diff --git a/CHANGELOG.md b/CHANGELOG.md
index 914df2a36e..cb41540e87 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -48,6 +48,7 @@
  * Added API function `world.set_annotations_traverse_translucency` and implemented functionality to configure, whether depth and semantic + instance segmentation traverse translucent materials or not.
  * Fixed `frame`, `timestamp` and `transform` of `SensorData` not matching to the actually sent image for camera sensors.
  * Added  "geolocation_to_transform" function to the Map object in the PythonAPI
+ * Add support for NVIDIA NuRec 25.07 (CARLA-NuRec 0.2)
 
 ## CARLA 0.9.15
 
diff --git a/PythonAPI/examples/nvidia/grpc_proto/__init__.py b/PythonAPI/examples/nvidia/grpc_proto/__init__.py
deleted file mode 100644
index 74cd0aefbe..0000000000
--- a/PythonAPI/examples/nvidia/grpc_proto/__init__.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import os
-import sys
-
-# add this dir to path
-sys.path.append(os.path.dirname(os.path.abspath(__file__)))
-
-from . import common_pb2
-from . import sensorsim_pb2
-from . import sensorsim_pb2_grpc
-
-__all__ = ["common_pb2", "sensorsim_pb2", "sensorsim_pb2_grpc"]
\ No newline at end of file
diff --git a/PythonAPI/examples/nvidia/README.md b/PythonAPI/examples/nvidia/nurec/README.md
similarity index 100%
rename from PythonAPI/examples/nvidia/README.md
rename to PythonAPI/examples/nvidia/nurec/README.md
diff --git a/PythonAPI/examples/nvidia/blueprint_library.py b/PythonAPI/examples/nvidia/nurec/blueprint_library.py
similarity index 100%
rename from PythonAPI/examples/nvidia/blueprint_library.py
rename to PythonAPI/examples/nvidia/nurec/blueprint_library.py
diff --git a/PythonAPI/examples/nvidia/blueprint_sizes_vehicle.json b/PythonAPI/examples/nvidia/nurec/blueprint_sizes_vehicle.json
similarity index 100%
rename from PythonAPI/examples/nvidia/blueprint_sizes_vehicle.json
rename to PythonAPI/examples/nvidia/nurec/blueprint_sizes_vehicle.json
diff --git a/PythonAPI/examples/nvidia/blueprint_sizes_walker.json b/PythonAPI/examples/nvidia/nurec/blueprint_sizes_walker.json
similarity index 100%
rename from PythonAPI/examples/nvidia/blueprint_sizes_walker.json
rename to PythonAPI/examples/nvidia/nurec/blueprint_sizes_walker.json
diff --git a/PythonAPI/examples/nvidia/constants.py b/PythonAPI/examples/nvidia/nurec/constants.py
similarity index 100%
rename from PythonAPI/examples/nvidia/constants.py
rename to PythonAPI/examples/nvidia/nurec/constants.py
diff --git a/PythonAPI/examples/nvidia/example_custom_camera.py b/PythonAPI/examples/nvidia/nurec/example_custom_camera.py
similarity index 100%
rename from PythonAPI/examples/nvidia/example_custom_camera.py
rename to PythonAPI/examples/nvidia/nurec/example_custom_camera.py
diff --git a/PythonAPI/examples/nvidia/example_replay_recording.py b/PythonAPI/examples/nvidia/nurec/example_replay_recording.py
similarity index 100%
rename from PythonAPI/examples/nvidia/example_replay_recording.py
rename to PythonAPI/examples/nvidia/nurec/example_replay_recording.py
diff --git a/PythonAPI/examples/nvidia/example_save_images.py b/PythonAPI/examples/nvidia/nurec/example_save_images.py
similarity index 100%
rename from PythonAPI/examples/nvidia/example_save_images.py
rename to PythonAPI/examples/nvidia/nurec/example_save_images.py
diff --git a/PythonAPI/examples/nvidia/install_nurec.sh b/PythonAPI/examples/nvidia/nurec/install_nurec.sh
similarity index 64%
rename from PythonAPI/examples/nvidia/install_nurec.sh
rename to PythonAPI/examples/nvidia/nurec/install_nurec.sh
index 1642d32b8b..186bd72864 100755
--- a/PythonAPI/examples/nvidia/install_nurec.sh
+++ b/PythonAPI/examples/nvidia/nurec/install_nurec.sh
@@ -7,7 +7,7 @@ command_exists() {
 
