diff --git a/angel_system/global_step_prediction/global_step_predictor.py b/angel_system/global_step_prediction/global_step_predictor.py
index 9e1b11255..fe095df5e 100644
--- a/angel_system/global_step_prediction/global_step_predictor.py
+++ b/angel_system/global_step_prediction/global_step_predictor.py
@@ -936,13 +936,74 @@ def plot_gt_vs_predicted_plus_activations(self, step_gts, fname_suffix=None):
 
         plt.legend()
         if not fname_suffix:
-            fname_suffix = f"vid{vid_id}"
+            fname_suffix = "vid_unknown"
+
+        # check for a long path in the fname_suffix
+        if "/" in fname_suffix:
+            # get just the end part of the path
+            fname_suffix = fname_suffix.split("/")[-1]
+
         recipe_type = self.determine_recipe_from_gt_first_step(step_gts)
         title = f"plot_pred_vs_gt_{recipe_type}_{fname_suffix}.png"
         plt.title(title)
         fig.savefig(f"./outputs/{title}")
         plt.close()
 
+    def save_TP_FP_FN_per_class(self, step_gts):
+        """
+        Given the ground truth and predicted steps, return TP/FP/FN frame counts
+        for each class
+
+        Output form: TP, FP, FN, where each is an N-dimensional vector, where
+        N = number of step classes.
+        """
+        assert len(self.trackers) == 1
+        for i, tracker in enumerate(self.trackers):
+            # import ipdb; ipdb.set_trace()
+            step_predictions = tracker["granular_step_prediction_history"]
+        TP = np.zeros(len(self.avg_probs))
+        FP = np.zeros(len(self.avg_probs))
+        FN = np.zeros(len(self.avg_probs))
+        for ind in range(len(self.avg_probs)):
+            # i = the index we'll get TP, FN, and FP for.
+            _TP = len(
+                [
+                    a
+                    for j, a in enumerate(step_predictions[: len(step_gts)])
+                    if a == ind and step_gts[j] == ind
+                ]
+            )
+            TP[ind] = _TP
+            _FP = len(
+                [
+                    a
+                    for j, a in enumerate(step_predictions[: len(step_gts)])
+                    if a == ind and step_gts[j] != ind
+                ]
+            )
+            FP[ind] = _FP
+            _FN = len(
+                [
+                    a
+                    for j, a in enumerate(step_predictions[: len(step_gts)])
+                    if a != ind and step_gts[j] == ind
+                ]
+            )
+            FN[ind] = _FN
+        return TP, FP, FN
+
+    def get_single_tracker_pred_history(self):
+        """
+        Get a single tracker's prediction history.
+        For now, this is only functional in the case of a single tracker instance
+        being initialized.
+
+        Output:
+        - list: prediction history. Length = number of frames processed.
+        """
+        assert len(self.trackers) == 1
+        return self.trackers[0]["granular_step_prediction_history"]
+
     def sanitize_str(self, str_: str):
         """
         Convert string to lowercase and emove trailing whitespace and period.
diff --git a/angel_system/global_step_prediction/run_expirement.py b/angel_system/global_step_prediction/run_expirement.py
index c5c07cf7c..55f84d5af 100644
--- a/angel_system/global_step_prediction/run_expirement.py
+++ b/angel_system/global_step_prediction/run_expirement.py
@@ -9,6 +9,7 @@
 import matplotlib.pyplot as plt
 import seaborn as sns
 from sklearn.metrics import confusion_matrix
+import math
 
 from angel_system.global_step_prediction.global_step_predictor import (
     GlobalStepPredictor,
@@ -32,11 +33,19 @@ def run_inference_all_vids(
     all_vid_ids = np.unique(np.asarray(coco_test.images().lookup("video_id")))
     avg_probs = None
     preds, gt = [], []
+    avg_smd, avg_smd_normd = np.array([]), np.array([])
+    mean_F1s = np.array([])
+    tasks_completed = np.array([])
     for vid_id in all_vid_ids:
         print(f"vid_id {vid_id}===========================")
 
         act_path = code_dir / "config/activity_labels/medical" / f"{medical_task}.yaml"
 
+        # Get framerate
+        framerate = round(coco_test.videos(video_ids=[vid_id]).peek()["framerate"])
+        # Assuming FR = 15 or 30
+        assert framerate in [15, 30], f"framerate rounded to {framerate}"
+
         step_predictor = GlobalStepPredictor(
             recipe_types=[f"{medical_task}"],
             activity_config_fpath=act_path.as_posix(),
@@ -46,8 +55,8 @@ def run_inference_all_vids(
                 / "config/tasks/medical"
                 / f"{medical_task}.yaml"
             },
-            # threshold_multiplier=0.3,
-            # threshold_frame_count=2
+            threshold_multiplier=0.6,
+            threshold_frame_count=5,
         )
 
         if avg_probs is not None:
@@ -76,6 +85,14 @@ def run_inference_all_vids(
         # All N activity confs x each video frame
         activity_confs = test_video_dset.annots().get("prob")
         activity_gts = truth_video_dset.annots().get("category_id")
+        # If framerate is 30, take every other frame.
+        if framerate == 30:
+            # This must be a 30Hz video, not 15Hz. Take every other GT frame.
+            print(f"halve gt for {vid_id}. Len = {len(activity_gts)}")
+            activity_gts = [a for ind, a in enumerate(activity_gts) if ind % 2 == 0]
+            print(f"new len = {len(activity_gts)}")
+        # ...and cut out the first 25 frames.
+        activity_gts = activity_gts[25:]
 
         def get_unique(activity_ids):
             """
@@ -106,12 +123,104 @@ def get_unique(activity_ids):
 
         print(f"unique broad steps: {get_unique(broad_step_gts)}")
 
+        # activity_gt_maxes[i] set to max step so far at index i.
+        activity_gt_maxes = activity_gts.copy()
+        for ind in range(1, len(activity_gts)):
+            activity_gt_maxes[ind] = max(activity_gts[:ind])
+
+        _TP, _FP, _FN = step_predictor.save_TP_FP_FN_per_class(activity_gt_maxes)
+        if "TP" in locals():
+            TP += _TP
+            FP += _FP
+            FN += _FN
+        else:
+            TP = _TP
+            FP = _FP
+            FN = _FN
+        class_F1s, mean_F1 = compute_class_f1s_and_mean_f1(TP, FP, FN)
+        print(f"class-wise F1s: {class_F1s}\nmean F1: {mean_F1}")
+
+        mean_F1s = np.append(mean_F1s, mean_F1)
+
+        pred_history = step_predictor.get_single_tracker_pred_history()
+        smds, smds_normd, task_completed = get_start_moment_distances(
+            pred_history, activity_gt_maxes
+        )
+        tasks_completed = np.append(tasks_completed, task_completed)
+
+        if not math.isnan(compute_mean_smd(smds)):
+            avg_smd = np.append(avg_smd, compute_mean_smd(smds))
+            avg_smd_normd = np.append(avg_smd_normd, compute_mean_smd(smds_normd))
+
+        print(f"smds (# frames): {smds}, normalized:{smds_normd}")
+        try:
+            print(f"avg frame-wise smd:{avg_smd[-1]}, normalized: {avg_smd_normd[-1]}")
+        except:
+            import ipdb
+
+            ipdb.set_trace()
+
         _ = step_predictor.plot_gt_vs_predicted_one_recipe(
-            granular_step_gts,
+            activity_gts,
             recipe_type,
             fname_suffix=f"{str(vid_id)}_granular_{extra_output_suffix}",
             granular_or_broad="granular",
         )
+    print("########## OVERALL")
+    print(
+        f"Overall average smd: {np.mean(avg_smd)}. Normalized: {np.mean(avg_smd_normd)}"
+    )
+    print(f"tasks completed: {np.sum(tasks_completed)} / {len(tasks_completed)}")
+    print(f"overall mean F1: {np.mean(mean_F1s)}")
+
+
+def get_start_moment_distances(pred_history, activity_gt_maxes):
+    """
+    Get the distance between ground truth & predictions of the starting frame of
+    each step.
+
+    Outputs:
+    - smds: list of length equal to number
+    """
+    num_classes = max(activity_gt_maxes)
+    vid_length = len(activity_gt_maxes)
+    smds = np.zeros(num_classes)
+    smds_normd = np.zeros(num_classes)
+    task_completed = 1
+    for i in range(num_classes):
+        if i + 1 in pred_history:
+            smds[i] = abs(
+                np.where(pred_history == i + 1)[0][0] - activity_gt_maxes.index(i + 1)
+            )
+            smds_normd[i] = smds[i] / vid_length
+        else:
+            smds[i] = -1
+            smds_normd[i] = -1
+            if i + 1 == num_classes:
+                task_completed = 0
+    return smds, smds_normd, task_completed
+
+
+def compute_mean_smd(smd_array):
+    """
+    Compute mean starting moment difference. If a task was not completed,
+    the incomplete steps are not factored in here.
+    """
+
+    mask = smd_array >= 0
+    return np.mean(smd_array[mask])
+
+
+def compute_class_f1s_and_mean_f1(TP, FP, FN):
+    F1s = np.zeros(len(TP))
+    # class-wise F1s:
+    for i in range(len(TP)):
+        F1s[i] = 2 * TP[i] / (2 * TP[i] + FP[i] + FN[i])
+    # mean F1
+    mean_F1 = (
+        2 * np.sum(TP[:-1]) / (2 * np.sum(TP[:-1]) + np.sum(FP[:-1]) + np.sum(FN[:-1]))
+    )
+    return F1s, mean_F1
 
 
 @click.command(context_settings={"help_option_names": ["-h", "--help"]})
diff --git a/ansible/roles/provision-files/vars/main.yml b/ansible/roles/provision-files/vars/main.yml
index f14d133da..332aefeb6 100644
--- a/ansible/roles/provision-files/vars/main.yml
+++ b/ansible/roles/provision-files/vars/main.yml
@@ -71,15 +71,15 @@ girder_file_downloads:
       sha512: e6b382f5ba3d4d7f17d29caa3f6ea06dd5db24fee3bf59b12ff748d58b1b064c374741c805ee7c07a2a6950761a38e5398f3707ed3e83d7d53218972c57d12a2
       dest: "{{ stage_dirs.object_detector }}/m2_det.pt"
     # Activity classifier
-    - file_id: 671bff2983e1acbfd87e723f
-      sha512: 5165219f60e3a160a8ec51f0446db4ec23ed70c399df66f482a233566e177d1f8cf044fc6ccc5227f5c748cbe6d2f17143109e791a139dfc2225d75de67829b2
+    - file_id: 673f69bef4ba555b2ab8ae15
+      sha512: 91d69908ef49b4a43dd344ae36a1c11eda6afb9b15dd748292435343087e08a3b1c22347efe592d7f078669d52a3dc496ca605ba4463997878151973e4885e77
       dest: "{{ stage_dirs.activity_classifier }}/m2_tcn.ckpt"
-    - file_id: 672543fcca1110761bd32f7d
-      sha512: aef3ab3f8927f83b7ecad3cc28ea7b42e662d5c11740df1015542df6740db3633a7829187e9f5a35b4a66ebfeb48756c6598e4b7e6f68cc1ae90912fd71e31dd
+    - file_id: 673f69b3f4ba555b2ab8ae12
+      sha512: 68bea2bd8748cc2ad55ca8784d45b9b0c9f21bd3cbca9d8983d158281adf15197d52a2582477ff1ac79ece0ce9187eb466056d407cb3e54894c3f9fd47dc5e41
       dest: "{{ stage_dirs.activity_classifier }}/m2_config.yaml"
     # Global Step predictor model
-    - file_id: 6723f3d283e1acbfd87e7269
-      sha512: fb676aae6f768498df860bbf4a1621ee8403cba96a1b9acc088f5f23671c57ca1f06f6c535fa8b0eb5074c7fed56e8ff5a7f990e2893f3759662c76137db1746
+    - file_id: 673f74eff4ba555b2ab8ae3e
+      sha512: 437f5557ff3670c75118d7699964ece42d3480502a71888de62c53c6998b42a297fb7b21ea0bc6bfc4da59e64f9730b69d61d55b5f2c9dd73d93eeee682d60de
       dest: "{{ stage_dirs.task_monitor }}/global_step_predictor_act_avgs_m2.npy"
 
