diff --git a/poetry.lock b/poetry.lock
index 566f116..247b3fa 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "addict"
@@ -83,6 +83,24 @@ docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-
 tests = ["attrs[tests-no-zope]", "zope-interface"]
 tests-no-zope = ["cloudpickle", "hypothesis", "mypy (>=1.1.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
 
+[[package]]
+name = "autoprop"
+version = "4.1.0"
+description = "Infer properties from accessor methods."
+optional = false
+python-versions = "~=3.6"
+files = [
+    {file = "autoprop-4.1.0-py2.py3-none-any.whl", hash = "sha256:b6224c2e651bc4806bded70bbe8b11b08168395b35bcc5f548e140ce4a98ef03"},
+    {file = "autoprop-4.1.0.tar.gz", hash = "sha256:4e99b35ced78b354881d3270949a32b6e31da4195966abb0af4c195f57fcb638"},
+]
+
+[package.dependencies]
+signature_dispatch = ">=1.0,<2.0"
+
+[package.extras]
+doc = ["autoclasstoc", "sphinx", "sphinx_rtd_theme"]
+test = ["coveralls", "pytest", "pytest-cov"]
+
 [[package]]
 name = "backcall"
 version = "0.2.0"
@@ -94,6 +112,22 @@ files = [
     {file = "backcall-0.2.0.tar.gz", hash = "sha256:5cbdbf27be5e7cfadb448baf0aa95508f91f2bbc6c6437cd9cd06e2a4c215e1e"},
 ]
 
+[[package]]
+name = "bayesian-optimization"
+version = "1.4.0"
+description = "Bayesian Optimization package"
+optional = false
+python-versions = "*"
+files = [
+    {file = "bayesian-optimization-1.4.0.tar.gz", hash = "sha256:5e7b5ada7826a8a342932d67f8ae5e638ade588a12b7f7df058fb7a2defe5866"},
+    {file = "bayesian_optimization-1.4.0-py3-none-any.whl", hash = "sha256:0984cfcbc9472284778962416f0d4892286da3f54e1df2767ef89263b6e22263"},
+]
+
+[package.dependencies]
+numpy = ">=1.9.0"
+scikit-learn = ">=0.18.0"
+scipy = ">=1.0.0"
+
 [[package]]
 name = "black"
 version = "23.9.1"
@@ -405,6 +439,24 @@ files = [
     {file = "cloudpickle-2.2.1.tar.gz", hash = "sha256:d89684b8de9e34a2a43b3460fbca07d09d6e25ce858df4d5a44240403b6178f5"},
 ]
 
+[[package]]
+name = "cma"
+version = "4.0.0"
+description = "CMA-ES, Covariance Matrix Adaptation Evolution Strategy for non-linear numerical optimization in Python"
+optional = false
+python-versions = "*"
+files = [
+    {file = "cma-4.0.0-py3-none-any.whl", hash = "sha256:97b86ba1ac9f1cbb189a06c4d4a78f591f0878e5dd3e55c95e88e622e78c1a10"},
+    {file = "cma-4.0.0.tar.gz", hash = "sha256:fd28ce56983bf2fca0e614189d60134ebb80bf604f070d1ea095ea4e856f13a5"},
+]
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+constrained-solution-tracking = ["moarchiving"]
+plotting = ["matplotlib"]
+
 [[package]]
 name = "cmake"
 version = "3.27.5"
@@ -450,15 +502,32 @@ numpy = "*"
 
 [[package]]
 name = "colorama"
-version = "0.4.6"
+version = "0.4.0"
 description = "Cross-platform colored terminal text."
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "colorama-0.4.0-py2.py3-none-any.whl", hash = "sha256:a3d89af5db9e9806a779a50296b5fdb466e281147c2c235e8225ecc6dbf7bbf3"},
+    {file = "colorama-0.4.0.zip", hash = "sha256:c9b54bebe91a6a803e0772c8561d53f2926bfeb17cd141fbabcb08424086595c"},
+]
+
+[[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 = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
-    {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
+    {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 = "configargparse"
 version = "1.7"
@@ -541,6 +610,81 @@ files = [
     {file = "cycler-0.11.0.tar.gz", hash = "sha256:9c87405839a19696e837b3b818fed3f5f69f16f1eec1a1ad77e043dcea9c772f"},
 ]
 
