
-    ../../events/2020-02-19_testGame/negatives-0.tfrecord ../../events/2019-10-16_testGame/negatives.tfrecord
-    ../../events/2019-10-16_testGame/random-negatives.tfrecord ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-1.tfrecord
-    ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/random-negatives.tfrecord
-    ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-0.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-    ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-    ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-    ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-    ../../events/2019-11-06_testGame/full-positives.tfrecord ../../events/2019-11-06_testGame/covered-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-    ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-    ../../events/2020-02-19_testGame/full-positives.tfrecord ../../events/2020-02-19_testGame/covered-positives.tfrecord
-    ../../events/2019-10-16_testGame/full-positives.tfrecord ../../events/2019-10-16_testGame/covered-positives.tfrecord
-    ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-    ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-    - 0.1:all-v1-test.tfrecord all-v1-train.tfrecord
-  deps:
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-    md5: bac34931e2fa13965ed9ca66f808532d
-    size: 26582
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-    md5: 92c853236690afcf11f71557f1551c15
-    size: 60595
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-0.tfrecord
-    md5: 81cd3a5a77d5ee6ce98e599b6b06e688
-    size: 26041
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-1.tfrecord
-    md5: 43a8a7a323d9d2ddb51449fe2dee7aab
-    size: 27121
-  - path: ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/random-negatives.tfrecord
-    md5: f1a37b9e95bbe7add632b97b895e54f1
-    size: 87938
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-    md5: 5ecea1e0527cc3c0cf14ee525b0c82ae
-    size: 1269249
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-    md5: d2d28fb290ddd5e220e23bfc1d4a1a50
-    size: 9692840
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/negatives.tfrecord
-    md5: d651fa3c06a27ce836b48102386dfcf9
-    size: 6067518
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/random-negatives.tfrecord
-    md5: d3e1cfb8446295bbf5544e6a375d2fab
-    size: 58020886
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-    md5: 70c11b5e202742cb3f9a48c4bb93da12
-    size: 1081798
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-    md5: 681f53bb88375f5439f2c4da760052d6
-    size: 11043483
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-    md5: 5425c01f449e92d08045508197d9e6f6
-    size: 11002266
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-1.tfrecord
-    md5: 6eb60f830fa5110d09da50454468f531
-    size: 28235
-  - path: ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/random-negatives.tfrecord
-    md5: f5375ade6701d468fca75102d0f7ef0f
-    size: 63211361
-  - path: ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-    md5: 7b4a65b1a511eed8be2df79449ba780e
-    size: 999123
-  - path: ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-    md5: 3f239db0eb08869cce431183a78c718a
-    size: 9877559
-  - path: ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/negatives.tfrecord
-    md5: 7f5e8e561987d4c0605ddd35b7516631
-    size: 4643666
-  - path: ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/random-negatives.tfrecord
-    md5: 9fd9673712a28ebdbdba72fc1075b1fc
-    size: 38977546
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-    md5: dc4570fa1233629a550b53390836320f
-    size: 1165947
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-    md5: ef2ab014274e2acf8ca31c53907b6543
-    size: 15804861
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/negatives.tfrecord
-    md5: e9c3c888e43ad785e6f77961d4435419
-    size: 7734049
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/random-negatives.tfrecord
-    md5: e4cc66434d8da7e54d429d5a835ccd40
-    size: 95851471
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-    md5: fc8aa701c1862e201b1ee1d23920e62c
-    size: 1173899
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-    md5: 3f578492053228e1302cecf30478905c
-    size: 11900044
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-0.tfrecord
-    md5: 00d51047f7d2ed613ec74d887dd6b001
-    size: 6529783
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-1.tfrecord
-    md5: 818772e1019ddc0e254371ef3926c8a7
-    size: 24843
-  - path: ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/random-negatives.tfrecord
-    md5: e761acd4178051ca0ebe6e75eaf43688
-    size: 75789538
-  - path: ../../events/2019-10-16_testGame/covered-positives.tfrecord
-    md5: 8275fb332bc3308bd41f9c68faea4682
-    size: 596876
-  - path: ../../events/2019-10-16_testGame/full-positives.tfrecord
-    md5: dbbb7b8f46b7fb6e1ad9288bad622973
-    size: 8102043
-  - path: ../../events/2019-10-16_testGame/negatives.tfrecord
-    md5: 5c757438145eb3d47b889e01092edfda
-    size: 2199449
-  - path: ../../events/2019-10-16_testGame/random-negatives.tfrecord
-    md5: 6383c0a7f56a8502bf736f7075e3ed4a
-    size: 25531126
-  - path: ../../events/2019-11-06_testGame/covered-positives.tfrecord
-    md5: cdac424a4b4b875576762197796296cb
-    size: 961599
-  - path: ../../events/2019-11-06_testGame/full-positives.tfrecord
-    md5: e46496198eca5f088475f057ddf1441b
-    size: 13321489
-  - path: ../../events/2019-11-06_testGame/negatives-0.tfrecord
-    md5: ca835934c5fc407b0be333e2062f0333
-    size: 5870323
-  - path: ../../events/2019-11-06_testGame/negatives-1.tfrecord
-    md5: 082ed5fde3f3ce4bfe175ef1324743fb
-    size: 48733
-  - path: ../../events/2019-11-06_testGame/random-negatives.tfrecord
-    md5: f5a7d634f03f25393cd46941a9a5ca8c
-    size: 50299133
-  - path: ../../events/2020-02-19_testGame/covered-positives.tfrecord
-    md5: 57f9b4ecab8f6a2993c59394c2ce2759
-    size: 1302063
-  - path: ../../events/2020-02-19_testGame/full-positives.tfrecord
-    md5: d5ad7691f028839792ac2e78e0809aa7
-    size: 10899641
-  - path: ../../events/2020-02-19_testGame/negatives-0.tfrecord
-    md5: f9fb7d1c3cbe10b3983d464b012cb6bc
-    size: 4464924
-  - path: ../../events/2020-02-19_testGame/negatives-1.tfrecord
-    md5: 5c221e8c96ea3aaddbceaaa96c060d74
-    size: 4461755
-  - path: ../../events/2020-02-19_testGame/negatives-2.tfrecord
-    md5: 064058ba3a8c12179c45b1153f0b77d2
-    size: 4465524
-  - path: ../../events/2020-02-19_testGame/random-negatives.tfrecord
-    md5: 3796cc590fb2df558cba20e48f6f4b6a
-    size: 69938321
-  - path: ../../events/2020-08-30_simRobot_2083/negatives-0.tfrecord
-    md5: b877775cd8aedd1dc895cfa09a89e245
-    size: 2894433
-  - path: ../../events/2020-08-30_simRobot_2083/negatives-1.tfrecord
-    md5: c82645a4b7abb7cd2c1880a4d681023e
-    size: 31377
-  - path: ../../events/2020-08-30_simRobot_2083/random-negatives.tfrecord
-    md5: 45c1b8c9089dda4a41d486e503ca6c96
-    size: 55450827
-  outs:
-  - path: all-v1-test.tfrecord
-    md5: db60631f606eba3170e2fe7567a88a6d
-    size: 69379398
-  - path: all-v1-train.tfrecord
-    md5: b5be1a9459336b6b034d5b145876fd91
-    size: 623577088
diff --git a/tools/machine-learning/data/HULKs/datasets/ball_detection/dvc.yaml b/tools/machine-learning/data/HULKs/datasets/ball_detection/dvc.yaml
deleted file mode 100644
index 020ebec..0000000
--- a/tools/machine-learning/data/HULKs/datasets/ball_detection/dvc.yaml
+++ /dev/null
@@ -1,126 +0,0 @@
-stages:
-  merge-positives-v1:
-    cmd: transformer ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-      ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-      ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-      ../../events/2019-11-06_testGame/full-positives.tfrecord ../../events/2019-11-06_testGame/covered-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-      ../../events/2020-02-19_testGame/full-positives.tfrecord ../../events/2020-02-19_testGame/covered-positives.tfrecord
-      ../../events/2019-10-16_testGame/full-positives.tfrecord ../../events/2019-10-16_testGame/covered-positives.tfrecord
-      ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-      ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-      - 0.1:positives-v1-test.tfrecord positives-v1-train.tfrecord
-    deps:
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-    - ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-    - ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-    - ../../events/2019-10-16_testGame/covered-positives.tfrecord
-    - ../../events/2019-10-16_testGame/full-positives.tfrecord
-    - ../../events/2019-11-06_testGame/covered-positives.tfrecord
-    - ../../events/2019-11-06_testGame/full-positives.tfrecord
-    - ../../events/2020-02-19_testGame/covered-positives.tfrecord
-    - ../../events/2020-02-19_testGame/full-positives.tfrecord
-    outs:
-    - positives-v1-test.tfrecord
-    - positives-v1-train.tfrecord
-  merge-all-v1:
-    cmd: transformer ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/negatives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/random-negatives.tfrecord
-      ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/negatives.tfrecord
-      ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/random-negatives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-1.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/random-negatives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-0.tfrecord
-      ../../events/2019-11-06_testGame/negatives-1.tfrecord ../../events/2019-11-06_testGame/random-negatives.tfrecord
-      ../../events/2019-11-06_testGame/negatives-0.tfrecord ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-1.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/random-negatives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-0.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/negatives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/random-negatives.tfrecord
-      ../../events/2020-08-30_simRobot_2083/negatives-1.tfrecord ../../events/2020-08-30_simRobot_2083/random-negatives.tfrecord
-      ../../events/2020-08-30_simRobot_2083/negatives-0.tfrecord ../../events/2020-02-19_testGame/negatives-1.tfrecord
-      ../../events/2020-02-19_testGame/negatives-2.tfrecord ../../events/2020-02-19_testGame/random-negatives.tfrecord
-      ../../events/2020-02-19_testGame/negatives-0.tfrecord ../../events/2019-10-16_testGame/negatives.tfrecord
-      ../../events/2019-10-16_testGame/random-negatives.tfrecord ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-1.tfrecord
-      ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/random-negatives.tfrecord
-      ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-0.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-      ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-      ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-      ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-      ../../events/2019-11-06_testGame/full-positives.tfrecord ../../events/2019-11-06_testGame/covered-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-      ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-      ../../events/2020-02-19_testGame/full-positives.tfrecord ../../events/2020-02-19_testGame/covered-positives.tfrecord
-      ../../events/2019-10-16_testGame/full-positives.tfrecord ../../events/2019-10-16_testGame/covered-positives.tfrecord
-      ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-      ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-      - 0.1:all-v1-test.tfrecord all-v1-train.tfrecord
-    deps:
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/covered-positives.tfrecord
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/full-positives.tfrecord
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-0.tfrecord
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/negatives-1.tfrecord
-    - ../../events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/random-negatives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/covered-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/full-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/negatives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/random-negatives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/covered-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/full-positives.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-0.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/negatives-1.tfrecord
-    - ../../events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/random-negatives.tfrecord
-    - ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/covered-positives.tfrecord
-    - ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/full-positives.tfrecord
-    - ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/negatives.tfrecord
-    - ../../events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/random-negatives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/covered-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/full-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/negatives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/random-negatives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/covered-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/full-positives.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-0.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/negatives-1.tfrecord
-    - ../../events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/random-negatives.tfrecord
-    - ../../events/2019-10-16_testGame/covered-positives.tfrecord
-    - ../../events/2019-10-16_testGame/full-positives.tfrecord
-    - ../../events/2019-10-16_testGame/negatives.tfrecord
-    - ../../events/2019-10-16_testGame/random-negatives.tfrecord
-    - ../../events/2019-11-06_testGame/covered-positives.tfrecord
-    - ../../events/2019-11-06_testGame/full-positives.tfrecord
-    - ../../events/2019-11-06_testGame/negatives-0.tfrecord
-    - ../../events/2019-11-06_testGame/negatives-1.tfrecord
-    - ../../events/2019-11-06_testGame/random-negatives.tfrecord
-    - ../../events/2020-02-19_testGame/covered-positives.tfrecord
-    - ../../events/2020-02-19_testGame/full-positives.tfrecord
-    - ../../events/2020-02-19_testGame/negatives-0.tfrecord
-    - ../../events/2020-02-19_testGame/negatives-1.tfrecord
-    - ../../events/2020-02-19_testGame/negatives-2.tfrecord
-    - ../../events/2020-02-19_testGame/random-negatives.tfrecord
-    - ../../events/2020-08-30_simRobot_2083/negatives-0.tfrecord
-    - ../../events/2020-08-30_simRobot_2083/negatives-1.tfrecord
-    - ../../events/2020-08-30_simRobot_2083/random-negatives.tfrecord
-    outs:
-    - all-v1-test.tfrecord
-    - all-v1-train.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2014_RoHOW2014/Game1/dvc.lock b/tools/machine-learning/data/HULKs/events/2014_RoHOW2014/Game1/dvc.lock
deleted file mode 100644
index a5ac57c..0000000
--- a/tools/machine-learning/data/HULKs/events/2014_RoHOW2014/Game1/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler --image-color-space RGB corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 58ca2580a53e80fe9c939f50c8bcf120
-  - path: raw
-    md5: b4438f3e700bad6a1e1cbc2f57198807.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 7198185df2590d91b7cbd992824cc636
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 --image-color-space RGB
-    corrected-covered-positives.json covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 0c4f2cd37372c695ccba04e7526b4deb
-  - path: raw
-    md5: b4438f3e700bad6a1e1cbc2f57198807.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 8747cdaf69a06fa30e466753b075d8fe
diff --git a/tools/machine-learning/data/HULKs/events/2014_RoHOW2014/Game1/dvc.yaml b/tools/machine-learning/data/HULKs/events/2014_RoHOW2014/Game1/dvc.yaml
deleted file mode 100644
index 58ae8c6..0000000
--- a/tools/machine-learning/data/HULKs/events/2014_RoHOW2014/Game1/dvc.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler --image-color-space RGB corrected-full-positives.json
-      full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 --image-color-space RGB
-      corrected-covered-positives.json covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2015-04-01_HTWK/dvc.lock b/tools/machine-learning/data/HULKs/events/2015-04-01_HTWK/dvc.lock
deleted file mode 100644
index 2241eef..0000000
--- a/tools/machine-learning/data/HULKs/events/2015-04-01_HTWK/dvc.lock
+++ /dev/null
@@ -1,10 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler --image-color-space RGB completed.json full-positives.tfrecord
-  deps:
-  - path: completed.json
-    md5: 5381a5a6ece53ee8ca97d12eedfe1724
-  - path: raw
-    md5: 1be71d963427d54597725f87d2974664.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: d0c97123a66c8c228cc4a170bd88976b
diff --git a/tools/machine-learning/data/HULKs/events/2015-04-01_HTWK/dvc.yaml b/tools/machine-learning/data/HULKs/events/2015-04-01_HTWK/dvc.yaml
deleted file mode 100644
index 41672b0..0000000