     # ---- M3 ----
@@ -122,15 +122,15 @@ girder_file_downloads:
       sha512: 7183385f8eaca85997725a107a76034de2bd4a59c1434b4bdb7c1ac8931cf4b68a53f6e736734643386364b9f0856de795a14965b6a02bc5eb5891252e6a73c9
       dest: "{{ stage_dirs.object_detector }}/r18_det.pt"
     # Activity classifier
-    - file_id: 672cf299ca1110761bd32ffd
-      sha512: 0bfd4c5a1f254120758b9802eefef8933bfebf80837bd61445c3c26228edaefa34f0ed81178670538426983a93d60198f1be82a767e350b26d4fb3d081972b0d
+    - file_id: 673f6e62f4ba555b2ab8ae35
+      sha512: e731dad0d0688ede4fc1b04b7c6c67478971ab97da062813ec04571daca07f413aa4775c385c3e8b28a8f5f50f8157e68547d45d033ab4bb0926935ad39e7f26
       dest: "{{ stage_dirs.activity_classifier }}/r18_tcn.ckpt"
-    - file_id: 672cf437ca1110761bd33009
-      sha512: d99c484071f22661425a9673ff351db90ce2fba40f2faa56f0b388deb2d0cdcc96931a2627e5aec45ab5a4624c9ab04da23b63364dd6eb1d5641a90701737006
+    - file_id: 673f6e58f4ba555b2ab8ae32
+      sha512: 09a4c97e79c34ac95c95a4c63370b928527a98b9bab233aa12e4b14cfa95e0bb5a09bad90d19715ab656d17281ba5fbaa719647a5545bf2447ae584da5bd8d6a
       dest: "{{ stage_dirs.activity_classifier }}/r18_config.yaml"
     # Global Step predictor model
-    - file_id: 66464bf9687336214e7cdeae
-      sha512: bc7884c258cb8704372dd69a3e7d999eaf70d716d271982077c7216ef27ab01219ef1e488f6f9669e11a7e8aa6ffb9d8e07d74edc47294f90cc9e6a723f5a822
+    - file_id: 673f8cbcf4ba555b2ab8ae42
+      sha512: 4198d861961886b05b85dd178004ea2ca54ce4625bd9ea37a18f000f1090e8646e5838c1577090b799662e0cae779558f857b6a568c115f79bbca6d021a446f7
       dest: "{{ stage_dirs.task_monitor }}/global_step_predictor_act_avgs_R18.npy"
 
 # List of git repositories to check out at a specific ref and then archive.
diff --git a/config/activity_labels/medical/a8.yaml b/config/activity_labels/medical/a8.yaml
new file mode 100644
index 000000000..b4c5175cd
--- /dev/null
+++ b/config/activity_labels/medical/a8.yaml
@@ -0,0 +1,25 @@
+version: "1"
+title: "NPA"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+  - id: 1
+    label: "select-tube"
+    full_str: "Select NPA tube that best fits casualty."
+  - id: 2
+    label: "position-head"
+    full_str: "Place casualty into 'sniffing position' with head tilted back and nostrils exposed."
+  - id: 3
+    label: "cover-with-lube"
+    full_str: "Cover NPA with lube."
+  - id: 4
+    label: "insert-npa"
+    full_str: "Insert NPA perpendicular to casualty nostril until flange meets tip of nose, rotating along the way."
+  - id: 5
+    label: "look-listen-feel"
+    full_str: "Look, listen, and feel for airway compliance."
diff --git a/config/activity_labels/medical/m4.yaml b/config/activity_labels/medical/m4.yaml
index 71a868e49..c700cb90f 100644
--- a/config/activity_labels/medical/m4.yaml
+++ b/config/activity_labels/medical/m4.yaml
@@ -10,10 +10,10 @@ labels:
     full_str: "background"
   - id: 1
     label: "apply-pressure"
-    full_str: "Apply direct hand pressure."
+    full_str: "Apply direct hand pressure to the wound."
   - id: 2
     label: "open-pack"
-    full_str: "Open dressing packaging."
+    full_str: "Open gauze packaging."
   - id: 3
     label: "apply-dress-w-pressure"
-    full_str: "Apply dressing with pressure point directly over wound site."
+    full_str: "Pack the wound."
diff --git a/config/activity_labels/medical/r16.yaml b/config/activity_labels/medical/r16.yaml
new file mode 100644
index 000000000..639c5f0bc
--- /dev/null
+++ b/config/activity_labels/medical/r16.yaml
@@ -0,0 +1,25 @@
+version: "1"
+title: "Ventilate (BVM)"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+  - id: 1
+    label: "position-head"
+    full_str: "Place casualty into 'sniffing position' with head tilted back and nostrils exposed."
+  - id: 2
+    label: "open-packaging"
+    full_str: "Open the BVM packaging."
+  - id: 3
+    label: "attach-mask"
+    full_str: "Attach mask to BVM and expand BVM to full size."
+  - id: 4
+    label: "place-mask"
+    full_str: "Place mask over patient’s mouth in proper orientation."
+  - id: 5
+    label: "squeeze-bvm"
+    full_str: "Squeeze BVM while holding mask to patient’s mouth."
diff --git a/config/activity_labels/medical/r19.yaml b/config/activity_labels/medical/r19.yaml
new file mode 100644
index 000000000..ec4d643bf
--- /dev/null
+++ b/config/activity_labels/medical/r19.yaml
@@ -0,0 +1,28 @@
+version: "1"
+title: "Needle_Chest_Decomp"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+  - id: 1
+    label: "locate-insertion-site"
+    full_str: "Locate insertion site at the second intercostal space at the midclavicular line."
+  - id: 2
+    label: "wipe-insertion-site"
+    full_str: "Wipe the insertion site with an alcohol wipe."
+  - id: 3
+    label: "prepare-catheter-and-needle"
+    full_str: "Prepare catheter and needle."
+  - id: 4
+    label: "insert-needle"
+    full_str: "Insert needle into insertion site."
+  - id: 5
+    label: "remove-needle"
+    full_str: "Remove needle, keeping catheter inside the patient."
+  - id: 6
+    label: "apply-tape"
+    full_str: "Apply tape around catheter to secure it in place."
diff --git a/config/tasks/medical/a8.yaml b/config/tasks/medical/a8.yaml
new file mode 100644
index 000000000..1160f1268
--- /dev/null
+++ b/config/tasks/medical/a8.yaml
@@ -0,0 +1,31 @@
+version: "1"
+title: "NPA"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+    activity_ids: [0]
+  - id: 1
+    label: "select-tube"
+    full_str: "Select NPA tube that best fits casualty."
+    activity_ids: [1]
+  - id: 2
+    label: "position-head"
+    full_str: "Place casualty into 'sniffing position' with head tilted back and nostrils exposed."
+    activity_ids: [2]
+  - id: 3
+    label: "cover-with-lube"
+    full_str: "Cover NPA with lube."
+    activity_ids: [3]
+  - id: 4
+    label: "insert-npa"
+    full_str: "Insert NPA perpendicular to casualty nostril until flange meets tip of nose, rotating along the way."
+    activity_ids: [4]
+  - id: 5
+    label: "look-listen-feel"
+    full_str: "Look, listen, and feel for airway compliance."
+    activity_ids: [5]
diff --git a/config/tasks/medical/m4.yaml b/config/tasks/medical/m4.yaml
new file mode 100644
index 000000000..1eec1ab01
--- /dev/null
+++ b/config/tasks/medical/m4.yaml
@@ -0,0 +1,23 @@
+version: "1"
+title: "Wound Packing"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+    activity_ids: [0]
+  - id: 1
+    label: "apply-pressure"
+    full_str: "Apply direct hand pressure to the wound."
+    activity_ids: [1]
+  - id: 2
+    label: "open-pack"
+    full_str: "Open gauze packaging."
+    activity_ids: [2]
+  - id: 3
+    label: "apply-dress-w-pressure"
+    full_str: "Pack the wound."
+    activity_ids: [3]
diff --git a/config/tasks/medical/r16.yaml b/config/tasks/medical/r16.yaml
new file mode 100644
index 000000000..ac4565c2b
--- /dev/null
+++ b/config/tasks/medical/r16.yaml
@@ -0,0 +1,31 @@
+version: "1"
+title: "Ventilate (BVM)"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+    activity_ids: [0]
+  - id: 1
+    label: "position-head"
+    full_str: "Place casualty into 'sniffing position' with head tilted back and nostrils exposed."
+    activity_ids: [1]
+  - id: 2
+    label: "open-packaging"
+    full_str: "Open the BVM packaging."
+    activity_ids: [2]
+  - id: 3
+    label: "attach-mask"
+    full_str: "Attach mask to BVM and expand BVM to full size."
+    activity_ids: [3]
+  - id: 4
+    label: "place-mask"
+    full_str: "Place mask over patient’s mouth in proper orientation."
+    activity_ids: [4]
+  - id: 5
+    label: "squeeze-bvm"
+    full_str: "Squeeze BVM while holding mask to patient’s mouth."
+    activity_ids: [5]
diff --git a/config/tasks/medical/r19.yaml b/config/tasks/medical/r19.yaml
new file mode 100644
index 000000000..38cd2d1a3
--- /dev/null
+++ b/config/tasks/medical/r19.yaml
@@ -0,0 +1,35 @@
+version: "1"
+title: "Needle_Chest_Decomp"
+labels:
+  # Item:
+  # - id: Integer identification number of the label.
+  # - label: Short human-readable semantic string to succinctly represent the
+  #          label.
+  - id: 0
+    label: "background"
+    full_str: "background"
+    activity_ids: [0]
+  - id: 1
+    label: "locate-insertion-site"
+    full_str: "Locate insertion site at the second intercostal space at the midclavicular line."
+    activity_ids: [1]
+  - id: 2
+    label: "wipe-insertion-site"
+    full_str: "Wipe the insertion site with an alcohol wipe."
+    activity_ids: [2]
+  - id: 3
+    label: "prepare-catheter-and-needle"
+    full_str: "Prepare catheter and needle."
+    activity_ids: [3]
+  - id: 4
+    label: "insert-needle"
+    full_str: "Insert needle into insertion site."
+    activity_ids: [4]
+  - id: 5
+    label: "remove-needle"
+    full_str: "Remove needle, keeping catheter inside the patient."
+    activity_ids: [5]
+  - id: 6
+    label: "apply-tape"
+    full_str: "Apply tape around catheter to secure it in place."
+    activity_ids: [6]
diff --git a/poetry.lock b/poetry.lock
index 59c7e7b0f..b33199011 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -350,17 +350,6 @@ tests = ["attrs[tests-no-zope]", "zope-interface"]
 tests-mypy = ["mypy (>=1.6)", "pytest-mypy-plugins"]
 tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
 
-[[package]]
-name = "autocommand"
-version = "2.2.2"
-description = "A library to create a command-line program from a function"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "autocommand-2.2.2-py3-none-any.whl", hash = "sha256:710afe251075e038e19e815e25f8155cabe02196cfb545b2185e0d9c8b2b0459"},
-    {file = "autocommand-2.2.2.tar.gz", hash = "sha256:878de9423c5596491167225c2a455043c3130fb5b7286ac83443d45e74955f34"},
-]
-
 [[package]]
 name = "av"
 version = "12.0.0"
@@ -1076,34 +1065,35 @@ files = [
 
