diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 0000000..1a03a3c
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,50 @@
+{
+    "name": "specless Docker container",
+    "dockerComposeFile": "docker-compose.yml",
+    "service": "specless",
+    "workspaceFolder": "/home/specless",
+    "privileged": true,
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python",
+                "esbenp.prettier-vscode",
+                "redhat.vscode-yaml",
+                "aaron-bond.better-comments",
+                "shardulm94.trailing-spaces",
+                "ms-python.black-formatter",
+                "ms-toolsai.jupyter"
+            ],
+            "configurations": [
+                {
+                    "name": "Python: Current File",
+                    "type": "python",
+                    "request": "launch",
+                    "program": "${file}",
+                    "console": "integratedTerminal",
+                    "justMyCode": true
+                }
+            ],
+            "settings": {
+                "[python]": {
+                    "editor.defaultFormatter": "ms-python.black-formatter",
+                    "python.formatting.provider": "black",
+                    "editor.formatOnSave": true,
+                    "editor.codeActionsOnSave": {
+                        "source.organizeImports": true
+                    },
+                    "python.formatting.blackArgs": [
+                        "--line-length",
+                        "88",
+                        "--skip-magic-trailing-comma"
+                    ]
+                },
+                "nb_black.black_on_save": true,
+                "isort.args": [
+                    "--profile",
+                    "black"
+                ]
+            }
+        }
+    }
+}
diff --git a/.devcontainer/docker-compose.yml b/.devcontainer/docker-compose.yml
new file mode 100644
index 0000000..7ba6b31
--- /dev/null
+++ b/.devcontainer/docker-compose.yml
@@ -0,0 +1,11 @@
+version: '3.8'
+
+services:
+  specless:
+    build:
+      context: ../
+      dockerfile: Dockerfile
+    volumes:
+      - ../:/home/specless
+    stdin_open: true
+    tty: true
diff --git a/Dockerfile b/Dockerfile
index b3a28ac..10c75aa 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,24 +1,23 @@
-FROM hardikparwana/cuda12-ubuntu22:cuda122-cudnn8-jax
+ARG PYTHON_VERSION=3.11
+FROM python:${PYTHON_VERSION}
 
-# ROS2 installation
-RUN apt update && apt install -y locales
-RUN locale-gen en_US en_US.UTF-8
-RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-RUN LANG=en_US.UTF-8
-RUN apt-get install -y software-properties-common
-RUN add-apt-repository universe
-RUN  apt update && apt install curl -y
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
-RUN apt update
-ARG DEBIAN_FRONTEND=noninteractive
-RUN apt install -y ros-humble-desktop
-RUN apt install -y ros-dev-tools
-RUN echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
+# https://python-poetry.org/docs#ci-recommendations
+ENV POETRY_VERSION=1.7.0
+# ENV POETRY_HOME=/opt/poetry
+ENV POETRY_VENV=/opt/poetry-venv
 
-RUN apt-get install -y ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-turtlebot3*
-RUN apt-get install -y ros-humble-nav2-simple-commander
+# Tell Poetry where to place its cache and virtual environment
+ENV POETRY_CACHE_DIR=/opt/.cache
 
-RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
-RUN echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
-RUN echo "source /home/mobile_arm/colcon_ws/install/local_setup.bash" >> ~/.bashrc
+# Creating a virtual environment just for poetry and install it with pip
+RUN python3 -m venv $POETRY_VENV \
+	&& $POETRY_VENV/bin/pip install -U pip setuptools \
+	&& $POETRY_VENV/bin/pip install poetry==${POETRY_VERSION}
+
+
+# Add Poetry to PATH
+ENV PATH="${PATH}:${POETRY_VENV}/bin"
+
+ENV POETRY_VIRTUALENVS_IN_PROJECT=true
+
+CMD ["bash"]
diff --git a/poetry.lock b/poetry.lock
index 43301c2..8d48a7d 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -101,6 +101,70 @@ files = [
     {file = "certifi-2024.7.4.tar.gz", hash = "sha256:5a1e7645bc0ec61a09e26c36f6106dd4cf40c6db3a1fb6352b0244e7fb057c7b"},
 ]
 