--- a/tools/machine-learning/data/HULKs/events/2015-04-01_HTWK/dvc.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler --image-color-space RGB completed.json full-positives.tfrecord
-    deps:
-    - completed.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2015-06_ObstacleDetection/dvc.lock b/tools/machine-learning/data/HULKs/events/2015-06_ObstacleDetection/dvc.lock
deleted file mode 100644
index 6401070..0000000
--- a/tools/machine-learning/data/HULKs/events/2015-06_ObstacleDetection/dvc.lock
+++ /dev/null
@@ -1,10 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler --image-color-space RGB corrected.json full-positives.tfrecord
-  deps:
-  - path: corrected.json
-    md5: 154d9014ca6060297bbaecc659aa9bdb
-  - path: raw
-    md5: 3ed1fcf8b0932e4ad637ebb78817ec3a.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 06d09e9e6f3a937374064ada61e53526
diff --git a/tools/machine-learning/data/HULKs/events/2015-06_ObstacleDetection/dvc.yaml b/tools/machine-learning/data/HULKs/events/2015-06_ObstacleDetection/dvc.yaml
deleted file mode 100644
index faa7a9c..0000000
--- a/tools/machine-learning/data/HULKs/events/2015-06_ObstacleDetection/dvc.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler --image-color-space RGB corrected.json full-positives.tfrecord
-    deps:
-    - corrected.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2015-10-07_TUHH_Background/dvc.lock b/tools/machine-learning/data/HULKs/events/2015-10-07_TUHH_Background/dvc.lock
deleted file mode 100644
index d194cc3..0000000
--- a/tools/machine-learning/data/HULKs/events/2015-10-07_TUHH_Background/dvc.lock
+++ /dev/null
@@ -1,10 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-corrected.json full-positives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 1fff2810a952eae58daaf64b457669f5
-  - path: raw
-    md5: 3f92568e4b15e1df9299b2e1188c367f.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: efedc6c07d1159d1668c807acddfe694
diff --git a/tools/machine-learning/data/HULKs/events/2015-10-07_TUHH_Background/dvc.yaml b/tools/machine-learning/data/HULKs/events/2015-10-07_TUHH_Background/dvc.yaml
deleted file mode 100644
index 23f84b2..0000000
--- a/tools/machine-learning/data/HULKs/events/2015-10-07_TUHH_Background/dvc.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-corrected.json full-positives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2016-03-20_TUHH_Ball/dvc.lock b/tools/machine-learning/data/HULKs/events/2016-03-20_TUHH_Ball/dvc.lock
deleted file mode 100644
index 53f4b0d..0000000
--- a/tools/machine-learning/data/HULKs/events/2016-03-20_TUHH_Ball/dvc.lock
+++ /dev/null
@@ -1,10 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected.json full-positives.tfrecord
-  deps:
-  - path: corrected.json
-    md5: 15700eb4b486f05a681ceabe4b427390
-  - path: raw
-    md5: 8a6a2b33cef6cc3d63d7ff14206dc5a5.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 8f485e0d95c749844dc8aaa7514a21ef
diff --git a/tools/machine-learning/data/HULKs/events/2016-03-20_TUHH_Ball/dvc.yaml b/tools/machine-learning/data/HULKs/events/2016-03-20_TUHH_Ball/dvc.yaml
deleted file mode 100644
index eb7d117..0000000
--- a/tools/machine-learning/data/HULKs/events/2016-03-20_TUHH_Ball/dvc.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected.json full-positives.tfrecord
-    deps:
-    - corrected.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/DutchNaoTeam/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/DutchNaoTeam/dvc.lock
deleted file mode 100644
index 4f1fa57..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/DutchNaoTeam/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 05970c77d482c7c479ee35f36be783c9
-  - path: raw
-    md5: 015011b58608a41b7e38a371c4cf97cb.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 6d50f357a223be59542b3e44c908c85a
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 85ec24a438ebb4bea2fc21620e9e0b81
-  - path: raw
-    md5: 015011b58608a41b7e38a371c4cf97cb.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 2db2312fdde397fce1569d13dbc9562e
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/DutchNaoTeam/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/DutchNaoTeam/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/DutchNaoTeam/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/HTWK/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/HTWK/dvc.lock
deleted file mode 100644
index 94adc3c..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/HTWK/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 7a34d8f6d4572d5a2f7d03c6a23ab9c6
-  - path: raw
-    md5: bcd3ce6ba465ccc67337d21121d29bb2.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: b537a49fb41337caa831df321a5c8ec8
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 7524e30bd724de67d46b5e8a5d95dade
-  - path: raw
-    md5: bcd3ce6ba465ccc67337d21121d29bb2.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 36948a3256f88d9c883845c09e0bd0b6
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/HTWK/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/HTWK/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/HTWK/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/MRL/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/MRL/dvc.lock
deleted file mode 100644
index bbf8bd8..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/MRL/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 37731e67a651c0d2d3cf54473ba1bb1e
-  - path: raw
-    md5: a1cbd6712d93dd795b53a20c1eaf3eb9.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 223309810403bcb4b0b02aefa7d6b10d
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 4b14a400ff87a455f8c049975759d05e
-  - path: raw
-    md5: a1cbd6712d93dd795b53a20c1eaf3eb9.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: d13f533abb2f6107c7bfe6809f583720
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/MRL/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/MRL/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/MRL/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/Test/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/Test/dvc.lock
deleted file mode 100644
index b884060..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/Test/dvc.lock
+++ /dev/null
@@ -1,10 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: add2796d1799f84044b168ce354d3746
-  - path: raw
-    md5: 62117a42d9a239a233034ab84dc99d58.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 42fdb7b56bfa1d43e584ed87240e0131
diff --git a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/Test/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/Test/dvc.yaml
deleted file mode 100644
index a4e5550..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-04_IranOpen2017/Test/dvc.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-07-16_MZH/2017-07-15/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-07-16_MZH/2017-07-15/dvc.lock
deleted file mode 100644
index e63f474..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-07-16_MZH/2017-07-15/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: b7a02b046769ef2d8977e5b2403e675b
-  - path: raw
-    md5: 0d81d0d9d7440edf401d250fb86dd1d7.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 0b37d6f3253ec22ef89558ff00b423e2
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: c369836110409fd03657f67b085d4b19
-  - path: raw
-    md5: 0d81d0d9d7440edf401d250fb86dd1d7.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 8b2a746b13c1570d7e821513294211f3
diff --git a/tools/machine-learning/data/HULKs/events/2017-07-16_MZH/2017-07-15/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-07-16_MZH/2017-07-15/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-07-16_MZH/2017-07-15/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-11-01_N0.007/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-11-01_N0.007/dvc.lock
deleted file mode 100644
index b2f3359..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-11-01_N0.007/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 770fec3f4083d4398533547412e5be09
-  - path: raw
-    md5: 0769ebb80e32fa5769d6187d397c7ebe.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: f924693e25c0764d1568adfff2f5f056
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 2d476dfec88b887af89b7025468bc08c
-  - path: raw
-    md5: 0769ebb80e32fa5769d6187d397c7ebe.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 7687800f0d3f4b9c318b94f779c73813
diff --git a/tools/machine-learning/data/HULKs/events/2017-11-01_N0.007/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-11-01_N0.007/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-11-01_N0.007/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2017-12-06_SMD/Test-2017-12-06-2/dvc.lock b/tools/machine-learning/data/HULKs/events/2017-12-06_SMD/Test-2017-12-06-2/dvc.lock
deleted file mode 100644
index f1365c3..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-12-06_SMD/Test-2017-12-06-2/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: e10252443d86f6357e2947c0cc0d84a8
-  - path: raw
-    md5: daca69136c8311434dfeacb1e5305e41.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 746d256e1afb18ac1925b43f5e6a0de8
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 3b4f6a4bee6a066f1d2e998d1412965b
-  - path: raw
-    md5: daca69136c8311434dfeacb1e5305e41.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: eb7f76a44890888277610b6d1159247d
diff --git a/tools/machine-learning/data/HULKs/events/2017-12-06_SMD/Test-2017-12-06-2/dvc.yaml b/tools/machine-learning/data/HULKs/events/2017-12-06_SMD/Test-2017-12-06-2/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2017-12-06_SMD/Test-2017-12-06-2/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-02-20_testgame/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-02-20_testgame/dvc.lock
deleted file mode 100644
index 981dec5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-02-20_testgame/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 06f49b878d37691c89310f0d7ec92d6b
-  - path: raw
-    md5: b2018643e5c37c8ab52387e26611d747.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 454177e8799060292f1cbb51073aad9a
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 73c0f9803c3212adbf9e34395daef678
-  - path: raw
-    md5: b2018643e5c37c8ab52387e26611d747.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: b8f3fc994029ce07334799f78795a820
diff --git a/tools/machine-learning/data/HULKs/events/2018-02-20_testgame/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-02-20_testgame/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-02-20_testgame/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-26_GO18_bhuman_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-26_GO18_bhuman_goldenGoal/dvc.lock
deleted file mode 100644
index 18c78ce..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-26_GO18_bhuman_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: af1c1638d7c2e55a08a31f2d9700179c
-  - path: raw
-    md5: 76e3093f5a751c8d7e59676cd911b417.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: f606af8b5ebd1f74b5ed4a98d75a73a6
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 114a4d6fe8f0724d31c94e62b02f4e77
-  - path: raw
-    md5: 76e3093f5a751c8d7e59676cd911b417.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: c2b125f2c3651f90daf6e80c610f720e
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-26_GO18_bhuman_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-26_GO18_bhuman_goldenGoal/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-26_GO18_bhuman_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_berlinUnited_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_berlinUnited_goldenGoal/dvc.lock
deleted file mode 100644
index 4dd0384..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_berlinUnited_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 77b658d3322234889b4a87a9f6250f0d
-  - path: raw
-    md5: 3f1205eb430378e544891df0b802112f.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 080cbbc38d949044ecce9644e13bff61
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: c91cc8df614cc16808b2c91d6c4efb4b
-  - path: raw
-    md5: 3f1205eb430378e544891df0b802112f.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 800d37ab2d3367fd9f2da5877a295e45
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_berlinUnited_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_berlinUnited_goldenGoal/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_berlinUnited_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_naoDevils_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_naoDevils_goldenGoal/dvc.lock
deleted file mode 100644
index dd51ab9..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_naoDevils_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: a7344eca6b37585f8f4dc6ed5eca6c6d
-  - path: raw
-    md5: 06bc3b87b7ee1838a50f4d66cb3e6037.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 4cda848289f54ba791877292efed725a
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: bf1f66c6fcb84697d29d3b1ac78ad691
-  - path: raw
-    md5: 06bc3b87b7ee1838a50f4d66cb3e6037.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 4e755cbe7d73a91b4316451ac649f0d1
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_naoDevils_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_naoDevils_goldenGoal/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-27_GO18_naoDevils_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Bembelbots_golden_goal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Bembelbots_golden_goal/dvc.lock
deleted file mode 100644
index cde1911..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Bembelbots_golden_goal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 71a66116bda468578607c9d81cd359e1
-  - path: raw
-    md5: b79ee41c1709013af7b152719e6b2d8f.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 9fb4e1238fe8e08cc89ab45c02ecbfeb
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 3c2e58ed74c1e6646f4b81bb669330d4
-  - path: raw
-    md5: b79ee41c1709013af7b152719e6b2d8f.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: db7d33605f5155d25bc763ed05c79db4
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Bembelbots_golden_goal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Bembelbots_golden_goal/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Bembelbots_golden_goal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_HTWK_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_HTWK_goldenGoal/dvc.lock
deleted file mode 100644
index b1626e7..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_HTWK_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 7de4e9c3f07e23f39eb5ced7ad15fb8f
-  - path: raw
-    md5: ea15dcf4223d02fb8d82e76187c199ce.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 8c7199daaeaa0a6821d034e9b7fc76f6
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 0302448b45aac95492d506e6187f5110
-  - path: raw
-    md5: ea15dcf4223d02fb8d82e76187c199ce.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: bd6620c99e33000ffbf9487740bb555e
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_HTWK_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_HTWK_goldenGoal/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_HTWK_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Nomadz_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Nomadz_goldenGoal/dvc.lock
deleted file mode 100644
index 89bacbc..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Nomadz_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 5889cd4d00e8209d1f450cdcecd243ee
-  - path: raw
-    md5: edae5accb7c24c5ae416b42fc757675c.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 2ffcf3643a91a73f236aa1afec952856
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 9b7a5d7e1f0cdf9676e1983e570629d0
-  - path: raw
-    md5: edae5accb7c24c5ae416b42fc757675c.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 40344dd928c382d45857b7d7ebb1b862
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Nomadz_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Nomadz_goldenGoal/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-28_GO18_Nomadz_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/dvc.lock
deleted file mode 100644
index 7db2675..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/dvc.lock
+++ /dev/null
@@ -1,71 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 42f90a3c3b743ce611ad9ad4add06b3f
-  - path: raw
-    md5: 91a45fe599f02ff3258b499345b09661.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: bac34931e2fa13965ed9ca66f808532d
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 7eebd1e38683157a38e5698fa8eeeb3e
-  - path: raw
-    md5: 91a45fe599f02ff3258b499345b09661.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 92c853236690afcf11f71557f1551c15
-sample-negatives-1:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-    corrected-removed.json negatives-1.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: d1d50e809799231f5af6929860344ccd
-    size: 2362
-  - path: corrected-removed.json
-    md5: b082b1df3e7d95577600478d7978afac
-    size: 1764
-  - path: raw
-    md5: 91a45fe599f02ff3258b499345b09661.dir
-    size: 13495614