+[[package]]
+name = "cython"
+version = "3.0.11"
+description = "The Cython compiler for writing C extensions in the Python language."
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
+files = [
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+
 [[package]]
 name = "dash"
 version = "2.13.0"
@@ -645,17 +789,18 @@ six = ">=1.4.0"
 
 [[package]]
 name = "drake"
-version = "1.21.0"
+version = "1.33.0"
 description = "Model-based design and verification for robotics"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.10"
 files = [
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+    {file = "drake-1.33.0-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:11cd769421f516d4e7e5b63a36c3424547a71b99860f4e6d176f62f2b18bc707"},
+    {file = "drake-1.33.0-cp311-cp311-macosx_13_0_x86_64.whl", hash = "sha256:31ac252f7ecb307d30574efda1123dbf2e47147615413657c209ebceb008ae80"},
+    {file = "drake-1.33.0-cp311-cp311-manylinux_2_35_x86_64.whl", hash = "sha256:9d3b55bcb07a6bcbb03904063323c2eeea5276cc08db60cc9f0baeacc737ff20"},
+    {file = "drake-1.33.0-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:8d35c214f1d828e26ef21079b9e37b01453f61db9a51ab935d397c5613d4ff67"},
+    {file = "drake-1.33.0-cp312-cp312-macosx_13_0_x86_64.whl", hash = "sha256:349e07aaf870069b4f07571dbded390204f0f3ec707337fa894200d18501a3b2"},
+    {file = "drake-1.33.0-cp312-cp312-manylinux_2_35_x86_64.whl", hash = "sha256:99ceb9a2160b65605eaf1fc0439f7262a1c8723e7ec4746154fcac3a12a52ab7"},
 ]
 
 [package.dependencies]
@@ -766,6 +911,17 @@ files = [
 [package.extras]
 tests = ["asttokens", "littleutils", "pytest", "rich"]
 
+[[package]]
+name = "farama-notifications"
+version = "0.0.4"
+description = "Notifications for all Farama Foundation maintained libraries."
+optional = false
+python-versions = "*"
+files = [
+    {file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"},
+    {file = "Farama_Notifications-0.0.4-py3-none-any.whl", hash = "sha256:14de931035a41961f7c056361dc7f980762a143d05791ef5794a751a2caf05ae"},
+]
+
 [[package]]
 name = "fastjsonschema"
 version = "2.18.0"
@@ -887,6 +1043,28 @@ gitdb = ">=4.0.1,<5"
 [package.extras]
 test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mypy", "pre-commit", "pytest", "pytest-cov", "pytest-sugar", "virtualenv"]
 
+[[package]]
+name = "glooey"
+version = "0.3.6"
+description = "An object-oriented GUI library for pyglet."
+optional = false
+python-versions = "~=3.6"
+files = [
+    {file = "glooey-0.3.6-py2.py3-none-any.whl", hash = "sha256:ad4574428ec2bfb3c1e18f0eee1c927c3d4f95a3f4fec57dc8dd069cda33aa61"},
+    {file = "glooey-0.3.6.tar.gz", hash = "sha256:c025aca6c0e8d73f99793cb7b15aa547195da5499a11384379f2d3446f864520"},
+]
+
+[package.dependencies]
+autoprop = "*"
+more_itertools = "*"
+pyglet = "*"
+pyyaml = "*"
+vecrec = "*"
+
+[package.extras]
+docs = ["autoclasstoc", "sphinx (>=3.1)", "sphinx_rtd_theme"]
+tests = ["coveralls", "pytest", "pytest-cov"]
+
 [[package]]
 name = "gradescope-utils"
 version = "0.5.0"
@@ -902,6 +1080,36 @@ files = [
 dev = ["check-manifest"]
 test = ["coverage"]
 