 [[package]]
 name = "delayed-image"
-version = "0.2.13"
+version = "0.4.2"
 description = "The delayed_image module"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "delayed_image-0.2.13-py3-none-any.whl", hash = "sha256:d1207fe8ee3278d106b9492c1cd3cb05812f157c362d81398af92fd65b75bc36"},
+    {file = "delayed_image-0.4.2-py3-none-any.whl", hash = "sha256:3f5c45e3cb12722610f31c213824a7c55c3d84e6ed36d2f76946dac525422724"},
+    {file = "delayed_image-0.4.2.tar.gz", hash = "sha256:369a76b82161f60545734b048231672148b38307f0a9abc9734da8a2725be447"},
 ]
 
 [package.dependencies]
 affine = ">=2.3.0"
-kwarray = ">=0.6.7"
-kwimage = ">=0.9.24"
+kwarray = ">=0.6.19"
+kwimage = ">=0.11.0"
 networkx = {version = ">=2.7", markers = "python_version < \"3.11\" and python_version >= \"3.8\""}
-numpy = {version = ">=1.19.2", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
-ubelt = ">=1.3.3"
+numpy = {version = ">=1.19.3", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
+ubelt = ">=1.3.6"
 
 [package.extras]
-all = ["affine (>=2.3.0)", "coverage (>=4.3.4)", "coverage (>=4.5)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "kwarray (>=0.6.7)", "kwimage (>=0.9.24)", "lark (>=1.1.2)", "lark-cython (>=0.0.12)", "networkx (>=2.2.0,<=2.5.1)", "networkx (>=2.6.2)", "networkx (>=2.7)", "networkx (>=2.8)", "numpy (>=1.19.2)", "numpy (>=1.19.2)", "numpy (>=1.19.2)", "numpy (>=1.19.3)", "numpy (>=1.21.6)", "numpy (>=1.23.2)", "numpy (>=1.26.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=6.1.2)", "pytest (>=6.2.5)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.9.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "ubelt (>=1.3.3)", "xarray (>=0.16.0)", "xdoctest (>=1.1.1)"]
-all-strict = ["affine (==2.3.0)", "coverage (==4.3.4)", "coverage (==4.5)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "kwarray (==0.6.7)", "kwimage (==0.9.24)", "lark (==1.1.2)", "lark-cython (==0.0.12)", "networkx (==2.2.0)", "networkx (==2.6.2)", "networkx (==2.7)", "networkx (==2.8)", "numpy (==1.19.2)", "numpy (==1.19.2)", "numpy (==1.19.2)", "numpy (==1.19.3)", "numpy (==1.21.6)", "numpy (==1.23.2)", "numpy (==1.26.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==6.2.5)", "pytest-cov (==2.8.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.9.0)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "ubelt (==1.3.3)", "xarray (==0.16.0)", "xdoctest (==1.1.1)"]
-graphics = ["opencv-python (>=3.1.0.0)", "opencv-python (>=3.1.0.2)", "opencv-python (>=3.1.0.5)", "opencv-python (>=3.4.13.47)", "opencv-python (>=3.4.15.55)", "opencv-python (>=3.4.15.55)", "opencv-python (>=3.4.15.55)", "opencv-python (>=4.5.4.58)", "opencv-python (>=4.5.5.64)"]
-graphics-strict = ["opencv-python (==3.1.0.0)", "opencv-python (==3.1.0.2)", "opencv-python (==3.1.0.5)", "opencv-python (==3.4.13.47)", "opencv-python (==3.4.15.55)", "opencv-python (==3.4.15.55)", "opencv-python (==3.4.15.55)", "opencv-python (==4.5.4.58)", "opencv-python (==4.5.5.64)"]
-headless = ["opencv-python-headless (>=3.4.13.47)", "opencv-python-headless (>=3.4.15.55)", "opencv-python-headless (>=3.4.15.55)", "opencv-python-headless (>=3.4.15.55)", "opencv-python-headless (>=3.4.2.16)", "opencv-python-headless (>=3.4.2.16)", "opencv-python-headless (>=3.4.2.16)", "opencv-python-headless (>=4.5.4.58)", "opencv-python-headless (>=4.5.5.64)"]
-headless-strict = ["opencv-python-headless (==3.4.13.47)", "opencv-python-headless (==3.4.15.55)", "opencv-python-headless (==3.4.15.55)", "opencv-python-headless (==3.4.15.55)", "opencv-python-headless (==3.4.2.16)", "opencv-python-headless (==3.4.2.16)", "opencv-python-headless (==3.4.2.16)", "opencv-python-headless (==4.5.4.58)", "opencv-python-headless (==4.5.5.64)"]
+all = ["affine (>=2.3.0)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "kwarray (>=0.6.19)", "kwimage (>=0.11.0)", "lark (>=1.1.2)", "lark-cython (>=0.0.12)", "networkx (>=2.7)", "networkx (>=2.8)", "numpy (>=1.19.3)", "numpy (>=1.19.3)", "numpy (>=1.21.6)", "numpy (>=1.23.2)", "numpy (>=1.26.0)", "pytest (>=6.2.5)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "ubelt (>=1.3.6)", "xarray (>=0.16.0)", "xdoctest (>=1.1.5)"]
+all-strict = ["affine (==2.3.0)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "kwarray (==0.6.19)", "kwimage (==0.11.0)", "lark (==1.1.2)", "lark-cython (==0.0.12)", "networkx (==2.7)", "networkx (==2.8)", "numpy (==1.19.3)", "numpy (==1.19.3)", "numpy (==1.21.6)", "numpy (==1.23.2)", "numpy (==1.26.0)", "pytest (==6.2.5)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "ubelt (==1.3.6)", "xarray (==0.16.0)", "xdoctest (==1.1.5)"]
+graphics = ["opencv-python (>=3.4.15.55)", "opencv-python (>=4.5.4.58)", "opencv-python (>=4.5.5.64)"]
+graphics-strict = ["opencv-python (==3.4.15.55)", "opencv-python (==4.5.4.58)", "opencv-python (==4.5.5.64)"]
+headless = ["opencv-python-headless (>=3.4.15.55)", "opencv-python-headless (>=4.5.4.58)", "opencv-python-headless (>=4.5.5.64)"]
+headless-strict = ["opencv-python-headless (==3.4.15.55)", "opencv-python-headless (==4.5.4.58)", "opencv-python-headless (==4.5.5.64)"]
 optional = ["lark (>=1.1.2)", "lark-cython (>=0.0.12)", "xarray (>=0.16.0)"]
 optional-strict = ["lark (==1.1.2)", "lark-cython (==0.0.12)", "xarray (==0.16.0)"]
-runtime-strict = ["affine (==2.3.0)", "kwarray (==0.6.7)", "kwimage (==0.9.24)", "networkx (==2.2.0)", "networkx (==2.6.2)", "networkx (==2.7)", "networkx (==2.8)", "numpy (==1.19.2)", "numpy (==1.19.2)", "numpy (==1.19.2)", "numpy (==1.19.3)", "numpy (==1.21.6)", "numpy (==1.23.2)", "numpy (==1.26.0)", "ubelt (==1.3.3)"]
-tests = ["coverage (>=4.3.4)", "coverage (>=4.5)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "pytest (>=4.6.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=6.1.2)", "pytest (>=6.2.5)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.9.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "xdoctest (>=1.1.1)"]
-tests-strict = ["coverage (==4.3.4)", "coverage (==4.5)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==6.2.5)", "pytest-cov (==2.8.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.9.0)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "xdoctest (==1.1.1)"]
+runtime-strict = ["affine (==2.3.0)", "kwarray (==0.6.19)", "kwimage (==0.11.0)", "networkx (==2.7)", "networkx (==2.8)", "numpy (==1.19.3)", "numpy (==1.19.3)", "numpy (==1.21.6)", "numpy (==1.23.2)", "numpy (==1.26.0)", "ubelt (==1.3.6)"]
+tests = ["coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "pytest (>=6.2.5)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "xdoctest (>=1.1.5)"]
+tests-strict = ["coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "pytest (==6.2.5)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "xdoctest (==1.1.5)"]
 
 [[package]]
 name = "detectron2"
@@ -1941,25 +1931,6 @@ zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
 testing = ["jaraco.test (>=5.4)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "zipp (>=3.17)"]
 
-[[package]]
-name = "inflect"
-version = "7.0.0"
-description = "Correctly generate plurals, singular nouns, ordinals, indefinite articles; convert numbers to words"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "inflect-7.0.0-py3-none-any.whl", hash = "sha256:9544afed6182176e43955c44b1acdaed30f9b2b56c16d1fc5b222d98218b546e"},
-    {file = "inflect-7.0.0.tar.gz", hash = "sha256:63da9325ad29da81ec23e055b41225795ab793b4ecb483be5dc1fa363fd4717e"},
-]
-
-[package.dependencies]
-pydantic = ">=1.9.1"
-typing-extensions = "*"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pygments", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
-
 [[package]]
 name = "iniconfig"
 version = "2.0.0"
@@ -2092,155 +2063,6 @@ files = [
 [package.dependencies]
 arrow = ">=0.15.0"
 
-[[package]]
-name = "jaraco-classes"
-version = "3.3.1"
-description = "Utility functions for Python class constructs"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "jaraco.classes-3.3.1-py3-none-any.whl", hash = "sha256:86b534de565381f6b3c1c830d13f931d7be1a75f0081c57dff615578676e2206"},
-    {file = "jaraco.classes-3.3.1.tar.gz", hash = "sha256:cb28a5ebda8bc47d8c8015307d93163464f9f2b91ab4006e09ff0ce07e8bfb30"},
-]
-
-[package.dependencies]
-more-itertools = "*"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
-
-[[package]]
-name = "jaraco-collections"
-version = "5.0.0"
-description = "Collection objects similar to those in stdlib by jaraco"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "jaraco.collections-5.0.0-py3-none-any.whl", hash = "sha256:a693d06b12718656921d79ba4f665f905014da09b35aa3deef43be4f14fdaa0d"},
-    {file = "jaraco.collections-5.0.0.tar.gz", hash = "sha256:1680e8d09f295f625c7ba926880175a26fdbe7092b4c76d198e30476b21cfe68"},
-]
-
-[package.dependencies]
-"jaraco.text" = "*"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
-
-[[package]]
-name = "jaraco-context"
-version = "4.3.0"
-description = "Context managers by jaraco"
-optional = false
-python-versions = ">=3.7"
-files = [
-    {file = "jaraco.context-4.3.0-py3-none-any.whl", hash = "sha256:5d9e95ca0faa78943ed66f6bc658dd637430f16125d86988e77844c741ff2f11"},
-    {file = "jaraco.context-4.3.0.tar.gz", hash = "sha256:4dad2404540b936a20acedec53355bdaea223acb88fd329fa6de9261c941566e"},
-]
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["flake8 (<5)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
-
-[[package]]
-name = "jaraco-functools"
-version = "4.0.0"
-description = "Functools like those found in stdlib"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "jaraco.functools-4.0.0-py3-none-any.whl", hash = "sha256:daf276ddf234bea897ef14f43c4e1bf9eefeac7b7a82a4dd69228ac20acff68d"},
-    {file = "jaraco.functools-4.0.0.tar.gz", hash = "sha256:c279cb24c93d694ef7270f970d499cab4d3813f4e08273f95398651a634f0925"},
-]
-
-[package.dependencies]
-more-itertools = "*"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["jaraco.classes", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
-
-[[package]]
-name = "jaraco-structures"
-version = "2.2.0"
-description = "Data structures by jaraco"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "jaraco.structures-2.2.0-py3-none-any.whl", hash = "sha256:d77cc1b43119b58ce3b0d1a395b577a110afa38f2fe7d1cf308362bc47d7c5da"},
-    {file = "jaraco.structures-2.2.0.tar.gz", hash = "sha256:93004c2ff4b721a3d3f248b6f5557c31e94a07607e58d9e97dc4b81ce0df7679"},
-]
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
-
-[[package]]
-name = "jaraco-text"
-version = "3.12.0"
-description = "Module for text manipulation"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "jaraco.text-3.12.0-py3-none-any.whl", hash = "sha256:1472f5a04a4cf77a0a3867495c24736ed9dc406070634934455323fa3a2c63de"},
-    {file = "jaraco.text-3.12.0.tar.gz", hash = "sha256:389e25c8d4b32e9715bf530596fab0f5cd3aa47296e43969392e18a541af592c"},
-]
-
-[package.dependencies]
-autocommand = "*"
-importlib-resources = {version = "*", markers = "python_version < \"3.9\""}
-inflect = "*"
-"jaraco.context" = ">=4.1"
-"jaraco.functools" = "*"
-more-itertools = "*"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pathlib2", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
-
-[[package]]
-name = "jaraco-ui"
-version = "2.3.0"
-description = "User-Interface tools (mainly command-line)"
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "jaraco.ui-2.3.0-py3-none-any.whl", hash = "sha256:9d609ea57a4bd3a85e0b8603526bb0a9016667d956a52cd236b0f4e090864fd7"},
-    {file = "jaraco.ui-2.3.0.tar.gz", hash = "sha256:afaced6efda5c9715c17be9750687c283ff9ace5fb42d9a1997bedb46f6a8a1a"},
-]
-
-[package.dependencies]
-"jaraco.classes" = "*"
-"jaraco.text" = "*"
-
-[package.extras]
-docs = ["jaraco.packaging (>=8.2)", "rst.linker (>=1.9)", "sphinx"]
-testing = ["pytest (>=3.5,!=3.7.3)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=1.2.3)", "pytest-cov", "pytest-enabler", "pytest-flake8", "pytest-mypy"]
-
-[[package]]
-name = "jaraco-windows"
-version = "5.8.0"
-description = "Windows Routines by Jason R. Coombs"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "jaraco.windows-5.8.0-py3-none-any.whl", hash = "sha256:2fa49ef411c14fd2e59b6879ec68b225608ec125eb121c882847131c027d0ddc"},
-    {file = "jaraco.windows-5.8.0.tar.gz", hash = "sha256:9215675639e80f96190203b66c37f56479ee68e20841aa4bca309208dd2d8e10"},
-]
-
-[package.dependencies]
-"jaraco.collections" = "*"
-"jaraco.structures" = ">=1.1.1"
-"jaraco.text" = "*"
-"jaraco.ui" = "*"
-more-itertools = "*"
-path = "*"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "pywin32", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
-
 [[package]]
 name = "jedi"
 version = "0.19.1"
@@ -2746,12 +2568,13 @@ files = [
 