-    nfiles: 46
-  outs:
-  - path: negatives-1.tfrecord
-    md5: 43a8a7a323d9d2ddb51449fe2dee7aab
-    size: 27121
-sample-negatives-0:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-    removed.json negatives-0.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: d1d50e809799231f5af6929860344ccd
-    size: 2362
-  - path: raw
-    md5: 91a45fe599f02ff3258b499345b09661.dir
-    size: 13495614
-    nfiles: 46
-  - path: removed.json
-    md5: dc897eca3100b895a9cb8f195bf24d1e
-    size: 1764
-  outs:
-  - path: negatives-0.tfrecord
-    md5: 81cd3a5a77d5ee6ce98e599b6b06e688
-    size: 26041
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-remaining.json random-negatives.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: d1d50e809799231f5af6929860344ccd
-    size: 2362
-  - path: raw
-    md5: 91a45fe599f02ff3258b499345b09661.dir
-    size: 13495614
-    nfiles: 46
-  outs:
-  - path: random-negatives.tfrecord
-    md5: f1a37b9e95bbe7add632b97b895e54f1
-    size: 87938
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/dvc.yaml
deleted file mode 100644
index c706505..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_3rdPlace_1st_half_onlyOne/dvc.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-negatives-1:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-      corrected-removed.json negatives-1.tfrecord
-    deps:
-    - corrected-remaining.json
-    - corrected-removed.json
-    - raw
-    outs:
-    - negatives-1.tfrecord
-  sample-negatives-0:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-      removed.json negatives-0.tfrecord
-    deps:
-    - corrected-remaining.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-0.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-remaining.json random-negatives.tfrecord
-    deps:
-    - corrected-remaining.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_goldenGoal/dvc.lock
deleted file mode 100644
index 9ebcbfc..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 3573084782e0673fd2949d47035178be
-  - path: raw
-    md5: 096772e4768f87c4dce79a834138740f.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 11fda9e123fa257c95400fb26acc1109
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: cc1c0a2c23d97e0b61aa869d57cc058e
-  - path: raw
-    md5: 096772e4768f87c4dce79a834138740f.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: d94a270348becdf36ccb40d10fb7e134
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_goldenGoal/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_GermanOpen2018/2018-04-29_GO18_Bhuman_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-06_Testgame02_penShotout/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-06_Testgame02_penShotout/dvc.lock
deleted file mode 100644
index 451f2bb..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-06_Testgame02_penShotout/dvc.lock
+++ /dev/null
@@ -1,10 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: a1348fb2b0ff5856a9294c17f07e27db
-  - path: raw
-    md5: 4cd87c09d0055b486acab77dbcaa07f7.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 95730368523dc320e810b4560eaf9148
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-06_Testgame02_penShotout/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-06_Testgame02_penShotout/dvc.yaml
deleted file mode 100644
index a4e5550..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-06_Testgame02_penShotout/dvc.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-07_HTWK_GoldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-07_HTWK_GoldenGoal/dvc.lock
deleted file mode 100644
index 52e533d..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-07_HTWK_GoldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 0e8d10afd1b1123e52e93a73203fa5a5
-  - path: raw
-    md5: e04e4afb3b94e8c6326fe650336f3c09.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 1c90d4c40dbb59b2bde7c53e63f91401
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 578d83fdca6ac5a4c540454c69a3462e
-  - path: raw
-    md5: e04e4afb3b94e8c6326fe650336f3c09.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: fa1c76702c7ec83f8346ec82f34ab108
diff --git a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-07_HTWK_GoldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-07_HTWK_GoldenGoal/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-04_IranOpen2018/2018-04-07_HTWK_GoldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06-12_testgame2/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06-12_testgame2/dvc.lock
deleted file mode 100644
index 93e416c..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06-12_testgame2/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 968cc922f6b735f74002712b210fd033
-  - path: raw
-    md5: 15d9a3ffcb49f634a5107a434f4eb30c.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 0d808e6ec1a6f8d55b950ce0beeae6a0
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 0bb2f8f7f9beac1f84d697cab1aae077
-  - path: raw
-    md5: 15d9a3ffcb49f634a5107a434f4eb30c.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: c923a0ed2ce72dff795b73a489e76240
diff --git a/tools/machine-learning/data/HULKs/events/2018-06-12_testgame2/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06-12_testgame2/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06-12_testgame2/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-17-RC2018_Bhuman_HULKs_goldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-17-RC2018_Bhuman_HULKs_goldenGoal/dvc.lock
deleted file mode 100644
index 00060c9..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-17-RC2018_Bhuman_HULKs_goldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 2bf71dbd1c9d5659a083435111159123
-  - path: raw
-    md5: 9d41403ef09c693d02b94023cdccdaf8.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 516818c538660ed706e69ff173dd0676
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 862745cbbf67acd8940c348594aadd63
-  - path: raw
-    md5: 9d41403ef09c693d02b94023cdccdaf8.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 3184bc7e5a69ab62f93d3f3105a3833d
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-17-RC2018_Bhuman_HULKs_goldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-17-RC2018_Bhuman_HULKs_goldenGoal/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-17-RC2018_Bhuman_HULKs_goldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_HULKs_BerlinUnited_gg/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_HULKs_BerlinUnited_gg/dvc.lock
deleted file mode 100644
index de0007e..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_HULKs_BerlinUnited_gg/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: ab2bb4774ad729cf7ce3d4e16c0fd66a
-  - path: raw
-    md5: dd8a9efb5f25ea6ce54f4cafa35e72ce.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 4e74e406080aa4833fcd8726b90f003e
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 78d70886aa0127e3533c88d8ce19f9c6
-  - path: raw
-    md5: dd8a9efb5f25ea6ce54f4cafa35e72ce.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 5793e9901c9a0dedf469f9ebb7c00664
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_HULKs_BerlinUnited_gg/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_HULKs_BerlinUnited_gg/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_HULKs_BerlinUnited_gg/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_UTAustin_HULKs/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_UTAustin_HULKs/dvc.lock
deleted file mode 100644
index 1eb15e8..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_UTAustin_HULKs/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 5e1a7a25bb79c94ecb790d999e68499d
-  - path: raw
-    md5: 9554ad579d647542c514a5f00053dd49.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 79930a16f47eb7bb4bac461fcf958004
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 174a318f43a3ace445d1a832b5bcd0e7
-  - path: raw
-    md5: 9554ad579d647542c514a5f00053dd49.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: f7f66fc91b8fc653938e71627855af8c
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_UTAustin_HULKs/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_UTAustin_HULKs/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-18-RC2018_UTAustin_HULKs/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_1stHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_1stHalf/dvc.lock
deleted file mode 100644
index c4618a0..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_1stHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: f757145526b8371d7fa2a94622d33b3f
-  - path: raw
-    md5: 718d254a124347e8f9bd45527e0f6472.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 0bde75f443a6d720365086d590c6cdf3
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 80d7fe3d18af9ae731a85a0ca371fce3
-  - path: raw
-    md5: 718d254a124347e8f9bd45527e0f6472.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: c9e85f4a3f80af2fb6d7759ad9ee3faf
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_1stHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_1stHalf/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_1stHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_2ndHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_2ndHalf/dvc.lock
deleted file mode 100644
index 177c822..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_2ndHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 6df379dfacc71eaf3d1d5ed826aa4bd1
-  - path: raw
-    md5: 9859ad6d7bac61d64c7ba1e87f1e4739.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: cab1283c76733aac9ef5069157861abe
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: f3a8fa24720758546aa20750670d3ed2
-  - path: raw
-    md5: 9859ad6d7bac61d64c7ba1e87f1e4739.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 9766246921f68a13db1e85846ed1d986
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_2ndHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_2ndHalf/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_2ndHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_gg/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_gg/dvc.lock
deleted file mode 100644
index 16d86c3..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_gg/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 9f3fd141e3215216e15b4dea693f8b5b
-  - path: raw
-    md5: 3bea84e45a5c1d101e63d1e991d3310f.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 1a45b8d4f2c47bfe5e3b2756d443785b
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: f6a95d3ab8b03beb70ad1ed2fd2d50e1
-  - path: raw
-    md5: 3bea84e45a5c1d101e63d1e991d3310f.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: d3c1a0ae273d4d34ff291fa688e795ea
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_gg/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_gg/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-19-RC2018_BHuman_HULKs_E_gg/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_runswift_HULKs_gg/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_runswift_HULKs_gg/dvc.lock
deleted file mode 100644
index f117e2d..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_runswift_HULKs_gg/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 09221d0030aaff45a21e9d1474d4415d
-  - path: raw
-    md5: d2263b7c02cf163c0abb97d3e76435f7.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 59dc73e98fd7e882920698303a63bab2
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 47b3923b870b54c137637879317ee70a
-  - path: raw
-    md5: d2263b7c02cf163c0abb97d3e76435f7.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 4ce93817d33e94eb1cb8a2f6be7478af
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_runswift_HULKs_gg/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_runswift_HULKs_gg/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_runswift_HULKs_gg/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_uchile_HULKs_gg/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_uchile_HULKs_gg/dvc.lock
deleted file mode 100644
index 634e767..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_uchile_HULKs_gg/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: bb0e5a035e805e4c4899edded1813dce
-  - path: raw
-    md5: 1666599f7bbeb842df6e9deae8cc981d.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 37c36911aa78f6406eb5af3e12fe404e
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: c27d11fc621d31344b148b48a776bca0
-  - path: raw
-    md5: 1666599f7bbeb842df6e9deae8cc981d.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: aec924814e86014f1f14978fee260cf6
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_uchile_HULKs_gg/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_uchile_HULKs_gg/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-20-RC2018_uchile_HULKs_gg/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-21-RC2018_htwk_HULKs_gg/dvc.lock b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-21-RC2018_htwk_HULKs_gg/dvc.lock
deleted file mode 100644
index 04179b0..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-21-RC2018_htwk_HULKs_gg/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: dabd004e531e66c7ff94decfd0b9d509
-  - path: raw
-    md5: ecae0b00ac79f917d258048000754785.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 254bc2322c9c617811f9006e8ad7f14f
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 24efe6c1fe1a74b7f55c3073e0917ae4
-  - path: raw
-    md5: ecae0b00ac79f917d258048000754785.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: a18d280343899fd9302e4783ae726c62
diff --git a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-21-RC2018_htwk_HULKs_gg/dvc.yaml b/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-21-RC2018_htwk_HULKs_gg/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2018-06_RobocupCanada/2018-06-21-RC2018_htwk_HULKs_gg/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-03_master_ballDetectionOpenCv/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-04-03_master_ballDetectionOpenCv/dvc.lock
deleted file mode 100644
index fd96c0f..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-03_master_ballDetectionOpenCv/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 8a2941c04106486bb8051a18003d4008
-  - path: raw
-    md5: 0023850954fe458599423053f5aa0e04.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 7ff8d3ff527f0a19640e19fed1f87ace
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: ea0009c31c71a84b8ed54279ade75307
-  - path: raw
-    md5: 0023850954fe458599423053f5aa0e04.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 53dd2aaf19f092d8b4882613997632a8
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-03_master_ballDetectionOpenCv/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-04-03_master_ballDetectionOpenCv/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-03_master_ballDetectionOpenCv/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-13_bhuman_HTBgame01/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-04-13_bhuman_HTBgame01/dvc.lock
deleted file mode 100644
index 50267db..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-13_bhuman_HTBgame01/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 9d175f6e71918f20c3c3113ad80e0fb4
-  - path: raw
-    md5: b9e77dbb45e098a1743a67540f5bdbe3.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: b758e54c159837e48547abbbb52e79cb
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: dfd5743887900bd093e451aa180ba6b7
-  - path: raw
-    md5: b9e77dbb45e098a1743a67540f5bdbe3.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: ca73149eef0e940e969f49639127798b
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-13_bhuman_HTBgame01/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-04-13_bhuman_HTBgame01/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-13_bhuman_HTBgame01/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-17_smd_ballDete_stiffLoss_inwalkKicks2/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-04-17_smd_ballDete_stiffLoss_inwalkKicks2/dvc.lock
deleted file mode 100644
index 0df52ce..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-17_smd_ballDete_stiffLoss_inwalkKicks2/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 71bb6430498a79d571b0c34838f650d6
-  - path: raw
-    md5: de49fab27754c8e5b082f7a2bbf62a7a.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 87a0ef8e92451479ca282189759f9370
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 71deaf1ca5cb393baffab84c0a839a2c
-  - path: raw
-    md5: de49fab27754c8e5b082f7a2bbf62a7a.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 1a14b22fb7fae1fd275c8ffc3fb51df8
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-17_smd_ballDete_stiffLoss_inwalkKicks2/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-04-17_smd_ballDete_stiffLoss_inwalkKicks2/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-17_smd_ballDete_stiffLoss_inwalkKicks2/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-25_Test_Game_1_Foot_Selection/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-04-25_Test_Game_1_Foot_Selection/dvc.lock
deleted file mode 100644
index 440f5ce..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-25_Test_Game_1_Foot_Selection/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 7f21610ed7c28c833fe01057854ef6f9