+[[package]]
+name = "cffi"
+version = "1.16.0"
+description = "Foreign Function Interface for Python calling C code."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "cffi-1.16.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:6b3d6606d369fc1da4fd8c357d026317fbb9c9b75d36dc16e90e84c26854b088"},
+    {file = "cffi-1.16.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ac0f5edd2360eea2f1daa9e26a41db02dd4b0451b48f7c318e217ee092a213e9"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7e61e3e4fa664a8588aa25c883eab612a188c725755afff6289454d6362b9673"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a72e8961a86d19bdb45851d8f1f08b041ea37d2bd8d4fd19903bc3083d80c896"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5b50bf3f55561dac5438f8e70bfcdfd74543fd60df5fa5f62d94e5867deca684"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7651c50c8c5ef7bdb41108b7b8c5a83013bfaa8a935590c5d74627c047a583c7"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e4108df7fe9b707191e55f33efbcb2d81928e10cea45527879a4749cbe472614"},
+    {file = "cffi-1.16.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:32c68ef735dbe5857c810328cb2481e24722a59a2003018885514d4c09af9743"},
+    {file = "cffi-1.16.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:673739cb539f8cdaa07d92d02efa93c9ccf87e345b9a0b556e3ecc666718468d"},
+    {file = "cffi-1.16.0-cp310-cp310-win32.whl", hash = "sha256:9f90389693731ff1f659e55c7d1640e2ec43ff725cc61b04b2f9c6d8d017df6a"},
+    {file = "cffi-1.16.0-cp310-cp310-win_amd64.whl", hash = "sha256:e6024675e67af929088fda399b2094574609396b1decb609c55fa58b028a32a1"},
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+    {file = "cffi-1.16.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8895613bcc094d4a1b2dbe179d88d7fb4a15cee43c052e8885783fac397d91fe"},
+    {file = "cffi-1.16.0-cp39-cp39-win32.whl", hash = "sha256:ed86a35631f7bfbb28e108dd96773b9d5a6ce4811cf6ea468bb6a359b256b1e4"},
+    {file = "cffi-1.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:3686dffb02459559c74dd3d81748269ffb0eb027c39a6fc99502de37d501faa8"},
+    {file = "cffi-1.16.0.tar.gz", hash = "sha256:bcb3ef43e58665bbda2fb198698fcae6776483e0c4a631aa5647806c25e02cc0"},
+]
+
+[package.dependencies]
+pycparser = "*"
+
 [[package]]
 name = "charset-normalizer"
 version = "3.3.2"
@@ -236,6 +300,23 @@ files = [
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
 