+[[package]]
+name = "gymnasium"
+version = "0.29.1"
+description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e"},
+    {file = "gymnasium-0.29.1.tar.gz", hash = "sha256:1a532752efcb7590478b1cc7aa04f608eb7a2fdad5570cd217b66b6a35274bb1"},
+]
+
+[package.dependencies]
+cloudpickle = ">=1.2.0"
+farama-notifications = ">=0.0.1"
+numpy = ">=1.21.0"
+typing-extensions = ">=4.3.0"
+
+[package.extras]
+accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
+all = ["box2d-py (==2.3.5)", "cython (<3)", "imageio (>=2.14.1)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.3.3)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (>=2.1.3)", "shimmy[atari] (>=0.1.0,<1.0)", "swig (==4.*)", "torch (>=1.0.0)"]
+atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
+box2d = ["box2d-py (==2.3.5)", "pygame (>=2.1.3)", "swig (==4.*)"]
+classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
+jax = ["jax (>=0.4.0)", "jaxlib (>=0.4.0)"]
+mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.3)"]
+mujoco-py = ["cython (<3)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"]
+other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)", "torch (>=1.0.0)"]
+testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
+toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
+
 [[package]]
 name = "html5lib"
 version = "1.1"
@@ -1066,6 +1274,27 @@ qtconsole = ["qtconsole"]
 test = ["pytest (<7.1)", "pytest-asyncio", "testpath"]
 test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.21)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"]
 
+[[package]]
+name = "ipywidgets"
+version = "8.1.5"
+description = "Jupyter interactive widgets"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "ipywidgets-8.1.5-py3-none-any.whl", hash = "sha256:3290f526f87ae6e77655555baba4f36681c555b8bdbbff430b70e52c34c86245"},
+    {file = "ipywidgets-8.1.5.tar.gz", hash = "sha256:870e43b1a35656a80c18c9503bbf2d16802db1cb487eec6fab27d683381dde17"},
+]
+
+[package.dependencies]
+comm = ">=0.1.3"
+ipython = ">=6.1.0"
+jupyterlab-widgets = ">=3.0.12,<3.1.0"
+traitlets = ">=4.3.1"
+widgetsnbextension = ">=4.0.12,<4.1.0"
+
+[package.extras]
+test = ["ipykernel", "jsonschema", "pytest (>=3.6.0)", "pytest-cov", "pytz"]
+
 [[package]]
 name = "isort"
 version = "5.12.0"
@@ -1229,6 +1458,17 @@ traitlets = ">=5.3"
 docs = ["myst-parser", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "traitlets"]
 test = ["ipykernel", "pre-commit", "pytest", "pytest-cov", "pytest-timeout"]
 
+[[package]]
+name = "jupyterlab-widgets"
+version = "3.0.13"
+description = "Jupyter interactive widgets for JupyterLab"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "jupyterlab_widgets-3.0.13-py3-none-any.whl", hash = "sha256:e3cda2c233ce144192f1e29914ad522b2f4c40e77214b0cc97377ca3d323db54"},
+    {file = "jupyterlab_widgets-3.0.13.tar.gz", hash = "sha256:a2966d385328c1942b683a8cd96b89b8dd82c8b8f81dda902bb2bc06d46f5bed"},
+]
+
 [[package]]
 name = "keyring"
 version = "23.13.1"
@@ -1365,6 +1605,25 @@ files = [
     {file = "kiwisolver-1.4.5.tar.gz", hash = "sha256:e57e563a57fb22a142da34f38acc2fc1a5c864bc29ca1517a88abc963e60d6ec"},
 ]
 
+[[package]]
+name = "lazy-loader"
+version = "0.4"
+description = "Makes it easy to load subpackages and functions on demand."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "lazy_loader-0.4-py3-none-any.whl", hash = "sha256:342aa8e14d543a154047afb4ba8ef17f5563baad3fc610d7b15b213b0f119efc"},
+    {file = "lazy_loader-0.4.tar.gz", hash = "sha256:47c75182589b91a4e1a85a136c074285a5ad4d9f39c63e0d7fb76391c4574cd1"},
+]
+
+[package.dependencies]
+packaging = "*"
+
+[package.extras]
+dev = ["changelist (==0.5)"]
+lint = ["pre-commit (==3.7.0)"]
+test = ["pytest (>=7.4)", "pytest-cov (>=4.1)"]
+
 [[package]]
 name = "lit"
 version = "16.0.6"
@@ -1386,27 +1645,75 @@ files = [
     {file = "lockfile-0.12.2.tar.gz", hash = "sha256:6aed02de03cba24efabcd600b30540140634fc06cfa603822d508d5361e9f799"},
 ]
 