-  - path: raw
-    md5: c05aa4ed5259f2fcdfbe2adc01b06bf0.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: d58a41c3591618687887ae3e51041c5d
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: b670e3e4747023752221e80472abca34
-  - path: raw
-    md5: c05aa4ed5259f2fcdfbe2adc01b06bf0.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 940f234b6134c5d18ac9014fb1fafa6d
diff --git a/tools/machine-learning/data/HULKs/events/2019-04-25_Test_Game_1_Foot_Selection/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-04-25_Test_Game_1_Foot_Selection/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-04-25_Test_Game_1_Foot_Selection/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HTWK_HULKs_first_half/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HTWK_HULKs_first_half/dvc.lock
deleted file mode 100644
index 0a5c135..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HTWK_HULKs_first_half/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 3f7962f62ce9550890987adc7bd3add1
-  - path: raw
-    md5: a8abb2db63fb1f7b0f0fcdb5327741ca.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 08e55e3a1ce4d896ae0de2800f5f7c7e
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 055c84b22aa61b6222c9ebf87bd4cee0
-  - path: raw
-    md5: a8abb2db63fb1f7b0f0fcdb5327741ca.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 635e09fc7cda6d395625a15d9c5718ae
diff --git a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HTWK_HULKs_first_half/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HTWK_HULKs_first_half/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HTWK_HULKs_first_half/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/dvc.lock
deleted file mode 100644
index b2b6b7a..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/dvc.lock
+++ /dev/null
@@ -1,53 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 514b029a6d3fa7ce5692b47864a2182a
-  - path: raw
-    md5: dd058a28fec87992001b747ec18aa60a.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: d2d28fb290ddd5e220e23bfc1d4a1a50
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 18a80f6fbdd1ac8edcee20898c3215bf
-  - path: raw
-    md5: dd058a28fec87992001b747ec18aa60a.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 5ecea1e0527cc3c0cf14ee525b0c82ae
-sample-negatives:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    removed.json negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 0a7062e1314501a28b998e47aa86cf7f
-    size: 275840
-  - path: raw
-    md5: dd058a28fec87992001b747ec18aa60a.dir
-    size: 2063458189
-    nfiles: 3117
-  - path: removed.json
-    md5: af42fc2f4c1e9e4f6888c7a6ea4f7a6d
-    size: 234820
-  outs:
-  - path: negatives.tfrecord
-    md5: d651fa3c06a27ce836b48102386dfcf9
-    size: 6067518
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 0a7062e1314501a28b998e47aa86cf7f
-    size: 275840
-  - path: raw
-    md5: dd058a28fec87992001b747ec18aa60a.dir
-    size: 2063458189
-    nfiles: 3117
-  outs:
-  - path: random-negatives.tfrecord
-    md5: d3e1cfb8446295bbf5544e6a375d2fab
-    size: 58020886
diff --git a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/dvc.yaml
deleted file mode 100644
index 2916c1c..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_first_half/dvc.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-negatives:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      removed.json negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    - removed.json
-    outs:
-    - negatives.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/dvc.lock
deleted file mode 100644
index d799a0c..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/dvc.lock
+++ /dev/null
@@ -1,71 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 839a8442f5f26b3860a2768162cd6b47
-  - path: raw
-    md5: 7fe4da30853d8dc0faf6ad750a1b4746.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 70c11b5e202742cb3f9a48c4bb93da12
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 1b9c374bc10c4cddd4599a4dad301baa
-  - path: raw
-    md5: 7fe4da30853d8dc0faf6ad750a1b4746.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 681f53bb88375f5439f2c4da760052d6
-sample-negatives-0:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    removed.json negatives-0.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: ecd8db6cc14c49903ce31e70ecba87b5
-    size: 285689
-  - path: raw
-    md5: 7fe4da30853d8dc0faf6ad750a1b4746.dir
-    size: 2124093784
-    nfiles: 3129
-  - path: removed.json
-    md5: e40ef34c73798ff7af88dcdde3b6affb
-    size: 263852
-  outs:
-  - path: negatives-0.tfrecord
-    md5: 5425c01f449e92d08045508197d9e6f6
-    size: 11002266
-sample-negatives-1:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    corrected-removed.json negatives-1.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: ecd8db6cc14c49903ce31e70ecba87b5
-    size: 285689
-  - path: corrected-removed.json
-    md5: ee411b80e9ef802106c59ea2ab0d80b8
-    size: 197697
-  - path: raw
-    md5: 7fe4da30853d8dc0faf6ad750a1b4746.dir
-    size: 2124093784
-    nfiles: 3129
-  outs:
-  - path: negatives-1.tfrecord
-    md5: 6eb60f830fa5110d09da50454468f531
-    size: 28235
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: ecd8db6cc14c49903ce31e70ecba87b5
-    size: 285689
-  - path: raw
-    md5: 7fe4da30853d8dc0faf6ad750a1b4746.dir
-    size: 2124093784
-    nfiles: 3129
-  outs:
-  - path: random-negatives.tfrecord
-    md5: f5375ade6701d468fca75102d0f7ef0f
-    size: 63211361
diff --git a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/dvc.yaml
deleted file mode 100644
index 47cc7ea..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-05_GermanOpen2019/2019-05-03_GO19_HULKs_NomadZ_second_half/dvc.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-negatives-0:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      removed.json negatives-0.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-0.tfrecord
-  sample-negatives-1:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      corrected-removed.json negatives-1.tfrecord
-    deps:
-    - corrected-corrected.json
-    - corrected-removed.json
-    - raw
-    outs:
-    - negatives-1.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/dvc.lock
deleted file mode 100644
index 428db07..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/dvc.lock
+++ /dev/null
@@ -1,53 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 2a8999dbc77044a2041fc40448799245
-  - path: raw
-    md5: 04fae3e596647e57df67b4fe9ed0b084.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 3f239db0eb08869cce431183a78c718a
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 3b09793146df62774e026d233d417407
-  - path: raw
-    md5: 04fae3e596647e57df67b4fe9ed0b084.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 7b4a65b1a511eed8be2df79449ba780e
-sample-negatives:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected.json
-    removed.json negatives.tfrecord
-  deps:
-  - path: corrected.json
-    md5: bbe61a110932692b747f0749fb27a9b3
-    size: 269708
-  - path: raw
-    md5: 04fae3e596647e57df67b4fe9ed0b084.dir
-    size: 1719420487
-    nfiles: 2800
-  - path: removed.json
-    md5: a4383de2600edf89e195c8f4bddfc6b3
-    size: 207405
-  outs:
-  - path: negatives.tfrecord
-    md5: 7f5e8e561987d4c0605ddd35b7516631
-    size: 4643666
-sample-random-negatives:
-  cmd: random-negative-sampler corrected.json random-negatives.tfrecord
-  deps:
-  - path: corrected.json
-    md5: bbe61a110932692b747f0749fb27a9b3
-    size: 269708
-  - path: raw
-    md5: 04fae3e596647e57df67b4fe9ed0b084.dir
-    size: 1719420487
-    nfiles: 2800
-  outs:
-  - path: random-negatives.tfrecord
-    md5: 9fd9673712a28ebdbdba72fc1075b1fc
-    size: 38977546
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/dvc.yaml
deleted file mode 100644
index a56e7df..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_firstHalf/dvc.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-negatives:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected.json
-      removed.json negatives.tfrecord
-    deps:
-    - corrected.json
-    - raw
-    - removed.json
-    outs:
-    - negatives.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected.json random-negatives.tfrecord
-    deps:
-    - corrected.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_secondHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_secondHalf/dvc.lock
deleted file mode 100644
index 8db86a4..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_secondHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: a2e14fb3c06f4387e38308d9474ddb73
-  - path: raw
-    md5: 86abe0d69fd2819b8402b39493886fe1.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 7a8ef0424e689f23df16d38232668f50
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 40864620dde5a6c8f513c4d4c29805d0
-  - path: raw
-    md5: 86abe0d69fd2819b8402b39493886fe1.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 9fa97a2c139951246210419a9a6fd210
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_secondHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_secondHalf/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_A_HULKs_UPennalizers_secondHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_firstHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_firstHalf/dvc.lock
deleted file mode 100644
index 3d8e82c..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_firstHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 3c9366996f42d513f3c71f2227c310e2
-  - path: raw
-    md5: 26fa6ec397a15d57f555afef5bdcbbeb.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 007cad71fb5cff0015516d4fb9769f1e
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 9bf3b409186d749c4f554c6516aa18be
-  - path: raw
-    md5: 26fa6ec397a15d57f555afef5bdcbbeb.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: e5d488ee1162221db2e84c8688d497e7
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_firstHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_firstHalf/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_firstHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_secondHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_secondHalf/dvc.lock
deleted file mode 100644
index b5c3d67..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_secondHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: e72efad9a76b84aeb8058e0165cb1aff
-  - path: raw
-    md5: a6581c6a60ddf97678adef5573adc797.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 9a4e66a6ab04d17910db6da7324aaa5a
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: e56843f09161df1677e9b37a04d22747
-  - path: raw
-    md5: a6581c6a60ddf97678adef5573adc797.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 3d97d3303ecd9509e28cae75711cca44
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_secondHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_secondHalf/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_B_mixedTeam_vs_SwiftArk_secondHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_firstHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_firstHalf/dvc.lock
deleted file mode 100644
index cb51e05..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_firstHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: ded96e103255ffe68a5b0a1a872b3b46
-  - path: raw
-    md5: bb4fc8ec54b0a21e0939ae867290d825.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: e6548c8d5f262a724008c276085b8a40
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 9e8ae5984983f1300f4fec5abe34397a
-  - path: raw
-    md5: bb4fc8ec54b0a21e0939ae867290d825.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 6dff3e7fcfe68fe8893dc9541377bfec
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_firstHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_firstHalf/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_firstHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_secondHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_secondHalf/dvc.lock
deleted file mode 100644
index ef28cd6..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_secondHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: e1ea3e30f48567067429b3f14a9c58a9
-  - path: raw
-    md5: 0c186b304b5ae13b0d786394a8fe3d30.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 22f45995c8fc0262b0aa55fbc9cca630
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 6c522edda8a6d0408ad64a5734724da3
-  - path: raw
-    md5: 0c186b304b5ae13b0d786394a8fe3d30.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 8d8e41c265a15282d82d31756f33c51b
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_secondHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_secondHalf/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-04_SPL_D_BHuman_HULKs_secondHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_mixedTeam_vs_SPQR-starkit_firstHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_mixedTeam_vs_SPQR-starkit_firstHalf/dvc.lock
deleted file mode 100644
index a0df82a..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_mixedTeam_vs_SPQR-starkit_firstHalf/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: c1a4156476b8e54a375d90d68ae602c9
-  - path: raw
-    md5: 4e7a2c3db3ae6bcd84ce2c23dc67a42b.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 85f26ad5a827bb51e90908ede0a56117
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: baa4a1e7e33e2f4058af1ee72664d32f
-  - path: raw
-    md5: 4e7a2c3db3ae6bcd84ce2c23dc67a42b.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: fd677eb30b1597a57128a499750eedbc
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_mixedTeam_vs_SPQR-starkit_firstHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_mixedTeam_vs_SPQR-starkit_firstHalf/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_mixedTeam_vs_SPQR-starkit_firstHalf/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/dvc.lock
deleted file mode 100644
index c66e3b0..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/dvc.lock
+++ /dev/null
@@ -1,53 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: dbdb0af2b097dae3f019821d7f65f287
-  - path: raw
-    md5: 361bc876c0be4f0ce91a625205a6411c.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: dc4570fa1233629a550b53390836320f
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: bc4671b8b276ea9829c4e5342711d52f
-  - path: raw
-    md5: 361bc876c0be4f0ce91a625205a6411c.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: ef2ab014274e2acf8ca31c53907b6543
-sample-negatives:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    removed.json negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 8df4b3080e07f06f9ac0521708fc6bdf
-    size: 433008
-  - path: raw
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-  - path: removed.json
-    md5: 4952373216fa7760831e7a48ab2aba1b
-    size: 349721
-  outs:
-  - path: negatives.tfrecord
-    md5: e9c3c888e43ad785e6f77961d4435419
-    size: 7734049
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 8df4b3080e07f06f9ac0521708fc6bdf
-    size: 433008
-  - path: raw
-    md5: 361bc876c0be4f0ce91a625205a6411c.dir
-    size: 3214793752
-    nfiles: 4806
-  outs:
-  - path: random-negatives.tfrecord
-    md5: e4cc66434d8da7e54d429d5a835ccd40
-    size: 95851471
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/dvc.yaml
deleted file mode 100644
index 62be5d2..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_firstHalf/dvc.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-negatives:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      removed.json negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    - removed.json
-    outs:
-    - negatives.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/dvc.lock
deleted file mode 100644
index 62dc653..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/dvc.lock
+++ /dev/null
@@ -1,71 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 08f2a5c34441fbef8b58ac3858755c00
-  - path: raw
-    md5: 7969bfa1e1642663e34d986de95aba4d.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: 3f578492053228e1302cecf30478905c
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: c7767b97c0cc4042dbd4893e6edb3281
-  - path: raw
-    md5: 7969bfa1e1642663e34d986de95aba4d.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: fc8aa701c1862e201b1ee1d23920e62c
-sample-negatives-0:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    removed.json negatives-0.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 787a358bef694ec9260e19c42f98f680
-    size: 374645
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-  - path: negatives-0.tfrecord
-    md5: 00d51047f7d2ed613ec74d887dd6b001
-    size: 6529783
-sample-negatives-1:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    corrected-removed.json negatives-1.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 787a358bef694ec9260e19c42f98f680
-    size: 374645
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-    md5: 7969bfa1e1642663e34d986de95aba4d.dir
-    size: 2582108989
-    nfiles: 4124
-  outs:
-  - path: negatives-1.tfrecord
-    md5: 818772e1019ddc0e254371ef3926c8a7
-    size: 24843