+[[package]]
+name = "comm"
+version = "0.2.2"
+description = "Jupyter Python Comm implementation, for usage in ipykernel, xeus-python etc."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "comm-0.2.2-py3-none-any.whl", hash = "sha256:e6fb86cb70ff661ee8c9c14e7d36d6de3b4066f1441be4063df9c5009f0a64d3"},
+    {file = "comm-0.2.2.tar.gz", hash = "sha256:3fd7a84065306e07bea1773df6eb8282de51ba82f77c72f9c85716ab11fe980e"},
+]
+
+[package.dependencies]
+traitlets = ">=4"
+
+[package.extras]
+test = ["pytest"]
+
 [[package]]
 name = "contourpy"
 version = "1.1.0"
@@ -483,15 +564,46 @@ files = [
 docs = ["ipython", "matplotlib", "numpydoc", "sphinx"]
 tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
+[[package]]
+name = "debugpy"
+version = "1.8.2"
+description = "An implementation of the Debug Adapter Protocol for Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "debugpy-1.8.2-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:7ee2e1afbf44b138c005e4380097d92532e1001580853a7cb40ed84e0ef1c3d2"},
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+    {file = "debugpy-1.8.2-cp310-cp310-win32.whl", hash = "sha256:f179af1e1bd4c88b0b9f0fa153569b24f6b6f3de33f94703336363ae62f4bf47"},
+    {file = "debugpy-1.8.2-cp310-cp310-win_amd64.whl", hash = "sha256:0600faef1d0b8d0e85c816b8bb0cb90ed94fc611f308d5fde28cb8b3d2ff0fe3"},
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+    {file = "debugpy-1.8.2-cp312-cp312-win_amd64.whl", hash = "sha256:15bc2f4b0f5e99bf86c162c91a74c0631dbd9cef3c6a1d1329c946586255e859"},
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+    {file = "debugpy-1.8.2-cp39-cp39-win32.whl", hash = "sha256:7f8d57a98c5a486c5c7824bc0b9f2f11189d08d73635c326abef268f83950326"},
+    {file = "debugpy-1.8.2-cp39-cp39-win_amd64.whl", hash = "sha256:16c8dcab02617b75697a0a925a62943e26a0330da076e2a10437edd9f0bf3755"},
+    {file = "debugpy-1.8.2-py2.py3-none-any.whl", hash = "sha256:16e16df3a98a35c63c3ab1e4d19be4cbc7fdda92d9ddc059294f18910928e0ca"},
+    {file = "debugpy-1.8.2.zip", hash = "sha256:95378ed08ed2089221896b9b3a8d021e642c24edc8fef20e5d4342ca8be65c00"},
+]
+
 [[package]]
 name = "decorator"
-version = "5.1.1"
+version = "4.4.2"
 description = "Decorators for Humans"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=2.6, !=3.0.*, !=3.1.*"
 files = [
-    {file = "decorator-5.1.1-py3-none-any.whl", hash = "sha256:b8c3f85900b9dc423225913c5aace94729fe1fa9763b38939a95226f02d37186"},
-    {file = "decorator-5.1.1.tar.gz", hash = "sha256:637996211036b6385ef91435e4fae22989472f9d571faba8927ba8253acbc330"},
+    {file = "decorator-4.4.2-py2.py3-none-any.whl", hash = "sha256:41fa54c2a0cc4ba648be4fd43cff00aedf5b9465c9bf18d64325bc225f08f760"},
+    {file = "decorator-4.4.2.tar.gz", hash = "sha256:e3a62f0520172440ca0dcc823749319382e377f37f140a0b99ef45fecb84bfe7"},
 ]
 
 [[package]]
@@ -821,6 +933,56 @@ files = [
     {file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
 ]
 