+[[package]]
+name = "manifold3d"
+version = "2.5.1"
+description = "Library for geometric robustness"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "manifold3d-2.5.1-cp310-cp310-macosx_10_14_x86_64.whl", hash = "sha256:c29477424a41ad36e06bfd7286611b30ad594ec3a0bdfae9fb3a627ec7eeaa48"},
+    {file = "manifold3d-2.5.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a92c9b4f011437dde0277029af7855968d687746443aeece871f687620a6c4ee"},
+    {file = "manifold3d-2.5.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:f26baa9746aeadb124c648182c1d2fe923cc8b42f5bd460d91e20094fe272488"},
+    {file = "manifold3d-2.5.1-cp310-cp310-win_amd64.whl", hash = "sha256:7b68549a6a7b00d4b597fe9616d679da6bb67909df58a1069fa94db3e7ce9e39"},
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+    {file = "manifold3d-2.5.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:c715a6f9075fc56f0956e27d4a8af62a9adbf211755fcbba5852542a491689a0"},
+    {file = "manifold3d-2.5.1-cp39-cp39-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:9799229ac265f19c1876753361f5a83e77ded605e9a19af0883a438c7151b7f8"},
+    {file = "manifold3d-2.5.1-cp39-cp39-win_amd64.whl", hash = "sha256:edd006541d622e661a0c0ade7192c62117ae3923f83e711c0a94a136bd7e62e8"},
+    {file = "manifold3d-2.5.1.tar.gz", hash = "sha256:e7c505267cd93116f59158116e839319a9ef49a7b96dad22f968d38abe39b9bf"},
+]
+
+[package.dependencies]
+numpy = {version = "*", markers = "python_version < \"3.12\""}
+
 [[package]]
 name = "manipulation"
-version = "2023.9.17"
+version = "2024.09.17"
 description = "MIT 6.421 - Robotic Manipulation"
 optional = false
-python-versions = ">=3.8"
+python-versions = "<4.0,>=3.10"
 files = []
 develop = false
 
 [package.dependencies]
-cloudpickle = ">=1.6.0"
-drake = ">=1.21.0"
+cloudpickle = "2.2.1"
+drake = ">=1.32.0"
 gradescope-utils = ">=0.4.0"
-mpld3 = ">=0.5.1"
+ipywidgets = ">=8"
+mpld3 = ">=0.5.6"
+nevergrad = ">=0.4.3"
+numpy = "<2.0.0"
+psutil = ">=5.9.*"
+pyzmq = [
+    {version = ">=25.0.0", markers = "sys_platform == \"darwin\""},
+    {version = "<25.0.0", markers = "sys_platform == \"linux\""},
+]
+scipy = ">=1.10.0"
+stable-baselines3 = ">=2.0.0"
 timeout-decorator = ">=0.4.1"
+torch = ">=2.0.1 <2.4.0"
+torchvision = ">=0.10.1"
+tqdm = ">=4"
+trimesh = {version = ">=4.0.0 <4.2.0", extras = ["recommend"]}
+vhacdx = ">=0.0.5"
 
 [package.source]
 type = "git"
 url = "https://github.com/RussTedrake/manipulation.git"
 reference = "HEAD"
-resolved_reference = "34ffd798178a9a9c7af3487afd52f900587415a4"
+resolved_reference = "7572c86cedcec2ee9bdcee4ccb0109e5fa884ead"
 