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 787a358bef694ec9260e19c42f98f680
-    size: 374645
-  - path: raw
-    md5: 7969bfa1e1642663e34d986de95aba4d.dir
-    size: 2582108989
-    nfiles: 4124
-  outs:
-  - path: random-negatives.tfrecord
-    md5: e761acd4178051ca0ebe6e75eaf43688
-    size: 75789538
diff --git a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/dvc.yaml
deleted file mode 100644
index f8d420c..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-07-05_SPL_D_rUNSWift_HULKs_secondHalf/dvc.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-negatives-0:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      removed.json negatives-0.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-0.tfrecord
-  sample-negatives-1:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      corrected-removed.json negatives-1.tfrecord
-    deps:
-    - corrected-corrected.json
-    - corrected-removed.json
-    - raw
-    outs:
-    - negatives-1.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-10-16_testGame/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-10-16_testGame/dvc.lock
deleted file mode 100644
index b9f9936..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-10-16_testGame/dvc.lock
+++ /dev/null
@@ -1,53 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 755bf7c7472eba104731f6de288e2f20
-  - path: raw
-    md5: 95e809c318778df34ac1eceea40b1ba1.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: dbbb7b8f46b7fb6e1ad9288bad622973
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold=1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: c2cb612a181d672a58225aa02e409a73
-  - path: raw
-    md5: 95e809c318778df34ac1eceea40b1ba1.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 8275fb332bc3308bd41f9c68faea4682
-sample-negatives:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-    removed.json negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 2c80c9042093bcce81f68888383829e3
-    size: 172405
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-    size: 1115581165
-    nfiles: 1804
-  - path: removed.json
-    md5: 809d8b39440603863fd5995c977037ac
-    size: 122789
-  outs:
-  - path: negatives.tfrecord
-    md5: 5c757438145eb3d47b889e01092edfda
-    size: 2199449
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-  deps:
-  - path: corrected-corrected.json
-    md5: 2c80c9042093bcce81f68888383829e3
-    size: 172405
-  - path: raw
-    md5: 95e809c318778df34ac1eceea40b1ba1.dir
-    size: 1115581165
-    nfiles: 1804
-  outs:
-  - path: random-negatives.tfrecord
-    md5: 6383c0a7f56a8502bf736f7075e3ed4a
-    size: 25531126
diff --git a/tools/machine-learning/data/HULKs/events/2019-10-16_testGame/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-10-16_testGame/dvc.yaml
deleted file mode 100644
index 09555cc..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-10-16_testGame/dvc.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold=1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-negatives:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-corrected.json
-      removed.json negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    - removed.json
-    outs:
-    - negatives.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-corrected.json random-negatives.tfrecord
-    deps:
-    - corrected-corrected.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2019-11-06_testGame/dvc.lock b/tools/machine-learning/data/HULKs/events/2019-11-06_testGame/dvc.lock
deleted file mode 100644
index a6698d0..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-11-06_testGame/dvc.lock
+++ /dev/null
@@ -1,71 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 2ae13b75a94217e33332bb80588c5080
-  - path: raw
-    md5: 0a2eaa3de7e0533e937ed7fcec9bce32.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: e46496198eca5f088475f057ddf1441b
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: f1476878f50e78f5f4c67db0d3031c3c
-  - path: raw
-    md5: 0a2eaa3de7e0533e937ed7fcec9bce32.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: cdac424a4b4b875576762197796296cb
-sample-negatives-1:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-    corrected-removed.json negatives-1.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: 28a7fd4298229776431804082ad4dbc6
-    size: 296779
-  - path: corrected-removed.json
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-  - path: negatives-1.tfrecord
-    md5: 082ed5fde3f3ce4bfe175ef1324743fb
-    size: 48733
-sample-negatives-0:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-    removed.json negatives-0.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: 28a7fd4298229776431804082ad4dbc6
-    size: 296779
-  - path: raw
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-  outs:
-  - path: negatives-0.tfrecord
-    md5: ca835934c5fc407b0be333e2062f0333
-    size: 5870323
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-remaining.json random-negatives.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: 28a7fd4298229776431804082ad4dbc6
-    size: 296779
-  - path: raw
-    md5: 0a2eaa3de7e0533e937ed7fcec9bce32.dir
-    size: 2017392653
-    nfiles: 3215
-  outs:
-  - path: random-negatives.tfrecord
-    md5: f5a7d634f03f25393cd46941a9a5ca8c
-    size: 50299133
diff --git a/tools/machine-learning/data/HULKs/events/2019-11-06_testGame/dvc.yaml b/tools/machine-learning/data/HULKs/events/2019-11-06_testGame/dvc.yaml
deleted file mode 100644
index bce7215..0000000
--- a/tools/machine-learning/data/HULKs/events/2019-11-06_testGame/dvc.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-negatives-1:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-      corrected-removed.json negatives-1.tfrecord
-    deps:
-    - corrected-remaining.json
-    - corrected-removed.json
-    - raw
-    outs:
-    - negatives-1.tfrecord
-  sample-negatives-0:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-      removed.json negatives-0.tfrecord
-    deps:
-    - corrected-remaining.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-0.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-remaining.json random-negatives.tfrecord
-    deps:
-    - corrected-remaining.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2020-01-08_testGame/dvc.lock b/tools/machine-learning/data/HULKs/events/2020-01-08_testGame/dvc.lock
deleted file mode 100644
index f0a6bf8..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-01-08_testGame/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: fcdf0242c5e9a6e2c06b9145c1829e81
-  - path: raw
-    md5: 91903689aab3e9f83f7d4990041c6b2b.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: fdaedbb9d03c47cd375e58249399ad29
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: ce42371d5a5d4a45a0e0c49af54b5f07
-  - path: raw
-    md5: 91903689aab3e9f83f7d4990041c6b2b.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 01d52be7d2a986a593682b93748ac977
diff --git a/tools/machine-learning/data/HULKs/events/2020-01-08_testGame/dvc.yaml b/tools/machine-learning/data/HULKs/events/2020-01-08_testGame/dvc.yaml
deleted file mode 100644
index dc1fa7b..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-01-08_testGame/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2020-01-12_testGame_1_GoldenGoal/dvc.lock b/tools/machine-learning/data/HULKs/events/2020-01-12_testGame_1_GoldenGoal/dvc.lock
deleted file mode 100644
index 5d3faac..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-01-12_testGame_1_GoldenGoal/dvc.lock
+++ /dev/null
@@ -1,21 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 57e672706d1cfca2fd814ab8be62cb46
-  - path: raw
-    md5: 1eb93c59c1a01d3c27c147917fb1bfd2.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: cf37d3eab34bafb424637dbf115ac509
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 9111dcc74db7dc1b1b2859e900880fe0
-  - path: raw
-    md5: 1eb93c59c1a01d3c27c147917fb1bfd2.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: f72b0df5224bbdb7476e0b867fd71131
diff --git a/tools/machine-learning/data/HULKs/events/2020-01-12_testGame_1_GoldenGoal/dvc.yaml b/tools/machine-learning/data/HULKs/events/2020-01-12_testGame_1_GoldenGoal/dvc.yaml
deleted file mode 100644
index dbe23b5..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-01-12_testGame_1_GoldenGoal/dvc.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2020-02-19_testGame/dvc.lock b/tools/machine-learning/data/HULKs/events/2020-02-19_testGame/dvc.lock
deleted file mode 100644
index bdc698a..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-02-19_testGame/dvc.lock
+++ /dev/null
@@ -1,89 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 9eed90d267e53a563cf2999c969d4d81
-  - path: raw
-    md5: 0275d752c090bc39e73b50861d583870.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: 57f9b4ecab8f6a2993c59394c2ce2759
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: 1a9849cf62482f4edd9660eea91a4c87
-  - path: raw
-    md5: 0275d752c090bc39e73b50861d583870.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: d5ad7691f028839792ac2e78e0809aa7
-sample-negatives-0:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining-corrected-remaining.json
-    removed.json negatives-0.tfrecord
-  deps:
-  - path: corrected-remaining-corrected-remaining.json
-    md5: 527dad52c2c3d11920bf9a704477db90
-    size: 355272
-  - path: raw
-    md5: 0275d752c090bc39e73b50861d583870.dir
-    size: 2696406584
-    nfiles: 4345
-  - path: removed.json
-    md5: 53ed4c8f367930f6cd28ea572b2d8bf1
-    size: 293307
-  outs:
-  - path: negatives-0.tfrecord
-    md5: f9fb7d1c3cbe10b3983d464b012cb6bc
-    size: 4464924
-sample-negatives-1:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining-corrected-remaining.json
-    removed.json negatives-1.tfrecord
-  deps:
-  - path: corrected-remaining-corrected-remaining.json
-    md5: 527dad52c2c3d11920bf9a704477db90
-    size: 355272
-  - path: raw
-    md5: 0275d752c090bc39e73b50861d583870.dir
-    size: 2696406584
-    nfiles: 4345
-  - path: removed.json
-    md5: 53ed4c8f367930f6cd28ea572b2d8bf1
-    size: 293307
-  outs:
-  - path: negatives-1.tfrecord
-    md5: 5c221e8c96ea3aaddbceaaa96c060d74
-    size: 4461755
-sample-negatives-2:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining-corrected-remaining.json
-    removed.json negatives-2.tfrecord
-  deps:
-  - path: corrected-remaining-corrected-remaining.json
-    md5: 527dad52c2c3d11920bf9a704477db90
-    size: 355272
-  - path: raw
-    md5: 0275d752c090bc39e73b50861d583870.dir
-    size: 2696406584
-    nfiles: 4345
-  - path: removed.json
-    md5: 53ed4c8f367930f6cd28ea572b2d8bf1
-    size: 293307
-  outs:
-  - path: negatives-2.tfrecord
-    md5: 064058ba3a8c12179c45b1153f0b77d2
-    size: 4465524
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-remaining-corrected-remaining.json random-negatives.tfrecord
-  deps:
-  - path: corrected-remaining-corrected-remaining.json
-    md5: 527dad52c2c3d11920bf9a704477db90
-    size: 355272
-  - path: raw
-    md5: 0275d752c090bc39e73b50861d583870.dir
-    size: 2696406584
-    nfiles: 4345
-  outs:
-  - path: random-negatives.tfrecord
-    md5: 3796cc590fb2df558cba20e48f6f4b6a
-    size: 69938321
diff --git a/tools/machine-learning/data/HULKs/events/2020-02-19_testGame/dvc.yaml b/tools/machine-learning/data/HULKs/events/2020-02-19_testGame/dvc.yaml
deleted file mode 100644
index 8f0ba97..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-02-19_testGame/dvc.yaml
+++ /dev/null
@@ -1,50 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-negatives-0:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining-corrected-remaining.json
-      removed.json negatives-0.tfrecord
-    deps:
-    - corrected-remaining-corrected-remaining.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-0.tfrecord
-  sample-negatives-1:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining-corrected-remaining.json
-      removed.json negatives-1.tfrecord
-    deps:
-    - corrected-remaining-corrected-remaining.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-1.tfrecord
-  sample-negatives-2:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining-corrected-remaining.json
-      removed.json negatives-2.tfrecord
-    deps:
-    - corrected-remaining-corrected-remaining.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-2.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-remaining-corrected-remaining.json random-negatives.tfrecord
-    deps:
-    - corrected-remaining-corrected-remaining.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
diff --git a/tools/machine-learning/data/HULKs/events/2020-08-30_simRobot_2083/dvc.lock b/tools/machine-learning/data/HULKs/events/2020-08-30_simRobot_2083/dvc.lock
deleted file mode 100644
index 6b93f3b..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-08-30_simRobot_2083/dvc.lock
+++ /dev/null
@@ -1,68 +0,0 @@
-sample-covered-positives:
-  cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-    covered-positives.tfrecord
-  deps:
-  - path: corrected-covered-positives.json
-    md5: 30f3518e1537e1406f8264d2e5ebc464
-  - path: raw
-    md5: 7c5d950a9f12f7ea6f2ccd4889fafa72.dir
-  outs:
-  - path: covered-positives.tfrecord
-    md5: ca5e01201e2c2f706ca5e18f49ee3ff1
-sample-full-positives:
-  cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-  deps:
-  - path: corrected-full-positives.json
-    md5: c8a7ae0b626c1beac612d3c38c134161
-  - path: raw
-    md5: 7c5d950a9f12f7ea6f2ccd4889fafa72.dir
-  outs:
-  - path: full-positives.tfrecord
-    md5: f649cd8a208139cd6f980746b35b808f
-sample-random-negatives:
-  cmd: random-negative-sampler corrected-remaining.json random-negatives.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: 0eda1f84782c501424704fe0962762d3
-  - path: raw
-    md5: 7c5d950a9f12f7ea6f2ccd4889fafa72.dir
-  outs:
-  - path: random-negatives.tfrecord
-    md5: 45c1b8c9089dda4a41d486e503ca6c96
-    size: 55450827
-sample-negatives-0:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-    removed.json negatives-0.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: 0eda1f84782c501424704fe0962762d3
-    size: 818382
-  - path: raw
-    md5: 7c5d950a9f12f7ea6f2ccd4889fafa72.dir
-    size: 768251083
-    nfiles: 4449
-  - path: removed.json
-    md5: 0bb276c664a270c1648b59516f07256f
-    size: 169808
-  outs:
-  - path: negatives-0.tfrecord
-    md5: b877775cd8aedd1dc895cfa09a89e245
-    size: 2894433
-sample-negatives-1:
-  cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-    corrected-removed.json negatives-1.tfrecord
-  deps:
-  - path: corrected-remaining.json
-    md5: 0eda1f84782c501424704fe0962762d3
-    size: 818382
-  - path: corrected-removed.json
-    md5: d8f0e4b0975095581a315d4b85956ec2
-    size: 154453
-  - path: raw
-    md5: 7c5d950a9f12f7ea6f2ccd4889fafa72.dir
-    size: 768251083
-    nfiles: 4449
-  outs:
-  - path: negatives-1.tfrecord
-    md5: c82645a4b7abb7cd2c1880a4d681023e
-    size: 31377
diff --git a/tools/machine-learning/data/HULKs/events/2020-08-30_simRobot_2083/dvc.yaml b/tools/machine-learning/data/HULKs/events/2020-08-30_simRobot_2083/dvc.yaml
deleted file mode 100644
index 2a2acd5..0000000
--- a/tools/machine-learning/data/HULKs/events/2020-08-30_simRobot_2083/dvc.yaml
+++ /dev/null
@@ -1,41 +0,0 @@
-stages:
-  sample-covered-positives:
-    cmd: annotation-sampler --intersection-ratio-threshold 1 corrected-covered-positives.json
-      covered-positives.tfrecord
-    deps:
-    - corrected-covered-positives.json
-    - raw
-    outs:
-    - covered-positives.tfrecord
-  sample-full-positives:
-    cmd: annotation-sampler corrected-full-positives.json full-positives.tfrecord
-    deps:
-    - corrected-full-positives.json
-    - raw
-    outs:
-    - full-positives.tfrecord
-  sample-random-negatives:
-    cmd: random-negative-sampler corrected-remaining.json random-negatives.tfrecord
-    deps:
-    - corrected-remaining.json
-    - raw
-    outs:
-    - random-negatives.tfrecord
-  sample-negatives-0:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-      removed.json negatives-0.tfrecord
-    deps:
-    - corrected-remaining.json
-    - raw
-    - removed.json
-    outs:
-    - negatives-0.tfrecord
-  sample-negatives-1:
-    cmd: annotation-sampler --label-type negative --avoidance-annotations-file corrected-remaining.json
-      corrected-removed.json negatives-1.tfrecord
-    deps:
-    - corrected-remaining.json
-    - corrected-removed.json
-    - raw
-    outs:
-    - negatives-1.tfrecord
diff --git a/tools/pepsi/Cargo.toml b/tools/pepsi/Cargo.toml
index ca4c65f..e59a6c6 100644
--- a/tools/pepsi/Cargo.toml
+++ b/tools/pepsi/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "pepsi"
-version = "2.5.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+version = "2.6.1"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 aliveness = { workspace = true }
diff --git a/tools/pepsi/src/power_off.rs b/tools/pepsi/src/power_off.rs
index 6acab16..06a6c39 100644
--- a/tools/pepsi/src/power_off.rs
+++ b/tools/pepsi/src/power_off.rs
@@ -1,29 +1,60 @@
 use clap::Args;
 use color_eyre::{eyre::WrapErr, Result};
-
+use constants::HARDWARE_IDS;
+use futures_util::{stream::FuturesUnordered, StreamExt};
 use nao::Nao;
 