+[[package]]
+name = "imageio"
+version = "2.34.2"
+description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "imageio-2.34.2-py3-none-any.whl", hash = "sha256:a0bb27ec9d5bab36a9f4835e51b21d2cb099e1f78451441f94687ff3404b79f8"},
+    {file = "imageio-2.34.2.tar.gz", hash = "sha256:5c0c0ee8faa018a1c42f649b90395dd4d3bb6187c09053a0cd6f1fdd51bbff5e"},
+]
+
+[package.dependencies]
+numpy = "*"
+pillow = ">=8.3.2"
+
+[package.extras]
+all-plugins = ["astropy", "av", "imageio-ffmpeg", "pillow-heif", "psutil", "tifffile"]
+all-plugins-pypy = ["av", "imageio-ffmpeg", "pillow-heif", "psutil", "tifffile"]
+build = ["wheel"]
+dev = ["black", "flake8", "fsspec[github]", "pytest", "pytest-cov"]
+docs = ["numpydoc", "pydata-sphinx-theme", "sphinx (<6)"]
+ffmpeg = ["imageio-ffmpeg", "psutil"]
+fits = ["astropy"]
+full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "itk", "numpydoc", "pillow-heif", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "sphinx (<6)", "tifffile", "wheel"]
+gdal = ["gdal"]
+itk = ["itk"]
+linting = ["black", "flake8"]
+pillow-heif = ["pillow-heif"]
+pyav = ["av"]
+test = ["fsspec[github]", "pytest", "pytest-cov"]
+tifffile = ["tifffile"]
+
+[[package]]
+name = "imageio-ffmpeg"
+version = "0.5.1"
+description = "FFMPEG wrapper for Python"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "imageio-ffmpeg-0.5.1.tar.gz", hash = "sha256:0ed7a9b31f560b0c9d929c5291cd430edeb9bed3ce9a497480e536dd4326484c"},
+    {file = "imageio_ffmpeg-0.5.1-py3-none-macosx_10_9_intel.macosx_10_9_x86_64.macosx_10_10_intel.macosx_10_10_x86_64.whl", hash = "sha256:1460e84712b9d06910c1f7bb524096b0341d4b7844cea6c20e099d0a24e795b1"},
+    {file = "imageio_ffmpeg-0.5.1-py3-none-manylinux2010_x86_64.whl", hash = "sha256:5289f75c7f755b499653f3209fea4efd1430cba0e39831c381aad2d458f7a316"},
+    {file = "imageio_ffmpeg-0.5.1-py3-none-manylinux2014_aarch64.whl", hash = "sha256:7fa9132a291d5eb28c44553550deb40cbdab831f2a614e55360301a6582eb205"},
+    {file = "imageio_ffmpeg-0.5.1-py3-none-win32.whl", hash = "sha256:89efe2c79979d8174ba8476deb7f74d74c331caee3fb2b65ba2883bec0737625"},
+    {file = "imageio_ffmpeg-0.5.1-py3-none-win_amd64.whl", hash = "sha256:1521e79e253bedbdd36a547e0cbd94a025ba0b558e17f08fea687d805a0e4698"},
+]
+
+[package.dependencies]
+setuptools = "*"
+
 [[package]]
 name = "imagesize"
 version = "1.4.1"
@@ -845,13 +1007,13 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "8.0.0"
+version = "8.1.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_metadata-8.0.0-py3-none-any.whl", hash = "sha256:15584cf2b1bf449d98ff8a6ff1abef57bf20f3ac6454f431736cd3e660921b2f"},
-    {file = "importlib_metadata-8.0.0.tar.gz", hash = "sha256:188bd24e4c346d3f0a933f275c2fec67050326a856b9a359881d7c2a697e8812"},
+    {file = "importlib_metadata-8.1.0-py3-none-any.whl", hash = "sha256:3cd29f739ed65973840b068e3132135ce954c254d48b5b640484467ef7ab3c8c"},
+    {file = "importlib_metadata-8.1.0.tar.gz", hash = "sha256:fcdcb1d5ead7bdf3dd32657bb94ebe9d2aabfe89a19782ddc32da5041d6ebfb4"},
 ]
 
 [package.dependencies]
@@ -904,6 +1066,39 @@ files = [
 [package.dependencies]
 sortedcontainers = ">=2.0,<3.0"
 
+[[package]]
+name = "ipykernel"
+version = "6.29.5"
+description = "IPython Kernel for Jupyter"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "ipykernel-6.29.5-py3-none-any.whl", hash = "sha256:afdb66ba5aa354b09b91379bac28ae4afebbb30e8b39510c9690afb7a10421b5"},
+    {file = "ipykernel-6.29.5.tar.gz", hash = "sha256:f093a22c4a40f8828f8e330a9c297cb93dcab13bd9678ded6de8e5cf81c56215"},
+]
+
+[package.dependencies]
+appnope = {version = "*", markers = "platform_system == \"Darwin\""}
+comm = ">=0.1.1"
+debugpy = ">=1.6.5"
+ipython = ">=7.23.1"
+jupyter-client = ">=6.1.12"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+matplotlib-inline = ">=0.1"
+nest-asyncio = "*"
+packaging = "*"
+psutil = "*"
+pyzmq = ">=24"
+tornado = ">=6.1"
+traitlets = ">=5.4.0"
+
+[package.extras]
+cov = ["coverage[toml]", "curio", "matplotlib", "pytest-cov", "trio"]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "trio"]
+pyqt5 = ["pyqt5"]
+pyside6 = ["pyside6"]
+test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0)", "pytest-asyncio (>=0.23.5)", "pytest-cov", "pytest-timeout"]
+
 [[package]]
 name = "ipython"
 version = "8.12.3"
@@ -990,6 +1185,49 @@ files = [
     {file = "joblib-1.4.2.tar.gz", hash = "sha256:2382c5816b2636fbd20a09e0f4e9dad4736765fdfb7dca582943b9c1366b3f0e"},
 ]
 