 
 
-# Function to check if Hugging Face dataset exists
+# Function to check if HuggingFace dataset exists
 check_hf_dataset() {
     local dataset_path="PhysicalAI-Autonomous-Vehicles-NuRec"
     if [ -d "$dataset_path" ]; then
@@ -25,25 +25,58 @@ check_NuRec_container() {
     return 1
 }
 
-# Function to validate Hugging Face PAT format (basic check)
+# Function to validate HuggingFace PAT format (basic check)
 validate_hf_pat() {
     if [[ ! $1 =~ ^hf_[a-zA-Z0-9]{32,}$ ]]; then
-        echo "Error: Invalid Hugging Face PAT format" >&2
+        echo "Error: Invalid HuggingFace PAT format" >&2
         return 1
     fi
     return 0
 }
 
-# Function to get and validate Hugging Face PAT
+# Function to get and validate HuggingFace PAT
 get_hf_pat() {
-    # Get Hugging Face PAT
-    read -s -p "Please enter your Hugging Face Personal Access Token. If you don't have one, visit: https://huggingface.co/settings/tokens. Enter your token: " hf_pat
-    echo  
+    # Color codes
+    local RED='\033[0;31m'
+    local GREEN='\033[0;32m'
+    local YELLOW='\033[1;33m'
+    local BLUE='\033[0;34m'
+    local PURPLE='\033[0;35m'
+    local CYAN='\033[0;36m'
+    local WHITE='\033[1;37m'
+    local NC='\033[0m' # No Color
+    
+    echo "" >&2
+    echo -e "${CYAN}============================================================${NC}" >&2
+    echo -e "${WHITE}              🔑 ${YELLOW}HUGGINGFACE AUTHENTICATION REQUIRED${WHITE} 🔑${NC}" >&2
+    echo -e "${CYAN}============================================================${NC}" >&2
+    echo "" >&2
+    echo -e "${WHITE}To download the dataset, you need a ${YELLOW}HuggingFace Personal Access Token${WHITE}.${NC}" >&2
+    echo "" >&2
+    echo -e "${BLUE}📍 If you don't have a token yet:${NC}" >&2
+    echo -e "${WHITE}   1. Visit: ${CYAN}https://huggingface.co/settings/tokens${NC}" >&2
+    echo -e "${WHITE}   2. Click ${YELLOW}'New token'${NC}" >&2
+    echo -e "${WHITE}   3. Choose ${GREEN}'Read'${WHITE} permissions${NC}" >&2
+    echo -e "${WHITE}   4. Copy the generated token${NC}" >&2
+    echo "" >&2
+    echo -e "${YELLOW}⚠️  Your input will be hidden for security${NC}" >&2
+    echo "" >&2
+    
+    # Get HuggingFace PAT
+    echo -ne "${PURPLE}🔐 Enter your HuggingFace Personal Access Token: ${NC}" >&2
+    read -s hf_pat
+    echo >&2
+    echo "" >&2
 
-    # Validate Hugging Face PAT
+    # Validate HuggingFace PAT
     if ! validate_hf_pat "$hf_pat"; then
+        echo -e "${RED}❌ Invalid token format. Please try again.${NC}" >&2
+        echo "" >&2
         return 1
     fi
+    
+    echo -e "${GREEN}✅ Token validated successfully!${NC}" >&2
+    echo "" >&2
     echo "$hf_pat"
     return 0
 }
@@ -135,23 +168,29 @@ done
 
 # Download NuRec GRPC Container
 echo "Checking NuRec GRPC container..."
-if check_NuRec_container "docker.io/carlasimulator/nvidia-nurec-grpc:0.1.0"; then
+if check_NuRec_container "docker.io/carlasimulator/nvidia-nurec-grpc:0.2.0"; then
     echo "NuRec GRPC container already exists, skipping download."
 else
     echo "Initiating NuRec GRPC Container Downloads..."
-    docker pull docker.io/carlasimulator/nvidia-nurec-grpc:0.1.0
+    docker pull docker.io/carlasimulator/nvidia-nurec-grpc:0.2.0
     if [ $? -ne 0 ]; then
         echo "Error: Failed to download NuRec GRPC Container"
         exit 1
     fi
 fi
 