-use crate::{parsers::NaoAddress, progress_indicator::ProgressIndicator};
+use crate::{
+    parsers::{number_to_ip, Connection, NaoAddress},
+    progress_indicator::ProgressIndicator,
+};
 
 #[derive(Args)]
 pub struct Arguments {
     /// The NAOs to power off e.g. 20w or 10.1.24.22
-    #[arg(required = true)]
-    pub naos: Vec<NaoAddress>,
+    #[arg(long)]
+    pub naos: Option<Vec<NaoAddress>>,
+    /// Power off all NAOs
+    #[arg(long)]
+    pub all: bool,
 }
 
 pub async fn power_off(arguments: Arguments) -> Result<()> {
-    ProgressIndicator::map_tasks(
-        arguments.naos,
-        "Powering off...",
-        |nao_address, _progress_bar| async move {
-            let nao = Nao::try_new_with_ping(nao_address.ip).await?;
-            nao.power_off()
-                .await
-                .wrap_err_with(|| format!("failed to power {nao_address} off"))
-        },
-    )
-    .await;
+    if arguments.all {
+        let nao_numbers = HARDWARE_IDS.keys();
 
+        nao_numbers
+            .into_iter()
+            .map(|nao_number| async move {
+                if let Ok(nao) = try_from_number(*nao_number).await {
+                    nao.power_off().await.err();
+                }
+            })
+            .collect::<FuturesUnordered<_>>()
+            .collect::<Vec<_>>()
+            .await;
+    } else {
+        ProgressIndicator::map_tasks(
+            arguments.naos.unwrap(),
+            "Powering off...",
+            |nao_address, _progress_bar| async move {
+                let nao = Nao::try_new_with_ping(nao_address.ip).await?;
+                nao.power_off()
+                    .await
+                    .wrap_err_with(|| format!("failed to power {nao_address} off"))
+            },
+        )
+        .await;
+    }
     Ok(())
 }
+
+pub async fn try_from_number(nao_number: u8) -> Result<Nao> {
+    let host = number_to_ip(nao_number, Connection::Wired)?;
+    if let Ok(nao) = Nao::try_new_with_ping(host).await {
+        Ok(nao)
+    } else {
+        let host = number_to_ip(nao_number, Connection::Wireless)?;
+        Nao::try_new_with_ping(host).await
+    }
+}
diff --git a/tools/twix/Cargo.toml b/tools/twix/Cargo.toml
index e5cb08d..552f935 100644
--- a/tools/twix/Cargo.toml
+++ b/tools/twix/Cargo.toml
@@ -1,9 +1,9 @@
 [package]
 name = "twix"
 version = "0.3.0"
-edition = "2021"
-license = "GPL-3.0-only"
-homepage = "https://github.com/hulks/hulk"
+edition.workspace = true
+license.workspace = true
+homepage.workspace = true
 