+[[package]]
+name = "jupyter-client"
+version = "8.6.2"
+description = "Jupyter protocol implementation and client libraries"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_client-8.6.2-py3-none-any.whl", hash = "sha256:50cbc5c66fd1b8f65ecb66bc490ab73217993632809b6e505687de18e9dea39f"},
+    {file = "jupyter_client-8.6.2.tar.gz", hash = "sha256:2bda14d55ee5ba58552a8c53ae43d215ad9868853489213f37da060ced54d8df"},
+]
+
+[package.dependencies]
+importlib-metadata = {version = ">=4.8.3", markers = "python_version < \"3.10\""}
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+python-dateutil = ">=2.8.2"
+pyzmq = ">=23.0"
+tornado = ">=6.2"
+traitlets = ">=5.3"
+
+[package.extras]
+docs = ["ipykernel", "myst-parser", "pydata-sphinx-theme", "sphinx (>=4)", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["coverage", "ipykernel (>=6.14)", "mypy", "paramiko", "pre-commit", "pytest (<8.2.0)", "pytest-cov", "pytest-jupyter[client] (>=0.4.1)", "pytest-timeout"]
+
+[[package]]
+name = "jupyter-core"
+version = "5.7.2"
+description = "Jupyter core package. A base package on which Jupyter projects rely."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_core-5.7.2-py3-none-any.whl", hash = "sha256:4f7315d2f6b4bcf2e3e7cb6e46772eba760ae459cd1f59d29eb57b0a01bd7409"},
+    {file = "jupyter_core-5.7.2.tar.gz", hash = "sha256:aa5f8d32bbf6b431ac830496da7392035d6f61b4f54872f15c4bd2a9c3f536d9"},
+]
+
+[package.dependencies]
+platformdirs = ">=2.5"
+pywin32 = {version = ">=300", markers = "sys_platform == \"win32\" and platform_python_implementation != \"PyPy\""}
+traitlets = ">=5.3"
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "traitlets"]
+test = ["ipykernel", "pre-commit", "pytest (<8)", "pytest-cov", "pytest-timeout"]
+
 [[package]]
 name = "kiwisolver"
 version = "1.4.5"
@@ -1443,6 +1681,30 @@ files = [
 [package.dependencies]
 traitlets = "*"
 
+[[package]]
+name = "moviepy"
+version = "1.0.3"
+description = "Video editing with Python"
+optional = false
+python-versions = "*"
+files = [
+    {file = "moviepy-1.0.3.tar.gz", hash = "sha256:2884e35d1788077db3ff89e763c5ba7bfddbd7ae9108c9bc809e7ba58fa433f5"},
+]
+
+[package.dependencies]
+decorator = ">=4.0.2,<5.0"
+imageio = {version = ">=2.5,<3.0", markers = "python_version >= \"3.4\""}
+imageio_ffmpeg = {version = ">=0.2.0", markers = "python_version >= \"3.4\""}
+numpy = {version = ">=1.17.3", markers = "python_version > \"2.7\""}
+proglog = "<=1.0.0"
+requests = ">=2.8.1,<3.0"
+tqdm = ">=4.11.2,<5.0"
+
+[package.extras]
+doc = ["Sphinx (>=1.5.2,<2.0)", "numpydoc (>=0.6.0,<1.0)", "pygame (>=1.9.3,<2.0)", "sphinx_rtd_theme (>=0.1.10b0,<1.0)"]
+optional = ["matplotlib (>=2.0.0,<3.0)", "opencv-python (>=3.0,<4.0)", "scikit-image (>=0.13.0,<1.0)", "scikit-learn", "scipy (>=0.19.0,<1.5)", "youtube_dl"]
+test = ["coverage (<5.0)", "coveralls (>=1.1,<2.0)", "pytest (>=3.0.0,<4.0)", "pytest-cov (>=2.5.1,<3.0)", "requests (>=2.8.1,<3.0)"]
+
 [[package]]
 name = "mpmath"
 version = "1.3.0"
@@ -1518,6 +1780,17 @@ files = [
     {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"},
 ]
 