 [[package]]
 name = "markdown-it-py"
@@ -1757,6 +2064,30 @@ doc = ["nb2plots (>=0.6)", "numpydoc (>=1.5)", "pillow (>=9.4)", "pydata-sphinx-
 extra = ["lxml (>=4.6)", "pydot (>=1.4.2)", "pygraphviz (>=1.10)", "sympy (>=1.10)"]
 test = ["codecov (>=2.1)", "pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
+[[package]]
+name = "nevergrad"
+version = "1.0.4"
+description = "A Python toolbox for performing gradient-free optimization"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "nevergrad-1.0.4-py3-none-any.whl", hash = "sha256:c2f2d73efead777879ca6deb427a7730e576fc252f6ca4c7ff1210163aa99faa"},
+    {file = "nevergrad-1.0.4.tar.gz", hash = "sha256:c908bd02c82988170ab79035459964539d69690354034fb1929dfd4213ae94ae"},
+]
+
+[package.dependencies]
+bayesian-optimization = "1.4.0"
+cma = ">=2.6.0"
+colorama = "0.4.0"
+numpy = ">=1.24.0"
+pandas = "*"
+typing-extensions = ">=3.6.6"
+
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+    {file = "signature_dispatch-1.0.1.tar.gz", hash = "sha256:2daab258b1088b00d4cf288fd65403ce824a5a9b59e1164751e927e9197f1220"},
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+
+[package.dependencies]
+typeguard = ">=3.0,<4.0"
+
+[package.extras]
+doc = ["autoclasstoc", "sphinx", "sphinx_rtd_theme"]
+test = ["coveralls", "pytest", "pytest-cov"]
+
 [[package]]
 name = "six"
 version = "1.16.0"
@@ -3193,6 +3846,31 @@ files = [
     {file = "smmap-5.0.1.tar.gz", hash = "sha256:dceeb6c0028fdb6734471eb07c0cd2aae706ccaecab45965ee83f11c8d3b1f62"},
 ]
 
+[[package]]
+name = "stable-baselines3"
+version = "2.3.2"
+description = "Pytorch version of Stable Baselines, implementations of reinforcement learning algorithms."
+optional = false
+python-versions = ">=3.8"
+files = [
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+    {file = "stable_baselines3-2.3.2.tar.gz", hash = "sha256:2f8188916e607571c4c24f88a9ff6f84edafb2cf22d5d24f9c199563c12ff168"},
+]
+
+[package.dependencies]
+cloudpickle = "*"
+gymnasium = ">=0.28.1,<0.30"
+matplotlib = "*"
+numpy = ">=1.20"
+pandas = "*"
+torch = ">=1.13"
+
+[package.extras]
+docs = ["sphinx (>=5,<8)", "sphinx-autobuild", "sphinx-copybutton", "sphinx-rtd-theme (>=1.3.0)", "sphinxcontrib.spelling"]
+extra = ["autorom[accept-rom-license] (>=0.6.1,<0.7.0)", "opencv-python", "pillow", "psutil", "pygame", "rich", "shimmy[atari] (>=1.3.0,<1.4.0)", "tensorboard (>=2.9.1)", "tqdm"]
+extra-no-roms = ["opencv-python", "pillow", "psutil", "pygame", "rich", "shimmy[atari] (>=1.3.0,<1.4.0)", "tensorboard (>=2.9.1)", "tqdm"]
+tests = ["black (>=24.2.0,<25)", "mypy", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.3.1)"]
+
 [[package]]
 name = "stack-data"
 version = "0.6.2"
@@ -3279,6 +3957,28 @@ files = [
     {file = "threadpoolctl-3.2.0.tar.gz", hash = "sha256:c96a0ba3bdddeaca37dc4cc7344aafad41cdb8c313f74fdfe387a867bba93355"},
 ]
 
+[[package]]
+name = "tifffile"
+version = "2024.8.30"
+description = "Read and write TIFF files"
+optional = false
+python-versions = ">=3.9"
+files = [
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+    {file = "tifffile-2024.8.30.tar.gz", hash = "sha256:2c9508fe768962e30f87def61819183fb07692c258cb175b3c114828368485a4"},
+]
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+all = ["defusedxml", "fsspec", "imagecodecs (>=2023.8.12)", "lxml", "matplotlib", "zarr"]
+codecs = ["imagecodecs (>=2023.8.12)"]
+plot = ["matplotlib"]
+test = ["cmapfile", "czifile", "dask", "defusedxml", "fsspec", "imagecodecs", "lfdfiles", "lxml", "ndtiff", "oiffile", "psdtags", "pytest", "roifile", "xarray", "zarr"]
+xml = ["defusedxml", "lxml"]
+zarr = ["fsspec", "zarr"]
+
 [[package]]
 name = "timeout-decorator"
 version = "0.5.0"
@@ -3344,6 +4044,44 @@ type = "legacy"
 url = "https://download.pytorch.org/whl/cu118"
 reference = "torch_cuda118"
 