 [dependencies]
 aliveness = { workspace = true }
@@ -14,6 +14,7 @@ convert_case = { workspace = true }
 eframe = { workspace = true }
 egui_dock = { workspace = true }
 egui_extras = { workspace = true }
+egui_plot = { workspace = true }
 fern = { workspace = true }
 fuzzy-matcher = { workspace = true }
 geometry = { workspace = true }
diff --git a/tools/twix/src/main.rs b/tools/twix/src/main.rs
index bb05b0f..0f0accb 100644
--- a/tools/twix/src/main.rs
+++ b/tools/twix/src/main.rs
@@ -22,7 +22,7 @@ use eframe::{
     epaint::Color32,
     run_native, App, CreationContext, Frame, NativeOptions, Storage,
 };
-use egui_dock::{DockArea, NodeIndex, TabAddAlign, TabIndex, Tree};
+use egui_dock::{DockArea, DockState, NodeIndex, SurfaceIndex, TabAddAlign, TabIndex};
 use fern::{colors::ColoredLevelConfig, Dispatch, InitError};
 
 use log::error;
@@ -82,7 +82,10 @@ fn main() -> Result<(), eframe::Error> {
     run_native(
         "Twix",
         options,
-        Box::new(|creation_context| Box::new(TwixApp::create(creation_context))),
+        Box::new(|creation_context| {
+            egui_extras::install_image_loaders(&creation_context.egui_ctx);
+            Box::new(TwixApp::create(creation_context))
+        }),
     )
 }
 
@@ -148,7 +151,7 @@ struct TwixApp {
     ip_address: String,
     panel_selection: String,
     last_focused_tab: (NodeIndex, TabIndex),
-    tree: Tree<Tab>,
+    dock_state: DockState<Tab>,
     visual: Visuals,
 }
 
@@ -170,18 +173,18 @@ impl TwixApp {
 
         let nao = Arc::new(Nao::new(ip_address.clone(), connection_intent));
 
-        let tree: Option<Tree<Value>> = creation_context
+        let dock_state: Option<DockState<Value>> = creation_context
             .storage
-            .and_then(|storage| storage.get_string("tree"))
+            .and_then(|storage| storage.get_string("dock_state"))
             .and_then(|string| from_str(&string).ok());
 
-        let tree = match tree {
-            Some(tree) => tree.map_tabs(|value| {
+        let dock_state = match dock_state {
+            Some(dock_state) => dock_state.map_tabs(|value| {
                 SelectablePanel::new(nao.clone(), Some(value))
                     .unwrap()
                     .into()
             }),
-            None => Tree::new(vec![SelectablePanel::TextPanel(TextPanel::new(
+            None => DockState::new(vec![SelectablePanel::TextPanel(TextPanel::new(
                 nao.clone(),
                 None,
             ))
@@ -207,7 +210,7 @@ impl TwixApp {
             connection_intent,
             ip_address: ip_address.unwrap_or_default(),
             panel_selection,
-            tree,
+            dock_state,
             last_focused_tab: (0.into(), 0.into()),
             visual,
         }
@@ -310,28 +313,29 @@ impl App for TwixApp {
         CentralPanel::default().show(context, |ui| {
             if ui.input_mut(|input| input.consume_key(Modifiers::CTRL, Key::T)) {
                 let tab = SelectablePanel::TextPanel(TextPanel::new(self.nao.clone(), None));
-                self.tree.push_to_focused_leaf(tab.into());
+                self.dock_state.push_to_focused_leaf(tab.into());
             }
 
             let mut style = egui_dock::Style::from_egui(ui.style().as_ref());
             style.buttons.add_tab_align = TabAddAlign::Left;
             let mut tab_viewer = TabViewer::default();
-            DockArea::new(&mut self.tree)
+            DockArea::new(&mut self.dock_state)
                 .style(style)
                 .show_add_buttons(true)
                 .show_inside(ui, &mut tab_viewer);
-            for node_id in tab_viewer.nodes_to_add_tabs_to {
+
+            for (surface_index, node_id) in tab_viewer.nodes_to_add_tabs_to {
                 let tab = SelectablePanel::TextPanel(TextPanel::new(self.nao.clone(), None));
-                let index = self.tree[node_id].tabs_count();
-                self.tree[node_id].insert_tab(index.into(), tab.into());
+                let index = self.dock_state[surface_index][node_id].tabs_count();
+                self.dock_state[surface_index][node_id].insert_tab(index.into(), tab.into());
             }
         });
     }
 
     fn save(&mut self, storage: &mut dyn Storage) {
-        let tree = self.tree.map_tabs(|tab| tab.panel.save());
+        let dock_state = self.dock_state.map_tabs(|tab| tab.panel.save());
 
-        storage.set_string("tree", to_string(&tree).unwrap());
+        storage.set_string("dock_state", to_string(&dock_state).unwrap());
         storage.set_string("ip_address", self.ip_address.clone());
         storage.set_string(
             "connection_intent",
@@ -348,13 +352,13 @@ impl App for TwixApp {
 
 impl TwixApp {
     fn active_panel(&mut self) -> Option<&mut SelectablePanel> {
-        let (_viewport, tab) = self.tree.find_active_focused()?;
+        let (_viewport, tab) = self.dock_state.find_active_focused()?;
         Some(&mut tab.panel)
     }
 
     fn active_tab_index(&self) -> Option<(NodeIndex, TabIndex)> {
-        let node = self.tree.focused_leaf()?;
-        if let egui_dock::Node::Leaf { active, .. } = &self.tree[node] {
+        let (surface, node) = self.dock_state.focused_leaf()?;
+        if let egui_dock::Node::Leaf { active, .. } = &self.dock_state[surface][node] {
             Some((node, *active))
         } else {
             None
@@ -378,7 +382,7 @@ impl From<SelectablePanel> for Tab {
 
 #[derive(Default)]
 struct TabViewer {
-    nodes_to_add_tabs_to: Vec<NodeIndex>,
+    nodes_to_add_tabs_to: Vec<(SurfaceIndex, NodeIndex)>,
 }
 
 impl egui_dock::TabViewer for TabViewer {
@@ -396,7 +400,7 @@ impl egui_dock::TabViewer for TabViewer {
         tab.id
     }
 
-    fn on_add(&mut self, node: NodeIndex) {
-        self.nodes_to_add_tabs_to.push(node);
+    fn on_add(&mut self, surface_index: SurfaceIndex, node: NodeIndex) {
+        self.nodes_to_add_tabs_to.push((surface_index, node));
     }
 }
diff --git a/tools/twix/src/panels/image/cycler_selector.rs b/tools/twix/src/panels/image/cycler_selector.rs
index 136c017..6d2df8b 100644
--- a/tools/twix/src/panels/image/cycler_selector.rs
+++ b/tools/twix/src/panels/image/cycler_selector.rs
@@ -1,6 +1,7 @@
 use communication::client::Cycler;
 use eframe::egui::{ComboBox, Response, Ui, Widget};
 