+[[package]]
+name = "nest-asyncio"
+version = "1.6.0"
+description = "Patch asyncio to allow nested event loops"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "nest_asyncio-1.6.0-py3-none-any.whl", hash = "sha256:87af6efd6b5e897c81050477ef65c62e2b2f35d51703cae01aff2905b1852e1c"},
+    {file = "nest_asyncio-1.6.0.tar.gz", hash = "sha256:6f172d5449aca15afd6c646851f4e31e02c598d553a667e38cafa997cfec55fe"},
+]
+
 [[package]]
 name = "networkx"
 version = "3.1"
@@ -1888,6 +2161,20 @@ setuptools = "*"
 tqdm = "*"
 wheel = "*"
 
+[[package]]
+name = "proglog"
+version = "0.1.10"
+description = "Log and progress bar manager for console, notebooks, web..."
+optional = false
+python-versions = "*"
+files = [
+    {file = "proglog-0.1.10-py3-none-any.whl", hash = "sha256:19d5da037e8c813da480b741e3fa71fb1ac0a5b02bf21c41577c7f327485ec50"},
+    {file = "proglog-0.1.10.tar.gz", hash = "sha256:658c28c9c82e4caeb2f25f488fff9ceace22f8d69b15d0c1c86d64275e4ddab4"},
+]
+
+[package.dependencies]
+tqdm = "*"
+
 [[package]]
 name = "prompt-toolkit"
 version = "3.0.47"
@@ -1922,6 +2209,35 @@ files = [
     {file = "protobuf-5.27.2.tar.gz", hash = "sha256:f3ecdef226b9af856075f28227ff2c90ce3a594d092c39bee5513573f25e2714"},
 ]
 