 [[package]]
 name = "kwarray"
-version = "0.6.18"
+version = "0.7.1"
 description = "The kwarray module"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "kwarray-0.6.18-py3-none-any.whl", hash = "sha256:e3ea15d4a75b2c999da59ce592be3041f645b5ddcfd10fb73f5b6b65f20e7e28"},
+    {file = "kwarray-0.7.1-py3-none-any.whl", hash = "sha256:378eacfeeae27ee967eaa15c49f5141c8ce1f0cf869c1aea8139bf216c6d7f4b"},
+    {file = "kwarray-0.7.1.tar.gz", hash = "sha256:80c76a27516a1f371d53c783938e1ebc19588167c8e31725939e6e43bb69cead"},
 ]
 
 [package.dependencies]
@@ -2760,78 +2583,91 @@ packaging = ">=21.3"
 ubelt = ">=1.2.3"
 
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 [[package]]
 name = "kwcoco"
-version = "0.7.8"
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 description = "The kwcoco module and cli for image datasets"
 optional = false
-python-versions = ">=3.6"
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 files = [
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+    {file = "kwcoco-0.8.6-py3-none-any.whl", hash = "sha256:e43ab830759023d98a5d9445d9d9588344b59b6e8df835efaa6be08344d57f59"},
+    {file = "kwcoco-0.8.6.tar.gz", hash = "sha256:f2b3e40c4e1a230c22960a3d85a94cb685fd4f87858a5174e3d9bac265a53e26"},
 ]
 
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 packaging = ">=21.3"
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 psutil = {version = ">=5.6.3", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
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 safer = ">=4.4.1"
 scikit-learn = {version = ">=1.0.2", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
 scipy = {version = ">=1.8.0", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
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 uritools = ">=3.0.0"
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 name = "kwimage"
-version = "0.9.25"
+version = "0.11.1"
 description = "The kwimage module"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
-    {file = "kwimage-0.9.25-py3-none-any.whl", hash = "sha256:b4cba2b3f72abfde3d8ee271137f849cc38c1fe5b2a103e85e43e60b37dcfed9"},
+    {file = "kwimage-0.11.1-py3-none-any.whl", hash = "sha256:a1eb771ea57642c3f40ede2d307aa4994d42cf70b9b91f7e1c1bb4cd930c5a46"},
+    {file = "kwimage-0.11.1.tar.gz", hash = "sha256:a142fcb1ae3e8dc806400dd02b71e8b33e70c1c2d4ef5822b97d1a86f3b06110"},
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 affine = ">=2.3.0"
 distinctipy = {version = ">=1.2.1", markers = "python_version < \"4.0\" and python_version >= \"3.8\""}
-kwarray = ">=0.6.7"
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 networkx = {version = ">=2.7", markers = "python_version < \"3.11\" and python_version >= \"3.8\""}
-numpy = {version = ">=1.19.2", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
+numpy = {version = ">=1.19.3", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
 parse = ">=1.14.0"
 Pillow = {version = ">=8.0.0", markers = "python_version < \"3.10\" and python_version >= \"3.6\""}
 scikit-image = {version = ">=0.17.2", markers = "python_version < \"3.9\" and python_version >= \"3.8\""}
@@ -2840,27 +2676,24 @@ shapely = {version = ">=1.7.1", markers = "python_version < \"3.9\" and python_v
 ubelt = ">=1.3.3"
 
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 [[package]]
 name = "langchain"
@@ -3418,17 +3251,6 @@ url = "https://github.com/periakiva/mmpose.git"
 reference = "exp"
 resolved_reference = "866d6ff38402db428dc0e8b0fac807290e9c6ba4"
 
-[[package]]
-name = "more-itertools"
-version = "10.2.0"
-description = "More routines for operating on iterables, beyond itertools"
-optional = false
-python-versions = ">=3.8"
-files = [
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-    {file = "more_itertools-10.2.0-py3-none-any.whl", hash = "sha256:686b06abe565edfab151cb8fd385a05651e1fdf8f0a14191e4439283421f8684"},
-]
-
 [[package]]
 name = "moviepy"
 version = "1.0.3"
@@ -3882,7 +3704,9 @@ description = "CUDA Runtime native Libraries"
 optional = false
 python-versions = ">=3"
 files = [
+    {file = "nvidia_cuda_runtime_cu12-12.6.77-py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:6116fad3e049e04791c0256a9778c16237837c08b27ed8c8401e2e45de8d60cd"},
     {file = "nvidia_cuda_runtime_cu12-12.6.77-py3-none-manylinux2014_aarch64.whl", hash = "sha256:d461264ecb429c84c8879a7153499ddc7b19b5f8d84c204307491989a365588e"},
+    {file = "nvidia_cuda_runtime_cu12-12.6.77-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:ba3b56a4f896141e25e19ab287cd71e52a6a0f4b29d0d31609f60e3b4d5219b7"},
     {file = "nvidia_cuda_runtime_cu12-12.6.77-py3-none-manylinux2014_x86_64.whl", hash = "sha256:a84d15d5e1da416dd4774cb42edf5e954a3e60cc945698dc1d5be02321c44dc8"},
     {file = "nvidia_cuda_runtime_cu12-12.6.77-py3-none-win_amd64.whl", hash = "sha256:86c58044c824bf3c173c49a2dbc7a6c8b53cb4e4dca50068be0bf64e9dab3f7f"},
 ]
@@ -4127,21 +3951,6 @@ files = [
 qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
 testing = ["docopt", "pytest (<6.0.0)"]
 
-[[package]]
-name = "path"
-version = "16.10.0"
-description = "A module wrapper for os.path"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "path-16.10.0-py3-none-any.whl", hash = "sha256:902afa16e63943c1d6f14d9f74a6603beaa56980807e0234098256fd0ac33fed"},
-    {file = "path-16.10.0.tar.gz", hash = "sha256:b32b22b76fe810a8ded6d136268cc8b6698ae7c47c29b94a9ea12623f3051e46"},
-]
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["appdirs", "more-itertools", "packaging", "pygments", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "pywin32"]
-
 [[package]]
 name = "pathspec"
 version = "0.12.1"
@@ -6835,30 +6644,24 @@ files = [
 
 [[package]]
 name = "ubelt"
-version = "1.3.5"
+version = "1.3.6"
 description = "A Python utility belt containing simple tools, a stdlib like feel, and extra batteries"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "ubelt-1.3.5-py3-none-any.whl", hash = "sha256:23e7ac788b05fa797d01c12fc74942355de51f575ed038eeaa8a545fda3c24f7"},
-    {file = "ubelt-1.3.5.tar.gz", hash = "sha256:c981c5fbce5c8bcebf02564d25b9bd984aba0efbee215de5fbd354ed64c9ee65"},
+    {file = "ubelt-1.3.6-py3-none-any.whl", hash = "sha256:2a38f260e7f3c25d3618f653d5c900230dc5af56bf0bc1ff85cfdbe9d0c88f0f"},
+    {file = "ubelt-1.3.6.tar.gz", hash = "sha256:327a516a1fc95595096727ae3ae879379bc56fc11fb945857b971ef85a74f698"},
 ]
 