+[[package]]
+name = "torchvision"
+version = "0.15.2"
+description = "image and video datasets and models for torch deep learning"
+optional = false
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+numpy = "*"
+pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
+requests = "*"
+torch = "2.0.1"
+
+[package.extras]
+scipy = ["scipy"]
+
 [[package]]
 name = "tqdm"
 version = "4.66.1"
@@ -3381,23 +4119,31 @@ test = ["argcomplete (>=3.0.3)", "mypy (>=1.5.1)", "pre-commit", "pytest (>=7.0,
 
 [[package]]
 name = "trimesh"
-version = "3.23.5"
+version = "4.1.8"
 description = "Import, export, process, analyze and view triangular meshes."
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 files = [
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+    {file = "trimesh-4.1.8.tar.gz", hash = "sha256:a06d147a3a947bef0e72049917f2e7fd00bbd0689f8871e4908e447a53c5fb40"},
 ]
 
 [package.dependencies]
+glooey = {version = "*", optional = true, markers = "extra == \"recommend\""}
+manifold3d = {version = ">=2.3.0", optional = true, markers = "extra == \"recommend\""}
+meshio = {version = "*", optional = true, markers = "extra == \"recommend\""}
 numpy = "*"
+psutil = {version = "*", optional = true, markers = "extra == \"recommend\""}
+pyglet = {version = "<2", optional = true, markers = "extra == \"recommend\""}
+python-fcl = {version = "*", optional = true, markers = "extra == \"recommend\""}
+scikit-image = {version = "*", optional = true, markers = "extra == \"recommend\""}
+sympy = {version = "*", optional = true, markers = "extra == \"recommend\""}
 
 [package.extras]
-all = ["chardet", "colorlog", "embreex", "jsonschema", "lxml", "mapbox-earcut", "networkx", "pillow", "psutil", "pycollada", "pyglet (<2)", "python-fcl", "requests", "rtree", "scikit-image", "scipy", "setuptools", "shapely", "svg.path", "xatlas", "xxhash"]
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-recommends = ["glooey", "meshio", "sympy"]
-test = ["autopep8 (<2)", "coveralls", "ezdxf", "pyinstrument", "pymeshlab", "pytest", "pytest-cov", "ruff"]
+all = ["trimesh[easy,recommend,test]"]
+easy = ["chardet", "colorlog", "embreex", "httpx", "jsonschema", "lxml", "mapbox-earcut", "networkx", "pillow", "pycollada", "rtree", "scipy", "setuptools", "shapely", "svg.path", "vhacdx", "xatlas", "xxhash"]
+recommend = ["glooey", "manifold3d (>=2.3.0)", "meshio", "psutil", "pyglet (<2)", "python-fcl", "scikit-image", "sympy"]
+test = ["coveralls", "ezdxf", "matplotlib", "mypy", "pyinstrument", "pymeshlab", "pytest", "pytest-cov", "ruff", "typeguard (>=4.1.2)"]
 
 [[package]]
 name = "triton"
@@ -3447,6 +4193,24 @@ files = [
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 ]
 
+[[package]]
+name = "typeguard"
+version = "3.0.2"
+description = "Run-time type checker for Python"
+optional = false
+python-versions = ">=3.7.4"
+files = [
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+    {file = "typeguard-3.0.2.tar.gz", hash = "sha256:fee5297fdb28f8e9efcb8142b5ee219e02375509cd77ea9d270b5af826358d5a"},
+]
+
+[package.dependencies]
+typing-extensions = {version = ">=4.4.0", markers = "python_version < \"3.11\""}
+
+[package.extras]
+doc = ["packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
+test = ["mypy (>=0.991)", "pytest (>=7)"]
+
 [[package]]
 name = "typing-extensions"
 version = "4.8.0"
@@ -3485,6 +4249,100 @@ brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
 secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
 socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
 