+[[package]]
+name = "psutil"
+version = "6.0.0"
+description = "Cross-platform lib for process and system monitoring in Python."
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+files = [
+    {file = "psutil-6.0.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:a021da3e881cd935e64a3d0a20983bda0bb4cf80e4f74fa9bfcb1bc5785360c6"},
+    {file = "psutil-6.0.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:1287c2b95f1c0a364d23bc6f2ea2365a8d4d9b726a3be7294296ff7ba97c17f0"},
+    {file = "psutil-6.0.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:a9a3dbfb4de4f18174528d87cc352d1f788b7496991cca33c6996f40c9e3c92c"},
+    {file = "psutil-6.0.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:6ec7588fb3ddaec7344a825afe298db83fe01bfaaab39155fa84cf1c0d6b13c3"},
+    {file = "psutil-6.0.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:1e7c870afcb7d91fdea2b37c24aeb08f98b6d67257a5cb0a8bc3ac68d0f1a68c"},
+    {file = "psutil-6.0.0-cp27-none-win32.whl", hash = "sha256:02b69001f44cc73c1c5279d02b30a817e339ceb258ad75997325e0e6169d8b35"},
+    {file = "psutil-6.0.0-cp27-none-win_amd64.whl", hash = "sha256:21f1fb635deccd510f69f485b87433460a603919b45e2a324ad65b0cc74f8fb1"},
+    {file = "psutil-6.0.0-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:c588a7e9b1173b6e866756dde596fd4cad94f9399daf99ad8c3258b3cb2b47a0"},
+    {file = "psutil-6.0.0-cp36-abi3-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6ed2440ada7ef7d0d608f20ad89a04ec47d2d3ab7190896cd62ca5fc4fe08bf0"},
+    {file = "psutil-6.0.0-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5fd9a97c8e94059b0ef54a7d4baf13b405011176c3b6ff257c247cae0d560ecd"},
+    {file = "psutil-6.0.0-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2e8d0054fc88153ca0544f5c4d554d42e33df2e009c4ff42284ac9ebdef4132"},
+    {file = "psutil-6.0.0-cp36-cp36m-win32.whl", hash = "sha256:fc8c9510cde0146432bbdb433322861ee8c3efbf8589865c8bf8d21cb30c4d14"},
+    {file = "psutil-6.0.0-cp36-cp36m-win_amd64.whl", hash = "sha256:34859b8d8f423b86e4385ff3665d3f4d94be3cdf48221fbe476e883514fdb71c"},
+    {file = "psutil-6.0.0-cp37-abi3-win32.whl", hash = "sha256:a495580d6bae27291324fe60cea0b5a7c23fa36a7cd35035a16d93bdcf076b9d"},
+    {file = "psutil-6.0.0-cp37-abi3-win_amd64.whl", hash = "sha256:33ea5e1c975250a720b3a6609c490db40dae5d83a4eb315170c4fe0d8b1f34b3"},
+    {file = "psutil-6.0.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:ffe7fc9b6b36beadc8c322f84e1caff51e8703b88eee1da46d1e3a6ae11b4fd0"},
+    {file = "psutil-6.0.0.tar.gz", hash = "sha256:8faae4f310b6d969fa26ca0545338b21f73c6b15db7c4a8d934a5482faa818f2"},
+]
+
+[package.extras]
+test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
+
 [[package]]
 name = "ptyprocess"
 version = "0.7.0"
@@ -1958,6 +2274,17 @@ files = [
     {file = "py-1.11.0.tar.gz", hash = "sha256:51c75c4126074b472f746a24399ad32f6053d1b34b68d2fa41e558e6f4a98719"},
 ]
 
+[[package]]
+name = "pycparser"
+version = "2.22"
+description = "C parser in Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pycparser-2.22-py3-none-any.whl", hash = "sha256:c3702b6d3dd8c7abc1afa565d7e63d53a1d0bd86cdc24edd75470f4de499cfcc"},
+    {file = "pycparser-2.22.tar.gz", hash = "sha256:491c8be9c040f5390f5bf44a5b07752bd07f56edf992381b05c701439eec10f6"},
+]
+
 [[package]]
 name = "pydot"
 version = "3.0.1"
@@ -2100,6 +2427,29 @@ files = [
     {file = "pytz-2024.1.tar.gz", hash = "sha256:2a29735ea9c18baf14b448846bde5a48030ed267578472d8955cd0e7443a9812"},
 ]
 
+[[package]]
+name = "pywin32"
+version = "306"
+description = "Python for Window Extensions"
+optional = false
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+    {file = "pyzmq-26.0.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:871587bdadd1075b112e697173e946a07d722459d20716ceb3d1bd6c64bd08ce"},
+    {file = "pyzmq-26.0.3-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d0a2d1bd63a4ad79483049b26514e70fa618ce6115220da9efdff63688808b17"},
+    {file = "pyzmq-26.0.3-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0270b49b6847f0d106d64b5086e9ad5dc8a902413b5dbbb15d12b60f9c1747a4"},
+    {file = "pyzmq-26.0.3-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:703c60b9910488d3d0954ca585c34f541e506a091a41930e663a098d3b794c67"},
+    {file = "pyzmq-26.0.3-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:74423631b6be371edfbf7eabb02ab995c2563fee60a80a30829176842e71722a"},
+    {file = "pyzmq-26.0.3-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:4adfbb5451196842a88fda3612e2c0414134874bffb1c2ce83ab4242ec9e027d"},
+    {file = "pyzmq-26.0.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:3516119f4f9b8671083a70b6afaa0a070f5683e431ab3dc26e9215620d7ca1ad"},
+    {file = "pyzmq-26.0.3.tar.gz", hash = "sha256:dba7d9f2e047dfa2bca3b01f4f84aa5246725203d6284e3790f2ca15fba6b40a"},
+]
+
+[package.dependencies]
+cffi = {version = "*", markers = "implementation_name == \"pypy\""}
+
 [[package]]
 name = "requests"
 version = "2.32.3"
@@ -2556,6 +3006,26 @@ files = [
     {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
 ]
 