-[package.dependencies]
-"jaraco.windows" = {version = ">=3.9.1", markers = "platform_system == \"Windows\""}
-pydantic = {version = "<2.0", markers = "platform_system == \"Windows\" and platform_python_implementation == \"PyPy\""}
-
 [package.extras]
-all = ["Pygments (>=2.2.0)", "colorama (>=0.4.3)", "coverage (>=4.3.4)", "coverage (>=4.5)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=7.3.0)", "jaraco.windows (>=3.9.1)", "numpy (>=1.12.0,<2.0.0)", "numpy (>=1.14.5,<2.0.0)", "numpy (>=1.19.2)", "numpy (>=1.19.3)", "numpy (>=1.21.1)", "numpy (>=1.23.2)", "numpy (>=1.26.0)", "packaging (>=21.0)", "pydantic (<2.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=6.1.2)", "pytest (>=6.2.5)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.9.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "python-dateutil (>=2.8.1)", "requests (>=2.25.1)", "xdoctest (>=1.1.2)", "xxhash (>=1.3.0)", "xxhash (>=1.3.0)", "xxhash (>=1.4.3)", "xxhash (>=2.0.2)", "xxhash (>=3.0.0)", "xxhash (>=3.2.0)", "xxhash (>=3.4.1)"]
-all-strict = ["Pygments (==2.2.0)", "colorama (==0.4.3)", "coverage (==4.3.4)", "coverage (==4.5)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==7.3.0)", "jaraco.windows (==3.9.1)", "numpy (==1.12.0)", "numpy (==1.14.5)", "numpy (==1.19.2)", "numpy (==1.19.3)", "numpy (==1.21.1)", "numpy (==1.23.2)", "numpy (==1.26.0)", "packaging (==21.0)", "pydantic (<2.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==6.2.5)", "pytest-cov (==2.8.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.9.0)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "python-dateutil (==2.8.1)", "requests (==2.25.1)", "xdoctest (==1.1.2)", "xxhash (==1.3.0)", "xxhash (==1.3.0)", "xxhash (==1.4.3)", "xxhash (==2.0.2)", "xxhash (==3.0.0)", "xxhash (==3.2.0)", "xxhash (==3.4.1)"]
+all = ["Pygments (>=2.2.0)", "colorama (>=0.4.3)", "coverage (>=4.3.4)", "coverage (>=4.5)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=7.3.0)", "jaraco.windows (>=3.9.1)", "numpy (>=1.12.0,<2.0.0)", "numpy (>=1.14.5,<2.0.0)", "numpy (>=1.19.2)", "numpy (>=1.19.3)", "numpy (>=1.21.1)", "numpy (>=1.23.2)", "numpy (>=1.26.0)", "packaging (>=21.0)", "pydantic (<2.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=6.1.2)", "pytest (>=6.2.5)", "pytest (>=8.1.1)", "pytest (>=8.1.1)", "pytest (>=8.1.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.9.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "pytest-timeout (>=2.3.1)", "python-dateutil (>=2.8.1)", "requests (>=2.25.1)", "xdoctest (>=1.1.3)", "xxhash (>=1.3.0)", "xxhash (>=1.3.0)", "xxhash (>=1.4.3)", "xxhash (>=2.0.2)", "xxhash (>=3.0.0)", "xxhash (>=3.2.0)", "xxhash (>=3.4.1)"]
+all-strict = ["Pygments (==2.2.0)", "colorama (==0.4.3)", "coverage (==4.3.4)", "coverage (==4.5)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==7.3.0)", "jaraco.windows (==3.9.1)", "numpy (==1.12.0)", "numpy (==1.14.5)", "numpy (==1.19.2)", "numpy (==1.19.3)", "numpy (==1.21.1)", "numpy (==1.23.2)", "numpy (==1.26.0)", "packaging (==21.0)", "pydantic (<2.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==6.2.5)", "pytest (==8.1.1)", "pytest (==8.1.1)", "pytest (==8.1.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.9.0)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "pytest-timeout (==2.3.1)", "python-dateutil (==2.8.1)", "requests (==2.25.1)", "xdoctest (==1.1.3)", "xxhash (==1.3.0)", "xxhash (==1.3.0)", "xxhash (==1.4.3)", "xxhash (==2.0.2)", "xxhash (==3.0.0)", "xxhash (==3.2.0)", "xxhash (==3.4.1)"]
 docs = ["Pygments (>=2.9.0)", "myst-parser (>=0.16.1)", "sphinx (>=4.3.2)", "sphinx-autoapi (>=1.8.4)", "sphinx-autobuild (>=2021.3.14)", "sphinx-reredirects (>=0.0.1)", "sphinx-rtd-theme (>=1.0.0)", "sphinxcontrib-napoleon (>=0.7)"]
 docs-strict = ["Pygments (==2.9.0)", "myst-parser (==0.16.1)", "sphinx (==4.3.2)", "sphinx-autoapi (==1.8.4)", "sphinx-autobuild (==2021.3.14)", "sphinx-reredirects (==0.0.1)", "sphinx-rtd-theme (==1.0.0)", "sphinxcontrib-napoleon (==0.7)"]
-optional = ["Pygments (>=2.2.0)", "colorama (>=0.4.3)", "numpy (>=1.12.0,<2.0.0)", "numpy (>=1.14.5,<2.0.0)", "numpy (>=1.19.2)", "numpy (>=1.19.3)", "numpy (>=1.21.1)", "numpy (>=1.23.2)", "numpy (>=1.26.0)", "packaging (>=21.0)", "python-dateutil (>=2.8.1)", "xxhash (>=1.3.0)", "xxhash (>=1.3.0)", "xxhash (>=1.4.3)", "xxhash (>=2.0.2)", "xxhash (>=3.0.0)", "xxhash (>=3.2.0)", "xxhash (>=3.4.1)"]
-optional-strict = ["Pygments (==2.2.0)", "colorama (==0.4.3)", "numpy (==1.12.0)", "numpy (==1.14.5)", "numpy (==1.19.2)", "numpy (==1.19.3)", "numpy (==1.21.1)", "numpy (==1.23.2)", "numpy (==1.26.0)", "packaging (==21.0)", "python-dateutil (==2.8.1)", "xxhash (==1.3.0)", "xxhash (==1.3.0)", "xxhash (==1.4.3)", "xxhash (==2.0.2)", "xxhash (==3.0.0)", "xxhash (==3.2.0)", "xxhash (==3.4.1)"]
-runtime = ["jaraco.windows (>=3.9.1)", "pydantic (<2.0)"]
-runtime-strict = ["jaraco.windows (==3.9.1)", "pydantic (<2.0)"]
-tests = ["coverage (>=4.3.4)", "coverage (>=4.5)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=7.3.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=6.1.2)", "pytest (>=6.2.5)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.9.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "requests (>=2.25.1)", "xdoctest (>=1.1.2)"]
-tests-strict = ["coverage (==4.3.4)", "coverage (==4.5)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==7.3.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==6.2.5)", "pytest-cov (==2.8.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.9.0)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "requests (==2.25.1)", "xdoctest (==1.1.2)"]
+optional = ["Pygments (>=2.2.0)", "colorama (>=0.4.3)", "jaraco.windows (>=3.9.1)", "numpy (>=1.12.0,<2.0.0)", "numpy (>=1.14.5,<2.0.0)", "numpy (>=1.19.2)", "numpy (>=1.19.3)", "numpy (>=1.21.1)", "numpy (>=1.23.2)", "numpy (>=1.26.0)", "packaging (>=21.0)", "pydantic (<2.0)", "python-dateutil (>=2.8.1)", "xxhash (>=1.3.0)", "xxhash (>=1.3.0)", "xxhash (>=1.4.3)", "xxhash (>=2.0.2)", "xxhash (>=3.0.0)", "xxhash (>=3.2.0)", "xxhash (>=3.4.1)"]
+optional-strict = ["Pygments (==2.2.0)", "colorama (==0.4.3)", "jaraco.windows (==3.9.1)", "numpy (==1.12.0)", "numpy (==1.14.5)", "numpy (==1.19.2)", "numpy (==1.19.3)", "numpy (==1.21.1)", "numpy (==1.23.2)", "numpy (==1.26.0)", "packaging (==21.0)", "pydantic (<2.0)", "python-dateutil (==2.8.1)", "xxhash (==1.3.0)", "xxhash (==1.3.0)", "xxhash (==1.4.3)", "xxhash (==2.0.2)", "xxhash (==3.0.0)", "xxhash (==3.2.0)", "xxhash (==3.4.1)"]
+tests = ["coverage (>=4.3.4)", "coverage (>=4.5)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=5.3.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=6.1.1)", "coverage (>=7.3.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=4.6.11)", "pytest (>=4.6.0,<=6.1.2)", "pytest (>=6.2.5)", "pytest (>=8.1.1)", "pytest (>=8.1.1)", "pytest (>=8.1.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.8.1)", "pytest-cov (>=2.9.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=1.4.2)", "pytest-timeout (>=2.3.1)", "requests (>=2.25.1)", "xdoctest (>=1.1.3)"]
+tests-strict = ["coverage (==4.3.4)", "coverage (==4.5)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==5.3.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==6.1.1)", "coverage (==7.3.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==4.6.0)", "pytest (==6.2.5)", "pytest (==8.1.1)", "pytest (==8.1.1)", "pytest (==8.1.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.8.1)", "pytest-cov (==2.9.0)", "pytest-cov (==3.0.0)", "pytest-timeout (==1.4.2)", "pytest-timeout (==2.3.1)", "requests (==2.25.1)", "xdoctest (==1.1.3)"]
 types = ["autoflake (>=1.4)", "mypy", "yapf (>=0.32.0)"]
 types-strict = ["autoflake (==1.4)", "mypy", "yapf (==0.32.0)"]
 
diff --git a/ros/angel_msgs/CMakeLists.txt b/ros/angel_msgs/CMakeLists.txt
index 692667a4e..eb5c103d9 100644
--- a/ros/angel_msgs/CMakeLists.txt
+++ b/ros/angel_msgs/CMakeLists.txt
@@ -34,6 +34,7 @@ set( message_files
   msg/HandJointPosesUpdate.msg
   msg/HeadsetAudioData.msg
   msg/HeadsetPoseData.msg
+  msg/ImageMetadata.msg
   msg/InterpretedAudioUserIntent.msg
   msg/InterpretedAudioUserEmotion.msg
   msg/JointKeypoints.msg
diff --git a/ros/angel_msgs/msg/ImageMetadata.msg b/ros/angel_msgs/msg/ImageMetadata.msg
new file mode 100644
index 000000000..12e2a940d
--- /dev/null
+++ b/ros/angel_msgs/msg/ImageMetadata.msg
@@ -0,0 +1,13 @@
+#
+# An image metadata message
+#
+
+# Header should represent when this message was published not the image.
+std_msgs/Header header
+
+# Timestamp of when the image was created.
+builtin_interfaces/Time image_source_stamp
+
+# pixel size of the image
+uint32 height
+uint32 width
diff --git a/ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py b/ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py
index 9ec7e9a22..d5d9795d2 100644
--- a/ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py
+++ b/ros/angel_system_nodes/angel_system_nodes/activity_classification/activity_classifier_tcn.py
@@ -29,7 +29,7 @@
     FramePoses,
 )
 from tcn_hpl.models.ptg_module import PTGLitModule
-from sensor_msgs.msg import CameraInfo
+from angel_msgs.msg import ImageMetadata
 
 from angel_system.activity_classification.tcn_hpl.predict import (
     ResultsCollector,
@@ -254,7 +254,7 @@ def __init__(self):
         # runtime-thread allocation.
         # This is intentionally before runtime-loop initialization.
         self._img_ts_subscriber = self.create_subscription(
-            CameraInfo,
+            ImageMetadata,
             self._img_md_topic,
             self.img_md_callback,
             1,
@@ -385,12 +385,13 @@ def _thread_populate_from_coco(self, input_coco_path: Path) -> None:
             log.info(f"Queuing from COCO: n_dets={n_dets}, image_ts={image_ts}")
             self.det_callback(det_msg)
             # self.pose_callback(det_msg)
-            new_msg = CameraInfo()
-            new_msg.header.stamp = image_ts
+            new_msg = ImageMetadata()
+            new_msg.image_source_stamp = image_ts
             # set the image width and height from the image in the dataset
             img = dset.imgs[image_id]
             new_msg.width = img.get("width")
             new_msg.height = img.get("height")
+            new_msg.header.stamp = self.get_clock().now().to_msg()
             self.img_md_callback(new_msg)
 
             # Wait until `image_ts` was considered in the runtime loop before
@@ -406,7 +407,7 @@ def _thread_populate_from_coco(self, input_coco_path: Path) -> None:
         log.info("Completed COCO file object yielding")
         self._rt_active.clear()
 
-    def img_md_callback(self, msg: CameraInfo) -> None:
+    def img_md_callback(self, msg: ImageMetadata) -> None:
         """
         Capture a detection source image timestamp message.
         """
diff --git a/ros/angel_system_nodes/angel_system_nodes/data_publishers/hl2ss_ros_bridge.py b/ros/angel_system_nodes/angel_system_nodes/data_publishers/hl2ss_ros_bridge.py
index beebf75df..ff1d2d389 100644
--- a/ros/angel_system_nodes/angel_system_nodes/data_publishers/hl2ss_ros_bridge.py
+++ b/ros/angel_system_nodes/angel_system_nodes/data_publishers/hl2ss_ros_bridge.py
@@ -9,7 +9,7 @@
 )
 import numpy as np
 from rclpy.node import Node
-from sensor_msgs.msg import Image, CameraInfo
+from sensor_msgs.msg import Image
 from shape_msgs.msg import (
     Mesh,
     MeshTriangle,
@@ -21,6 +21,7 @@
     HeadsetAudioData,
     HeadsetPoseData,
     SpatialMesh,
+    ImageMetadata,
 )
 from angel_utils import declare_and_get_parameters, RateTracker
 from angel_utils import make_default_main
@@ -122,7 +123,7 @@ def __init__(self):
                 Image, self._image_topic, 1
             )
             self.ros_frame_md_publisher = self.create_publisher(
-                CameraInfo, self._image_md_topic, 1
+                ImageMetadata, self._image_md_topic, 1
             )
             self.connect_hl2ss_pv()
             log.info("PV client connected!")
@@ -377,10 +378,11 @@ def pv_publisher(self) -> None:
 