+#[derive(Debug)]
 pub struct VisionCyclerSelector {
     cycler: Cycler,
 }
diff --git a/tools/twix/src/panels/image/mod.rs b/tools/twix/src/panels/image/mod.rs
index eb2cf31..3fc3640 100644
--- a/tools/twix/src/panels/image/mod.rs
+++ b/tools/twix/src/panels/image/mod.rs
@@ -3,10 +3,10 @@ use std::{str::FromStr, sync::Arc};
 use color_eyre::{eyre::eyre, Result};
 use communication::client::{Cycler, CyclerOutput, Output};
 use eframe::{
-    egui::{ComboBox, Response, TextureOptions, Ui, Widget},
-    emath::Rect,
+    egui::{ComboBox, Image, Response, TextureOptions, Ui, Widget},
+    epaint::Vec2,
 };
-use egui_extras::RetainedImage;
+
 use log::error;
 use nalgebra::{vector, Similarity2};
 use serde::{Deserialize, Serialize};
@@ -165,17 +165,15 @@ impl ImagePanel {
             .get_latest()
             .map_err(|error| eyre!("{error}"))?;
         let image_raw = bincode::deserialize::<Vec<u8>>(&image_data)?;
-        let image = RetainedImage::from_image_bytes("image", &image_raw)
-            .map_err(|error| eyre!("{error}"))?
-            .with_options(TextureOptions::NEAREST);
-        let image_size = image.size_vec2();
-        let width_scale = ui.available_width() / image_size.x;
-        let height_scale = ui.available_height() / image_size.y;
-        let scale = width_scale.min(height_scale);
-        let image_response = image.show_scaled(ui, scale);
-        let displayed_image_size = image_size * scale;
-        let image_rect = Rect::from_min_size(image_response.rect.left_top(), displayed_image_size);
-        let painter = TwixPainter::paint_at(ui, image_rect).with_camera(
+        let image_identifier = format!("bytes://image-{:?}", self.cycler_selector);
+        ui.ctx().forget_image(&image_identifier);
+        let image = Image::from_bytes(image_identifier, image_raw)
+            .texture_options(TextureOptions::NEAREST)
+            .fit_to_fraction(Vec2::splat(1.0));
+
+        let image_response = ui.add(image);
+
+        let painter = TwixPainter::paint_at(ui, image_response.rect).with_camera(
             vector![640.0, 480.0],
             Similarity2::identity(),
             CoordinateSystem::LeftHand,
diff --git a/tools/twix/src/panels/look_at.rs b/tools/twix/src/panels/look_at.rs
index 35bd6e7..98eb29c 100644
--- a/tools/twix/src/panels/look_at.rs
+++ b/tools/twix/src/panels/look_at.rs
@@ -231,7 +231,6 @@ fn send_standing_look_at(
             target: look_at_target,
             camera: camera_option,
         },
-        is_energy_saving: false,
     });
     nao.update_parameter_value(
         INJECTED_MOTION_COMMAND,
diff --git a/tools/twix/src/panels/plot.rs b/tools/twix/src/panels/plot.rs
index f6968ee..36850cf 100644
--- a/tools/twix/src/panels/plot.rs
+++ b/tools/twix/src/panels/plot.rs
@@ -1,17 +1,15 @@
 use std::{str::FromStr, sync::Arc};
 
+use color_eyre::eyre::{eyre, Result, WrapErr};
+use communication::client::CyclerOutput;
 use eframe::{
     egui::{
-        plot::{Line, PlotPoints},
-        widgets::plot::Plot as EguiPlot,
         Button, CollapsingHeader, DragValue, Response, RichText, TextEdit, TextStyle, Ui, Widget,
     },
     epaint::Color32,
 };
+use egui_plot::{Line, Plot as EguiPlot, PlotPoints};
 use log::{error, info};
-
-use color_eyre::eyre::{eyre, Result, WrapErr};
-use communication::client::CyclerOutput;
 use mlua::{Function, Lua, LuaSerdeExt};
 use serde::{Deserialize, Serialize};
 use serde_json::{json, to_string_pretty, Value};
diff --git a/tools/twix/src/twix_painter.rs b/tools/twix/src/twix_painter.rs
index 5347509..93f6d37 100644
--- a/tools/twix/src/twix_painter.rs
+++ b/tools/twix/src/twix_painter.rs
@@ -1,4 +1,4 @@
-use std::f32::consts::{FRAC_1_SQRT_2, FRAC_PI_2, PI, TAU};
+use std::f32::consts::{FRAC_1_SQRT_2, FRAC_PI_2, TAU};
 
 use eframe::{
     egui::{Painter, Response, Sense, Ui},
@@ -289,7 +289,7 @@ impl TwixPainter {
         );
 
         (0..5).for_each(|index| {
-            let angle = index as f32 * PI * 2.0 / 5.0;
+            let angle = index as f32 * TAU / 5.0;
             let position = position + vector![angle.cos(), angle.sin()] * radius * 0.7;
             self.n_gon(5, position, radius / 3.0, Color32::BLACK);
         });
@@ -300,7 +300,7 @@ impl TwixPainter {
         let points: Vec<_> = (0..corners)
             .map(|index| {
                 self.transform_world_to_pixel({
-                    let angle = index as f32 * PI * 2.0 / corners as f32;
+                    let angle = index as f32 * TAU / corners as f32;
                     position + vector![angle.cos(), angle.sin()] * radius
                 })
             })
@@ -396,7 +396,7 @@ impl TwixPainter {
             max: self.transform_world_to_pixel(max),
         };
         self.painter
-            .rect_filled(sort_rect(rect), Rounding::none(), fill_color);
+            .rect_filled(sort_rect(rect), Rounding::ZERO, fill_color);
     }
 
     pub fn rect_stroke(&self, min: Point2<f32>, max: Point2<f32>, stroke: Stroke) {
@@ -406,7 +406,7 @@ impl TwixPainter {
         };
         let stroke = self.transform_stroke(stroke);
         self.painter
-            .rect_stroke(sort_rect(rect), Rounding::none(), stroke);
+            .rect_stroke(sort_rect(rect), Rounding::ZERO, stroke);
     }
 
     pub fn circle(&self, center: Point2<f32>, radius: f32, fill_color: Color32, stroke: Stroke) {
@@ -443,13 +443,13 @@ impl TwixPainter {
             .dot(&end_relative)
             < 0.0;
         let counterclockwise_angle_difference = if end_right_of_start {
-            2.0 * PI - angle_difference
+            TAU - angle_difference
         } else {
             angle_difference
         };
 
         let signed_angle_difference = match orientation {
-            Orientation::Clockwise => -2.0 * PI + counterclockwise_angle_difference,
+            Orientation::Clockwise => -TAU + counterclockwise_angle_difference,
             Orientation::Counterclockwise => counterclockwise_angle_difference,
             Orientation::Colinear => 0.0,
         };
diff --git a/tools/vtune/plot_task_data.py b/tools/vtune/plot_task_data.py
new file mode 100644
index 0000000..dc4d801
--- /dev/null
+++ b/tools/vtune/plot_task_data.py
@@ -0,0 +1,160 @@
+#!/usr/bin/env python3
+from collections import defaultdict
+import sys, os
+import argparse, textwrap
+
+parser = argparse.ArgumentParser(
+    description="Create output from VTune Amplifier profiler runs",
+    formatter_class=argparse.RawTextHelpFormatter,
+)
+parser.add_argument(
+    "--supress-wait-modules",
+    help="Supress the ImageReceiver and SensorDataProvider in the plot output",
+    action="store_true",
+)
+parser.add_argument(
+    "project_path",
+    help=textwrap.dedent(
+        """\
+  The path to the VTune Amplifier capture.
+  If $VTUNE_HOME is set the path will be relative to $VTUNE_HOME\\..\\amplxe\\projects.
+  If a project_dir file exists the path will be relative to the path specified in this file.
+  """
+    ),
+)
+parser.add_argument(
+    "output", help="Decide whether to output text or plot", choices=["plot", "text"]
+)
+
+base_project_path = ""
+
+if os.environ.get("VTUNE_HOME"):
+    base_project_path = os.path.join(
+        os.environ["VTUNE_HOME"], "..", "amplxe", "projects"
+    )
+
+script_path = os.path.abspath(os.path.dirname(sys.argv[0]))
+if os.path.isfile(os.path.join(script_path, "project_dir")):
+    base_project_path = open(os.path.join(script_path, "project_dir")).read()
+
+args = parser.parse_args()
+absolute_project_path = os.path.join(base_project_path, args.project_path)
+sql_database_file = os.path.join(absolute_project_path, "sqlite-db", "dicer.db")
+project_name = os.path.splitext(
+    [f for f in os.listdir(absolute_project_path) if ".vtune" in f][0]
+)[0]
+
+# Load the libraries later to get faster help messages
+import sqlite3
+import matplotlib.pyplot as plt
+import pandas
+
+
+def make_boxplot(number, data, title, ylabel):
+    plt.figure(number)
+    figure = data.boxplot()  # seaborn.boxplot(data)
+    loc, labels = plt.xticks()
+    figure.set_xticklabels(labels, rotation=90)
+    figure.set_title(title)
+    figure.set_ylabel(ylabel)
+    plt.gcf().subplots_adjust(bottom=0.5)
+
+
+if args.output == "text":
+    # Only output average data
+    conn = sqlite3.connect(sql_database_file)
+    c = conn.cursor()
+    c.execute(
+        """
+    select
+      cast(min(task_data.end_tsc - task_data.start_tsc) as float) / 10000000 as "min in ms",
+      cast(max(task_data.end_tsc - task_data.start_tsc) as float) / 10000000 as "max in ms",
+      cast(avg(task_data.end_tsc - task_data.start_tsc) as float) / 10000000 as "avg in ms",
+      cast(sum(task_data.end_tsc - task_data.start_tsc) as float) / 10000000 as "sum in ms",
+      count(*),
+      dd_task_type.name as "Modulename",
+      dd_domain.name as "Threadname"
+    from task_data
+    left join dd_task on task_data.attr=dd_task.rowid
+    left join dd_task_type on dd_task.type=dd_task_type.rowid
+    left join dd_domain on dd_task_type.domain=dd_domain.rowid
+    group by task_data.attr;
+    """
+    )
+
+    results = c.fetchall()
+    pandas.set_option("display.width", None)
+    pandas.set_option("display.max_rows", None)
+    print(
+        pandas.DataFrame(
+            results,
+            columns=["min", "max", "avg", "sum", "count", "Modulename", "Threadname"],
+        )
+    )
+
+if args.output == "plot":
+    conn = sqlite3.connect(sql_database_file)
+    c = conn.cursor()
+    c.execute(
+        """
+    select
+      cast(task_data.end_tsc - task_data.start_tsc as float) / 10000000 as "min in ms",
+      dd_task_type.name as "Modulename",
+      dd_domain.name as "Threadname"
+    from task_data
+    left join dd_task on task_data.attr=dd_task.rowid
+    left join dd_task_type on dd_task.type=dd_task_type.rowid
+    left join dd_domain on dd_task_type.domain=dd_domain.rowid;
+    """
+    )
+
+    results = c.fetchall()
+    conn.close()
+
+    brain_top_data = defaultdict(list)
+    brain_bot_data = defaultdict(list)
+    motion_data = defaultdict(list)
+    for result in results:
+        if result[2] == "VisionTop":
+            if args.supress_wait_modules and result[1] == "ImageReceiver":
+                continue
+            brain_top_data[result[1]].append(result[0])
+        if result[2] == "VisionBottom":
+            if args.supress_wait_modules and result[1] == "ImageReceiver":
+                continue
+            brain_bot_data[result[1]].append(result[0])
+        if result[2] == "Control":
+            if args.supress_wait_modules and result[1] == "SensorDataReceiver":
+                continue
+            motion_data[result[1]].append(result[0])
+
+    pandas_vision_top_data = pandas.DataFrame(
+        dict([(k, pandas.Series(v)) for k, v in brain_top_data.items()])
+    )
+    pandas_vision_bot_data = pandas.DataFrame(
+        dict([(k, pandas.Series(v)) for k, v in brain_bot_data.items()])
+    )
+    pandas_control_data = pandas.DataFrame(
+        dict([(k, pandas.Series(v)) for k, v in motion_data.items()])
+    )
+
+    # Plot Brain Top Image Data
+    make_boxplot(
+        1,
+        pandas_vision_top_data,
+        "Vision Top Image Nodes\n" + project_name,
+        "ms/cycle",
+    )
+
+    # Plot Brain Bottom Image Data
+    make_boxplot(
+        2,
+        pandas_vision_bot_data,
+        "Vision Bottom Image Nodes\n" + project_name,
+        "ms/cycle",
+    )
+
+    # Plot Motion Image Data
+    make_boxplot(3, pandas_control_data, "Control Nodes\n" + project_name, "ms/cycle")
+
+    plt.show()