+[[package]]
+name = "tornado"
+version = "6.4.1"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "tornado-6.4.1-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:163b0aafc8e23d8cdc3c9dfb24c5368af84a81e3364745ccb4427669bf84aec8"},
+    {file = "tornado-6.4.1-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:6d5ce3437e18a2b66fbadb183c1d3364fb03f2be71299e7d10dbeeb69f4b2a14"},
+    {file = "tornado-6.4.1-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2e20b9113cd7293f164dc46fffb13535266e713cdb87bd2d15ddb336e96cfc4"},
+    {file = "tornado-6.4.1-cp38-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8ae50a504a740365267b2a8d1a90c9fbc86b780a39170feca9bcc1787ff80842"},
+    {file = "tornado-6.4.1-cp38-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:613bf4ddf5c7a95509218b149b555621497a6cc0d46ac341b30bd9ec19eac7f3"},
+    {file = "tornado-6.4.1-cp38-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:25486eb223babe3eed4b8aecbac33b37e3dd6d776bc730ca14e1bf93888b979f"},
+    {file = "tornado-6.4.1-cp38-abi3-musllinux_1_2_i686.whl", hash = "sha256:454db8a7ecfcf2ff6042dde58404164d969b6f5d58b926da15e6b23817950fc4"},
+    {file = "tornado-6.4.1-cp38-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:a02a08cc7a9314b006f653ce40483b9b3c12cda222d6a46d4ac63bb6c9057698"},
+    {file = "tornado-6.4.1-cp38-abi3-win32.whl", hash = "sha256:d9a566c40b89757c9aa8e6f032bcdb8ca8795d7c1a9762910c722b1635c9de4d"},
+    {file = "tornado-6.4.1-cp38-abi3-win_amd64.whl", hash = "sha256:b24b8982ed444378d7f21d563f4180a2de31ced9d8d84443907a0a64da2072e7"},
+    {file = "tornado-6.4.1.tar.gz", hash = "sha256:92d3ab53183d8c50f8204a51e6f91d18a15d5ef261e84d452800d4ff6fc504e9"},
+]
+
 [[package]]
 name = "tox"
 version = "3.28.0"
@@ -2718,4 +3188,4 @@ test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools",
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.8"
-content-hash = "f288b58ba554baa6166bfae3ea55a8a442b18183738dd3f49c698b18589f93d4"
+content-hash = "4256555702c37cb8264fd9f41181f1f71764ef0860ebbb3e76f7a8e24ba509e0"
diff --git a/pyproject.toml b/pyproject.toml
index c3566d7..ef3697c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -31,6 +31,8 @@ gurobipy = {version="10.0.3"}
 ortools = "*"
 distinctipy = "*"
 scipy = "*"
+moviepy = "*"
+ipykernel = "*"
 
 [tool.poetry.group.dev]
 optional = true
@@ -44,6 +46,7 @@ mypy = "^1.7.0"
 # isort = "^5.11.5"
 # Flake8-pyproject = "^1.2.3"
 # pre-commit = "^2.20.0"
+ipykernel = "^6.29.5"
 
 [tool.poetry.group.test]
 optional = true
diff --git a/tox.ini b/tox.ini
index 1bb93e7..f0af5a1 100644
--- a/tox.ini
+++ b/tox.ini
@@ -1,4 +1,3 @@
-; I need to copy a lot from https://github.com/whitemech/LTLf2DFA/blob/main/tox.ini
 [tox]
 skipsdist = true
 isolated_build = true