+[[package]]
+name = "vecrec"
+version = "0.3.1"
+description = "2D vector and rectangle classes."
+optional = false
+python-versions = "*"
+files = [
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+]
+
+[package.dependencies]
+autoprop = "*"
+
+[package.extras]
+docs = ["autoclasstoc", "sphinx", "sphinx_rtd_theme"]
+tests = ["coveralls", "pytest", "pytest-cov"]
+
+[[package]]
+name = "vhacdx"
+version = "0.0.8.post1"
+description = "Python bindings for VHACD"
+optional = false
+python-versions = ">=3.7"
+files = [
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+    {file = "vhacdx-0.0.8.post1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:4c557724dc16294dcdb517ad5a2e742a3afab2f9b2f36877bcd5361e3adf6642"},
+    {file = "vhacdx-0.0.8.post1.tar.gz", hash = "sha256:b93363614c5a97a1a802bc390d9526c396f2163e8c8b8599b5936966f18d9573"},
+]
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+test = ["pytest"]
+
 [[package]]
 name = "virtualenv"
 version = "20.24.5"
@@ -3581,6 +4439,17 @@ MarkupSafe = ">=2.1.1"
 [package.extras]
 watchdog = ["watchdog"]
 
+[[package]]
+name = "widgetsnbextension"
+version = "4.0.13"
+description = "Jupyter interactive widgets for Jupyter Notebook"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "widgetsnbextension-4.0.13-py3-none-any.whl", hash = "sha256:74b2692e8500525cc38c2b877236ba51d34541e6385eeed5aec15a70f88a6c71"},
+    {file = "widgetsnbextension-4.0.13.tar.gz", hash = "sha256:ffcb67bc9febd10234a362795f643927f4e0c05d9342c727b65d2384f8feacb6"},
+]
+
 [[package]]
 name = "xattr"
 version = "0.10.1"
@@ -3698,4 +4567,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.12"
-content-hash = "219d469dd2ef8099a81ff0ecab6c7fe810cf5a7ebb95e9eed0dec748ca2d7bb4"
+content-hash = "bead21c5dc6cdb9a8c127fdd4a56a18d86237fe33d3f89005e495840530c91c2"
diff --git a/pyproject.toml b/pyproject.toml
index ca3815e..0f50cb4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -11,7 +11,7 @@ torch = {version = "2.0.1", source = "torch_cuda118"}
 pytorch3d = {url = "https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu118_pyt201/pytorch3d-0.7.4-cp310-cp310-linux_x86_64.whl"}
 numpy = "^1.25.2"
 wandb = "^0.15.10"
-trimesh = "^3.23.5"
+trimesh = "^4.0.0"
 open3d = "^0.17.0"
 matplotlib = "3.4.3"
 tabulate = "^0.9.0"
@@ -28,6 +28,7 @@ scikit-learn = "^1.3.0"
 addict = "^2.4.0"
 pandas = "^2.1.0"
 ipython = "^8.15.0"
+drake = "^1.33.0"
 
 [tool.poetry.group.dev.dependencies]
 pre-commit = "^3.4.0"
@@ -40,6 +41,11 @@ name = "torch_cuda118"
 url = "https://download.pytorch.org/whl/cu118"
 priority = "supplemental"
 
+
+[[tool.poetry.source]]
+name = "PyPI"
+priority = "primary"
+
 [tool.isort]
 profile = 'black'
 lines_between_types = 1
diff --git a/scripts/visualize_sdf.py b/scripts/visualize_sdf.py
index 901a9be..afe078c 100644
--- a/scripts/visualize_sdf.py
+++ b/scripts/visualize_sdf.py
@@ -35,7 +35,7 @@ def main():
     plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 1e-3)
     parser = get_parser(plant)
 
-    parser.AddModelFromFile(args.sdf_path)
+    parser.AddModels(args.sdf_path)
 
     meshcat = StartMeshcat()
     meshcat_params = MeshcatVisualizerParams()