             # Publish the image msg
             self.ros_frame_publisher.publish(image_msg)
-            new_msg = CameraInfo()
-            new_msg.header = image_msg.header
+            new_msg = ImageMetadata()
+            new_msg.image_source_stamp = image_msg.header.stamp
             new_msg.height = image_msg.height
             new_msg.width = image_msg.width
+            new_msg.header.stamp = self.get_clock().now().to_msg()
             self.ros_frame_md_publisher.publish(new_msg)
 
             # Publish the corresponding headset pose msg
diff --git a/ros/angel_system_nodes/angel_system_nodes/data_publishers/image_metadata_relay.py b/ros/angel_system_nodes/angel_system_nodes/data_publishers/image_metadata_relay.py
index 72fcec7f3..b16972cf9 100644
--- a/ros/angel_system_nodes/angel_system_nodes/data_publishers/image_metadata_relay.py
+++ b/ros/angel_system_nodes/angel_system_nodes/data_publishers/image_metadata_relay.py
@@ -5,10 +5,11 @@
 
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.node import Node
-from sensor_msgs.msg import Image, CameraInfo
+from sensor_msgs.msg import Image
 
 from angel_utils import declare_and_get_parameters, RateTracker
 from angel_utils import make_default_main
+from angel_msgs.msg import ImageMetadata
 
 
 PARAM_INPUT_TOPIC = "image_topic"
@@ -37,22 +38,24 @@ def __init__(self):
             callback_group=MutuallyExclusiveCallbackGroup(),
         )
         self._pub = self.create_publisher(
-            CameraInfo,
+            ImageMetadata,
             param_values[PARAM_OUTPUT_TOPIC],
             1,
             callback_group=MutuallyExclusiveCallbackGroup(),
         )
 
     def input_callback(self, msg: Image) -> None:
-        new_msg = CameraInfo()
-        new_msg.header = msg.header
+        new_msg = ImageMetadata()
+        new_msg.image_source_stamp = msg.header.stamp
         new_msg.height = msg.height
         new_msg.width = msg.width
+        new_msg.header.stamp = self.get_clock().now().to_msg()
 
         self._pub.publish(new_msg)
         self._rate_tracker.tick()
         self.get_logger().info(
-            f"[input_callback] CameraInfo message with TS={msg.header.stamp}, "
+            f"[input_callback] ImageMetadata message with TS={new_msg.header.stamp}, "
+            f"source TS={new_msg.image_source_stamp}, "
             f"image size {msg.width}x{msg.height}, "
             f"rate={self._rate_tracker.get_rate_avg()} Hz",
         )
diff --git a/ros/angel_system_nodes/angel_system_nodes/latency_tracker.py b/ros/angel_system_nodes/angel_system_nodes/latency_tracker.py
index 5c515f50c..04609cf7b 100644
--- a/ros/angel_system_nodes/angel_system_nodes/latency_tracker.py
+++ b/ros/angel_system_nodes/angel_system_nodes/latency_tracker.py
@@ -5,7 +5,8 @@
 from rclpy.node import Node
 
 from angel_system.utils.event import WaitAndClearEvent
-from angel_utils.conversion import time_to_float
+from angel_utils.conversion import time_to_float, time_to_int
+from builtin_interfaces.msg import Time
 
 from angel_msgs.msg import ObjectDetection2dSet, HandJointPosesUpdate, ActivityDetection
 from angel_utils import (
@@ -14,7 +15,7 @@
     make_default_main,
 )
 from std_msgs.msg import String as ros2_string
-from sensor_msgs.msg import CameraInfo
+from angel_msgs.msg import ImageMetadata
 
 
 class LatencyTracker(Node):
@@ -59,23 +60,23 @@ def __init__(self):
         # Single slot for latest image message to process detection over.
         # This should be written by the image topic subscriber callback, and
         # read from the runtime loop once per iteration.
-        self._cur_image_msg_lock = Lock()
         self._cur_det_msg_lock = Lock()
         self._cur_pose_msg_lock = Lock()
         self._cur_act_msg_lock = Lock()
+        self._image_lookup_lock = Lock()
 
         self._rate_tracker = RateTracker()
 
-        self._img_time = None
         self._det = None
         self._pose = None
         self._act = None
+        self._image_lookup = {}
 
         ##########################################
         # Initialize ROS hooks
         log.info("Setting up ROS subscriptions and publishers...")
         self._img_ts_subscriber = self.create_subscription(
-            CameraInfo,
+            ImageMetadata,
             self._image_md_topic,
             self.img_md_callback,
             1,
@@ -151,31 +152,41 @@ def rt_loop(self):
 
                 msg = ros2_string()
 
-                # get latency from image source stamp vs det_msg's
+                # get latency from image source stamp vs the time the message was created
                 det_lat = None
                 if self._det:
                     with self._cur_det_msg_lock:
                         det_msg = self._det
                     dt_time = time_to_float(det_msg.header.stamp)
-                    img_time = time_to_float(det_msg.source_stamp)
-                    det_lat = dt_time - img_time
+                    img_time = self.get_msg_time_from_source(det_msg.source_stamp)
+                    if img_time is not None:
+                        det_lat = dt_time - time_to_float(img_time)
+
                 pose_lat = None
                 if self._pose:
                     with self._cur_pose_msg_lock:
                         pose_msg = self._pose
                     ps_time = time_to_float(pose_msg.header.stamp)
-                    img_time = time_to_float(pose_msg.source_stamp)
-                    pose_lat = ps_time - img_time
+                    img_time = self.get_msg_time_from_source(pose_msg.source_stamp)
+                    if img_time is not None:
+                        pose_lat = ps_time - time_to_float(img_time)
+
                 act_lat_start = None
                 act_lat_end = None
                 if self._act:
                     with self._cur_act_msg_lock:
                         act_msg = self._act
                     act_time = time_to_float(act_msg.header.stamp)
-                    img_time = time_to_float(act_msg.source_stamp_start_frame)
-                    act_lat_start = act_time - img_time
-                    img_time = time_to_float(act_msg.source_stamp_end_frame)
-                    act_lat_end = act_time - img_time
+                    img_time = self.get_msg_time_from_source(
+                        act_msg.source_stamp_start_frame
+                    )
+                    if img_time is not None:
+                        act_lat_start = act_time - time_to_float(img_time)
+                    img_time = self.get_msg_time_from_source(
+                        act_msg.source_stamp_end_frame
+                    )
+                    if img_time is not None:
+                        act_lat_end = act_time - time_to_float(img_time)
 
                 # save the info to the message
                 data = {
@@ -198,7 +209,7 @@ def rt_loop(self):
                 self._rate_tracker.tick()
                 log.info(f"Latency Rate: {self._rate_tracker.get_rate_avg()} Hz")
 
-    def img_md_callback(self, msg: CameraInfo) -> None:
+    def img_md_callback(self, msg: ImageMetadata) -> None:
         """
         Capture a detection source image timestamp message.
         """
@@ -206,8 +217,8 @@ def img_md_callback(self, msg: CameraInfo) -> None:
         if self._enable_trace_logging:
             log.info(f"Received image with TS: {msg.header.stamp}")
 
-        with self._cur_image_msg_lock:
-            self._img_time = msg.header.stamp
+        with self._image_lookup_lock:
+            self._image_lookup[time_to_int(msg.image_source_stamp)] = msg.header.stamp
             self._rt_awake_evt.set()
 
     def det_callback(self, msg: ObjectDetection2dSet) -> None:
@@ -222,6 +233,10 @@ def act_callback(self, msg: ActivityDetection) -> None:
         with self._cur_act_msg_lock:
             self._act = msg
 
+    def get_msg_time_from_source(self, source_stamp: Time) -> Time:
+        with self._image_lookup_lock:
+            return self._image_lookup.get(time_to_int(source_stamp))
+
     def destroy_node(self):
         print("Stopping runtime")
         self.rt_stop()
diff --git a/ros/angel_utils/python/angel_utils/activity_classification.py b/ros/angel_utils/python/angel_utils/activity_classification.py
index cc01e0c99..c7eecabad 100644
--- a/ros/angel_utils/python/angel_utils/activity_classification.py
+++ b/ros/angel_utils/python/angel_utils/activity_classification.py
@@ -15,11 +15,11 @@
 
 # ROS Message types
 from builtin_interfaces.msg import Time
-from sensor_msgs.msg import CameraInfo
 
 from angel_msgs.msg import (
     HandJointPosesUpdate,
     ObjectDetection2dSet,
+    ImageMetadata,
 )
 
 from angel_system.utils.matching import descending_match_with_tolerance
@@ -44,7 +44,7 @@ class InputWindow:
     # Buffer for patient poses
     patient_joint_kps: List[Optional[HandJointPosesUpdate]]
     # Buffer for the image metadata
-    camera_info: List[Optional[CameraInfo]]
+    camera_info: List[Optional[ImageMetadata]]
 
     def __len__(self):
         return len(self.frames)
@@ -147,7 +147,7 @@ class InputBuffer:
     )
 
     # buffer for camera info
-    camera_info: Deque[CameraInfo] = field(
+    camera_info: Deque[ImageMetadata] = field(
         default_factory=deque, init=False, repr=False
     )
 
@@ -186,7 +186,7 @@ def latest_time(self) -> Time:
     def queue_image(
         self,
         img_mat: npt.NDArray[np.uint8],
-        camera_msg: CameraInfo,
+        img_meta_msg: ImageMetadata,
         image_frame_number: int,
     ) -> bool:
         """
@@ -195,7 +195,7 @@ def queue_image(
             not newer than the current latest frame.
         """
         # get the timestamp from the image header
-        img_header_stamp = camera_msg.header.stamp
+        img_header_stamp = img_meta_msg.image_source_stamp
         # self.get_logger_fn().info(f"image header stamp: {img_header_stamp}")
         # self.get_logger_fn().info(f"self.frames[-1][0] header stamp: {self.frames[-1][0]}")
         with self.__state_lock:
@@ -212,7 +212,7 @@ def queue_image(
             # save the image frame
             self.frames.append((img_header_stamp, img_mat, image_frame_number))
             # save the camera info
-            self.camera_info.append(camera_msg)
+            self.camera_info.append(img_meta_msg)
             return True
 
     def queue_hand_pose(self, msg: HandJointPosesUpdate) -> bool:
@@ -394,11 +394,7 @@ def get_window(
                 frames=window_frames,
                 obj_dets=window_dets,
                 patient_joint_kps=window_joint_kps,
-                camera_info=[
-                    ci
-                    for ci in self.camera_info
-                    if ci.header.stamp in window_frame_times
-                ],
+                camera_info=[ci for ci in self.camera_info],
             )
             return output
 
diff --git a/tmux/demos/medical/Kitware-M2-bag.yml b/tmux/demos/medical/Kitware-M2-bag.yml
new file mode 100644
index 000000000..d7de45bbc
--- /dev/null
+++ b/tmux/demos/medical/Kitware-M2-bag.yml
@@ -0,0 +1,159 @@
+#
+# System configuration to run the ANGEL system for the Kitware system with the
+# Kitware HL2 ARUI app.
+#
+# This configuration is for the M2 tourniquet task.
+#
+
+name: kitware-m2
+root: <%= ENV["ANGEL_WORKSPACE_DIR"] %>
+
+# Optional tmux socket
+# socket_name: foo
+
+# Note that the pre and post options have been deprecated and will be replaced by
+# project hooks.
+
+# Project hooks
+
+# Runs on project start, always
+# on_project_start: command
+on_project_start: |
+  export ROS_NAMESPACE=${ROS_NAMESPACE:-/kitware}
+  export HL2_IP=${HL2_IP:-192.168.4.2}
+  export CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/config
+  export NODE_CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/src/angel_system_nodes/configs
+  export MODEL_DIR=${ANGEL_WORKSPACE_DIR}/model_files
+
+  # Changing the domain ID was important at KHQ to unblock perceived network
+  # congestion slowdowns to message sending.
+  export ROS_DOMAIN_ID=77
+
+  # Set the frame-rate to be used by multiple sources. This should be in frames
+  # per second (Hz).
+  export FRAME_RATE=15
+
+# Run on project start, the first time
+# on_project_first_start: command
+
+# Run on project start, after the first time
+# on_project_restart: command
+
+# Run on project exit ( detaching from tmux session )
+# on_project_exit: command
+
+# Run on project stop
+# on_project_stop: command
+
+# Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions.
+# pre_window: rbenv shell 2.0.0-p247
+
+# Pass command line options to tmux. Useful for specifying a different tmux.conf.
+# tmux_options: -f ~/.tmux.mac.conf
+tmux_options: -f <%= ENV["ANGEL_WORKSPACE_DIR"] %>/tmux/tmux.conf
+
+windows:
+  - sensor_input_bag:
+      layout: even-vertical
+      panes:
+        # Read sensor input from bag file.
+        - sensor_input: echo ros2 bag play ${ANGEL_WORKSPACE_DIR}/ros_bags/...
+        - run_image_metadata: ros2 run angel_system_nodes image_metadata_relay --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p image_topic:=PVFramesBGR
+            -p output_topic:=PVFramesBGR_md
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p image_md_topic:=PVFramesBGR_md
+            -p det_topic:=ObjectDetections2d
+            -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic
+            -p latency_topic:=latency
+        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p ROS_IP:=0.0.0.0
+
+  - pose_estimation: ros2 run angel_system_nodes pose_estimator --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_topic:=PVFramesBGR
+      -p det_topic:=pose_dets
+      -p pose_topic:=PatientPose
+      -p det_net_checkpoint:=${MODEL_DIR}/pose_estimation/pose_det_model.pth
+      -p pose_net_checkpoint:=${MODEL_DIR}/pose_estimation/pose_model.pth
+      -p det_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/medic_pose.yaml
+      -p pose_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/ViTPose_base_medic_casualty_256x192.py
+      -p cuda_device_id:=0
+
+  - object_and_hand_detection: ros2 run angel_system_nodes object_and_hand_detector --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_topic:=PVFramesBGR
+      -p det_topic:=ObjectDetections2d
+      -p object_net_checkpoint:=${MODEL_DIR}/object_detector/m2_det.pt
+      -p inference_img_size:=768
+      -p hand_net_checkpoint:=${MODEL_DIR}/object_detector/hands_model.pt
+      -p cuda_device_id:=0
+
+  - activity_classifier: ros2 run angel_system_nodes activity_classifier_tcn --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_md_topic:=PVFramesBGR_md
+      -p det_topic:=ObjectDetections2d
+      -p pose_topic:=PatientPose
+      -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/m2.yaml
+      -p model_weights:=${MODEL_DIR}/activity_classifier/m2_tcn.ckpt
+      -p model_config:=${MODEL_DIR}/activity_classifier/m2_config.yaml
+      -p act_topic:=activity_topic
+      -p pose_repeat_rate:=7.5
+      -p window_leads_with_objects:=true
+      -p model_device:=0
+
+  - task_monitor:
+      layout: even-vertical
+      panes:
+        - gsp: ros2 run angel_system_nodes global_step_predictor --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p config_file:=${CONFIG_DIR}/tasks/medical/multi-task-config-medical-m2.yaml
+            -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/m2.yaml
+            -p task_state_topic:=TaskUpdates
+            -p task_error_topic:=ARUISystemNotifications
+            -p system_command_topic:=SystemCommands
+            -p det_topic:=activity_topic
+            -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_m2.npy
+            -p thresh_frame_count:=3
+            -p deactivate_thresh_frame_count:=10
+            -p threshold_multiplier_weak:=0.00
+            -p threshold_frame_count_weak:=3
+            -p step_mode:=granular
+            -p query_task_graph_topic:=query_task_graph
+        - echo: sleep 0.5 && ros2 topic echo --no-arr "${ROS_NAMESPACE}/TaskUpdates"
+
+  - engineering-ui:
+      layout: even-vertical
+      panes:
+        - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p topic_input_images:=PVFramesBGR
+            -p topic_input_det_2d:=ObjectDetections2d
+            -p topic_input_joints:=PatientPose
+            -p topic_output_images:=pv_image_detections_2d
+            -p filter_top_k:=5
+            -p max_image_history_seconds:=2.0
+            -p publish_latency_seconds:=0.15
+        - websocket: ros2 launch rosbridge_server rosbridge_websocket_launch.xml port:=9090
+        - engineering_ui_server: node ros/angel_utils/multi_task_demo_ui/index.js
+            --namespace=${ROS_NAMESPACE}
+            --image_topic=pv_image_detections_2d/compressed
+            --query_task_graph_topic=query_task_graph
+            --task_updates_topic=TaskUpdates
+            --activity_detections_topic=activity_topic
+            --task_errors_topic=ARUISystemNotifications
+
+  - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p activity_detector_topic:=activity_topic
+      -p object_detection_topic:=ObjectDetections3d
+      -p task_monitor_topic:=TaskUpdates
+      -p arui_update_topic:=AruiUpdates
+      -p interp_user_intent_topic:=UserIntentPredicted
+      -p system_text_response_topic:=SystemTextResponse
+      -p system_notification_topic:=ARUISystemNotifications
+      -p task_error_topic:=ARUISystemNotifications
diff --git a/tmux/demos/medical/Kitware-M2.yml b/tmux/demos/medical/Kitware-M2.yml
index ae4287073..68740d86b 100644
--- a/tmux/demos/medical/Kitware-M2.yml
+++ b/tmux/demos/medical/Kitware-M2.yml
@@ -5,7 +5,7 @@
 # This configuration is for the M2 tourniquet task.
 #
 
-name: Kitware-M2-Tourniquet
+name: kitware-m2
 root: <%= ENV["ANGEL_WORKSPACE_DIR"] %>
 
 # Optional tmux socket
@@ -56,8 +56,23 @@ windows:
   - sensor_input_bag:
       layout: even-vertical
       panes:
-        # Read sensor input from bag file.
-        - sensor_input: echo ros2 bag play ${ANGEL_WORKSPACE_DIR}/ros_bags/...
+        # Read sensor input from the hololens
+        # the image size is set to 1280x720 because of the pose estimation node:
+        # https://github.com/PTG-Kitware/angel_system/blob/master/ros/angel_system_nodes/angel_system_nodes/pose_estimation/pose_estimator.py#L211
+        - hl2ss_bridge: ros2 run angel_system_nodes hl2ss_ros_bridge --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p ip_addr:=${HL2_IP}
+            -p image_topic:=PVFramesBGR
+            -p image_md_topic:=PVFramesBGR_md
+            -p hand_pose_topic:=HandJointPoseData
+            -p audio_topic:=HeadsetAudioData
+            -p sm_topic:=SpatialMapData
+            -p head_pose_topic:=HeadsetPoseData
+            -p pv_width:=1280
+            -p pv_height:=720
+            -p pv_framerate:=15
+            -p sm_freq:=5
+            -p rm_depth_AHAT:=disable
         - run_image_metadata: ros2 run angel_system_nodes image_metadata_relay --ros-args
             -r __ns:=${ROS_NAMESPACE}
             -p image_topic:=PVFramesBGR
@@ -69,29 +84,9 @@ windows:
             -p pose_topic:=PatientPose
             -p activity_topic:=activity_topic
             -p latency_topic:=latency
-
-#  - sensor_input_stream:
-#      layout: even-vertical
-#      panes:
-#        # Read sensor input from a HoloLens2 unit using HL2SS.
-#        - hl2ss_bridge: ros2 run angel_system_nodes hl2ss_ros_bridge --ros-args
-#            -r __ns:=${ROS_NAMESPACE}
-#            -p ip_addr:=${HL2_IP}
-#            -p image_topic:=PVFramesBGR
-#            -p image_md_topic:=PVFramesBGR_md
-#            -p hand_pose_topic:=disable
-#            -p audio_topic:=disable
-#            -p sm_topic:=disable
-#            -p head_pose_topic:=disable
-#            -p pv_width:=1280
-#            -p pv_height:=720
-#            -p pv_framerate:=${FRAME_RATE}
-#            -p sm_freq:=5
-#            -p rm_depth_AHAT:=disable
-#        # Enable sending ROS2 messages to receiving agents in an HoloLens2 app.
-#        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
-#            -r __ns:=${ROS_NAMESPACE}
-#            -p ROS_IP:=0.0.0.0
+        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p ROS_IP:=0.0.0.0
 
   - pose_estimation: ros2 run angel_system_nodes pose_estimator --ros-args
       -r __ns:=${ROS_NAMESPACE}
diff --git a/tmux/demos/medical/Kitware-R18-bag.yml b/tmux/demos/medical/Kitware-R18-bag.yml
new file mode 100644
index 000000000..799198d0f
--- /dev/null
+++ b/tmux/demos/medical/Kitware-R18-bag.yml
@@ -0,0 +1,159 @@
+#
+# System configuration to run the ANGEL system for the Kitware system with the
+# Kitware HL2 ARUI app.
+#
+# This configuration is for the R18 Chest Seal task.
+#
+
+name: kitware-r18
+root: <%= ENV["ANGEL_WORKSPACE_DIR"] %>
+
+# Optional tmux socket
+# socket_name: foo
+
+# Note that the pre and post options have been deprecated and will be replaced by
+# project hooks.
+
+# Project hooks
+
+# Runs on project start, always
+# on_project_start: command
+on_project_start: |
+  export ROS_NAMESPACE=${ROS_NAMESPACE:-/kitware}
+  export HL2_IP=${HL2_IP:-192.168.4.2}
+  export CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/config
+  export NODE_CONFIG_DIR=${ANGEL_WORKSPACE_DIR}/src/angel_system_nodes/configs
+  export MODEL_DIR=${ANGEL_WORKSPACE_DIR}/model_files
+
+  # Changing the domain ID was important at KHQ to unblock perceived network
+  # congestion slowdowns to message sending.
+  export ROS_DOMAIN_ID=77
+
+  # Set the frame-rate to be used by multiple sources. This should be in frames
+  # per second (Hz).
+  export FRAME_RATE=15
+
+# Run on project start, the first time
+# on_project_first_start: command
+
+# Run on project start, after the first time
+# on_project_restart: command
+
+# Run on project exit ( detaching from tmux session )
+# on_project_exit: command
+
+# Run on project stop
+# on_project_stop: command
+
+# Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions.
+# pre_window: rbenv shell 2.0.0-p247
+
+# Pass command line options to tmux. Useful for specifying a different tmux.conf.
+# tmux_options: -f ~/.tmux.mac.conf
+tmux_options: -f <%= ENV["ANGEL_WORKSPACE_DIR"] %>/tmux/tmux.conf
+
+windows:
+  - sensor_input_bag:
+      layout: even-vertical
+      panes:
+        # Read sensor input from bag file.
+        - sensor_input: echo ros2 bag play ${ANGEL_WORKSPACE_DIR}/ros_bags/rosbag2-bbn_lab_data-r18-positive-30424_NE_recordings-R18_5-TEST_SET/
+        - run_image_metadata: ros2 run angel_system_nodes image_metadata_relay --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p image_topic:=PVFramesBGR
+            -p output_topic:=PVFramesBGR_md
+        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p image_md_topic:=PVFramesBGR_md
+            -p det_topic:=ObjectDetections2d
+            -p pose_topic:=PatientPose
+            -p activity_topic:=activity_topic
+            -p latency_topic:=latency
+        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p ROS_IP:=0.0.0.0
+
+  - object_and_hand_detection: ros2 run angel_system_nodes object_and_hand_detector --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_topic:=PVFramesBGR
+      -p det_topic:=ObjectDetections2d
+      -p object_net_checkpoint:=${MODEL_DIR}/object_detector/r18_det.pt
+      -p inference_img_size:=768
+      -p hand_net_checkpoint:=${MODEL_DIR}/object_detector/hands_model.pt
+      -p cuda_device_id:=0
+
+  - pose_estimation: ros2 run angel_system_nodes pose_estimator --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_topic:=PVFramesBGR
+      -p det_topic:=pose_dets
+      -p pose_topic:=PatientPose
+      -p det_net_checkpoint:=${MODEL_DIR}/pose_estimation/pose_det_model.pth
+      -p pose_net_checkpoint:=${MODEL_DIR}/pose_estimation/pose_model.pth
+      -p det_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/medic_pose.yaml
+      -p pose_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/ViTPose_base_medic_casualty_256x192.py
+      -p cuda_device_id:=0
+
+  - activity_classifier: ros2 run angel_system_nodes activity_classifier_tcn --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_md_topic:=PVFramesBGR_md
+      -p det_topic:=ObjectDetections2d
+      -p pose_topic:=PatientPose
+      -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/r18.yaml
+      -p model_weights:=${MODEL_DIR}/activity_classifier/r18_tcn.ckpt
+      -p model_config:=${MODEL_DIR}/activity_classifier/r18_config.yaml
+      -p act_topic:=activity_topic
+      -p pose_repeat_rate:=7.5
+      -p window_leads_with_objects:=true
+      -p model_device:=0
+
+  - task_monitor:
+      layout: even-vertical
+      panes:
+        - gsp: ros2 run angel_system_nodes global_step_predictor --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p config_file:=${CONFIG_DIR}/tasks/medical/multi-task-config-medical-r18.yaml
+            -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/r18.yaml
+            -p task_state_topic:=TaskUpdates
+            -p task_error_topic:=ARUISystemNotifications
+            -p system_command_topic:=SystemCommands
+            -p det_topic:=activity_topic
+            -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_R18.npy
+            -p thresh_frame_count:=3
+            -p deactivate_thresh_frame_count:=5
+            -p threshold_multiplier_weak:=0.00
+            -p threshold_frame_count_weak:=3
+            -p step_mode:=granular
+            -p query_task_graph_topic:=query_task_graph
+        - echo: sleep 0.5 && ros2 topic echo --no-arr "${ROS_NAMESPACE}/TaskUpdates"
+
+  - engineering-ui:
+      layout: even-vertical
+      panes:
+        - simple_2d_overlay: ros2 run angel_utils Simple2dDetectionOverlay --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p topic_input_images:=PVFramesBGR
+            -p topic_input_det_2d:=ObjectDetections2d
+            -p topic_input_joints:=PatientPose
+            -p topic_output_images:=pv_image_detections_2d
+            -p filter_top_k:=5
+            -p max_image_history_seconds:=2.0
+            -p publish_latency_seconds:=0.15
+        - websocket: ros2 launch rosbridge_server rosbridge_websocket_launch.xml port:=9090
+        - engineering_ui_server: node ros/angel_utils/multi_task_demo_ui/index.js
+            --namespace=${ROS_NAMESPACE}
+            --image_topic=pv_image_detections_2d/compressed
+            --query_task_graph_topic=query_task_graph
+            --task_updates_topic=TaskUpdates
+            --activity_detections_topic=activity_topic
+            --task_errors_topic=ARUISystemNotifications
+
+  - feedback_generator: ros2 run angel_system_nodes feedback_generator --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p activity_detector_topic:=activity_topic
+      -p object_detection_topic:=ObjectDetections3d
+      -p task_monitor_topic:=TaskUpdates
+      -p arui_update_topic:=AruiUpdates
+      -p interp_user_intent_topic:=UserIntentPredicted
+      -p system_text_response_topic:=SystemTextResponse
+      -p system_notification_topic:=ARUISystemNotifications
+      -p task_error_topic:=ARUISystemNotifications
diff --git a/tmux/demos/medical/Kitware-R18.yml b/tmux/demos/medical/Kitware-R18.yml
index 881b16395..3e7e36d60 100644
--- a/tmux/demos/medical/Kitware-R18.yml
+++ b/tmux/demos/medical/Kitware-R18.yml
@@ -5,7 +5,7 @@
 # This configuration is for the R18 Chest Seal task.
 #
 
-name: kitware-R18-Chest-Seal
+name: kitware-r18
 root: <%= ENV["ANGEL_WORKSPACE_DIR"] %>
 
 # Optional tmux socket
@@ -56,10 +56,23 @@ windows:
   - sensor_input_bag:
       layout: even-vertical
       panes:
-        # Read sensor input from bag file.
-        # May have to use: --remap /kitware/image_0:=/kitware/PVFramesBGR
-#        - sensor_input: echo ros2 bag play ${ANGEL_WORKSPACE_DIR}/ros_bags/rosbag2-bbn_lab_data-r18-positive-seal_videos-seal_2-TEST_SET/
-        - sensor_input: echo ros2 bag play ${ANGEL_WORKSPACE_DIR}/ros_bags/rosbag2-bbn_lab_data-r18-positive-30424_NE_recordings-R18_5-TEST_SET/
+        # Read sensor input from the hololens
+        # the image size is set to 1280x720 because of the pose estimation node:
+        # https://github.com/PTG-Kitware/angel_system/blob/master/ros/angel_system_nodes/angel_system_nodes/pose_estimation/pose_estimator.py#L211
+        - hl2ss_bridge: ros2 run angel_system_nodes hl2ss_ros_bridge --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p ip_addr:=${HL2_IP}
+            -p image_topic:=PVFramesBGR
+            -p image_md_topic:=PVFramesBGR_md
+            -p hand_pose_topic:=HandJointPoseData
+            -p audio_topic:=HeadsetAudioData
+            -p sm_topic:=SpatialMapData
+            -p head_pose_topic:=HeadsetPoseData
+            -p pv_width:=1280
+            -p pv_height:=720
+            -p pv_framerate:=15
+            -p sm_freq:=5
+            -p rm_depth_AHAT:=disable
         - run_image_metadata: ros2 run angel_system_nodes image_metadata_relay --ros-args
             -r __ns:=${ROS_NAMESPACE}
             -p image_topic:=PVFramesBGR
@@ -71,49 +84,9 @@ windows:
             -p pose_topic:=PatientPose
             -p activity_topic:=activity_topic
             -p latency_topic:=latency
-
-#  - sensor_input_stream:
-#      layout: even-vertical
-#      panes:
-#        # Read sensor input from a HoloLens2 unit using HL2SS.
-#        - sensor_input: echo ros2 run angel_system_nodes hl2ss_ros_bridge --ros-args
-#            -r __ns:=${ROS_NAMESPACE}
-#            -p ip_addr:=${HL2_IP}
-#            -p image_topic:=PVFramesBGR
-#            -p image_md_topic:=PVFramesBGR_md
-#            -p hand_pose_topic:=disable
-#            -p audio_topic:=HeadsetAudioData
-#            -p sm_topic:=disable
-#            -p head_pose_topic:=disable
-#            -p pv_width:=1280
-#            -p pv_height:=720
-#            -p pv_framerate:=${FRAME_RATE}
-#            -p sm_freq:=5
-#            -p rm_depth_AHAT:=disable
-#        # Enable sending ROS2 messages to receiving agents in an HoloLens2 app.
-#        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
-#            -r __ns:=${ROS_NAMESPACE}
-#            -p ROS_IP:=0.0.0.0
-#        - run_latency_node: ros2 run angel_system_nodes latency_tracker --ros-args
-#            -r __ns:=${ROS_NAMESPACE}
-#            -p image_md_topic:=PVFramesBGR_md
-#            -p det_topic:=ObjectDetections2d
-#            -p pose_topic:=PatientPose
-#            -p activity_topic:=activity_topic
-#            -p latency_topic:=latency
-
-  - activity_classifier: ros2 run angel_system_nodes activity_classifier_tcn --ros-args
-      -r __ns:=${ROS_NAMESPACE}
-      -p image_md_topic:=PVFramesBGR_md
-      -p det_topic:=ObjectDetections2d
-      -p pose_topic:=PatientPose
-      -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/r18.yaml
-      -p model_weights:=${MODEL_DIR}/activity_classifier/r18_tcn.ckpt
-      -p model_config:=${MODEL_DIR}/activity_classifier/r18_config.yaml
-      -p act_topic:=activity_topic
-      -p pose_repeat_rate:=7.5
-      -p window_leads_with_objects:=true
-      -p model_device:=0
+        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
+            -r __ns:=${ROS_NAMESPACE}
+            -p ROS_IP:=0.0.0.0
 
   - object_and_hand_detection: ros2 run angel_system_nodes object_and_hand_detector --ros-args
       -r __ns:=${ROS_NAMESPACE}
@@ -135,6 +108,19 @@ windows:
       -p pose_config:=${ANGEL_WORKSPACE_DIR}/python-tpl/TCN_HPL/tcn_hpl/data/utils/pose_generation/configs/ViTPose_base_medic_casualty_256x192.py
       -p cuda_device_id:=0
 
+  - activity_classifier: ros2 run angel_system_nodes activity_classifier_tcn --ros-args
+      -r __ns:=${ROS_NAMESPACE}
+      -p image_md_topic:=PVFramesBGR_md
+      -p det_topic:=ObjectDetections2d
+      -p pose_topic:=PatientPose
+      -p activity_config_file:=${CONFIG_DIR}/activity_labels/medical/r18.yaml
+      -p model_weights:=${MODEL_DIR}/activity_classifier/r18_tcn.ckpt
+      -p model_config:=${MODEL_DIR}/activity_classifier/r18_config.yaml
+      -p act_topic:=activity_topic
+      -p pose_repeat_rate:=7.5
+      -p window_leads_with_objects:=true
+      -p model_device:=0
+
   - task_monitor:
       layout: even-vertical
       panes:
@@ -148,9 +134,9 @@ windows:
             -p det_topic:=activity_topic
             -p model_file:=${MODEL_DIR}/task_monitor/global_step_predictor_act_avgs_R18.npy
             -p thresh_frame_count:=3
-            -p deactivate_thresh_frame_count:=5
-            -p threshold_multiplier_weak:=0.00
-            -p threshold_frame_count_weak:=3
+            -p deactivate_thresh_frame_count:=8
+            -p threshold_multiplier_weak:=1.0
+            -p threshold_frame_count_weak:=8
             -p step_mode:=granular
             -p query_task_graph_topic:=query_task_graph
         - echo: sleep 0.5 && ros2 topic echo --no-arr "${ROS_NAMESPACE}/TaskUpdates"
diff --git a/tmux/record/record_ros_bag.yml b/tmux/record/record_ros_bag.yml
index 9c0affb7b..dc66cbca0 100644
--- a/tmux/record/record_ros_bag.yml
+++ b/tmux/record/record_ros_bag.yml
@@ -58,9 +58,8 @@ windows:
   - sensor_input:
       layout: even-vertical
       panes:
-        - datahub: ros2 run ros_tcp_endpoint default_server_endpoint --ros-args
-            -r __ns:=${ROS_NAMESPACE}
-            -p ROS_IP:=0.0.0.0
+        # the image size is set to 1280x720 because of the pose estimation node:
+        # https://github.com/PTG-Kitware/angel_system/blob/master/ros/angel_system_nodes/angel_system_nodes/pose_estimation/pose_estimator.py#L211
         - hl2ss_bridge: ros2 run angel_system_nodes hl2ss_ros_bridge --ros-args
             -r __ns:=${ROS_NAMESPACE}
             -p ip_addr:=${HL2_IP}