-# Download the dataset from Hugging Face
-echo "Checking Hugging Face dataset..."
+# Download the dataset from HuggingFace
+echo "Checking HuggingFace dataset..."
 if check_hf_dataset; then
-    echo "Hugging Face dataset already exists, skipping download."
+    echo "HuggingFace dataset already exists, skipping download."
 else
-    # Get and validate Hugging Face PAT
+    echo "Installing HuggingFace CLI..."
+    pip3 install --upgrade huggingface_hub || {
+        echo "Error: Failed to install HuggingFace CLI"
+        exit 1
+    }
+
+    # Get and validate HuggingFace PAT
     hf_pat=$(get_hf_pat)
     if [ $? -ne 0 ]; then
         exit 1
@@ -160,30 +199,24 @@ else
     # Strip any newlines or whitespace from the token
     hf_pat=$(echo "$hf_pat" | tr -d '\n\r' | xargs)
 
-    # Create the Hugging Face URL with embedded token
-    hf_url="https://user:${hf_pat}@huggingface.co/datasets/nvidia/PhysicalAI-Autonomous-Vehicles-NuRec/"
-
-    echo "Downloading the dataset from Hugging Face..."
-    git lfs install
-    
-    # Set git configuration to avoid prompts
-    export GIT_TERMINAL_PROMPT=0  # Disable git prompts
-    
-    # Clone the repository using the URL with embedded token
-    echo "Cloning dataset with authentication..."
-    git clone "$hf_url"
+    echo "Downloading the dataset from HuggingFace using CLI..."
     
-    clone_result=$?
-    unset GIT_TERMINAL_PROMPT
+    # Login to HuggingFace using the token
+    echo "$hf_pat" | hf auth login --token "$hf_pat" || {
+        echo "Error: Failed to authenticate with HuggingFace"
+        exit 1
+    }
     
-    if [ $clone_result -ne 0 ]; then
-        echo "Error: Failed to download the NuRec dataset from Hugging Face"
+    # Download the dataset using HuggingFace CLI
+    echo "Downloading dataset with HuggingFace CLI..."
+    hf download nvidia/PhysicalAI-Autonomous-Vehicles-NuRec --repo-type dataset --local-dir PhysicalAI-Autonomous-Vehicles-NuRec || {
+        echo "Error: Failed to download the NuRec dataset from HuggingFace"
         exit 1
-    fi
+    }
 fi
 
 # Set the NuRec image path
-NUREC_IMAGE="docker.io/carlasimulator/nvidia-nurec-grpc:0.1.0"
+NUREC_IMAGE="docker.io/carlasimulator/nvidia-nurec-grpc:0.2.0"
 export NUREC_IMAGE
 echo "NUREC_IMAGE: $NUREC_IMAGE"
 
@@ -228,7 +261,7 @@ pip3 install pygame numpy nvidia-nvjpeg-cu12 imageio|| {
 # Install Carla Wheel
 echo "Installing Carla Wheel..."
 
-WHEEL=$(ls ../../carla/dist/carla-0.9.16-cp310-cp310-*.whl | head -n 1)
+WHEEL=$(ls ../../../carla/dist/carla-0.9.16-cp310-cp310-*.whl | head -n 1)
 python -m pip install ${WHEEL} || {
     echo "Error: Failed to install Carla Wheel"
     exit 1
@@ -243,12 +276,12 @@ pip3 install -r requirements.txt || {
 
 # Install and setup GRPC Protos
 echo "Setting up GRPC Protos..."
-pip3 install -r grpc_proto/requirements.txt || {
+pip3 install -r nre/grpc/requirements.txt || {
     echo "Error: Failed to install GRPC requirements"
     exit 1
 }
 
-python3 grpc_proto/update_generated.py || {
+python3 nre/grpc/update_generated.py || {
     echo "Error: Failed to update generated GRPC files"
     exit 1
 }
@@ -257,3 +290,21 @@ python3 grpc_proto/update_generated.py || {
 chmod +x "$0"
 
 echo "Setup completed successfully!"
+echo ""
+echo "🔔 IMPORTANT: Environment Variable Notice"
+echo "=============================================="
+echo "The NUREC_IMAGE environment variable has been added to your ~/.bashrc file"
+echo "and will be available in new terminal sessions."
+echo ""
+echo "To use it in your CURRENT terminal session, run one of these commands:"
+echo ""
+echo "  Option 1 (Reload bashrc):"
+echo "    source ~/.bashrc"
+echo ""
+echo "  Option 2 (Export manually for this session):"
+echo "    export NUREC_IMAGE=\"$NUREC_IMAGE\""
+echo ""
+echo "  Option 3 (Start a new terminal session)"
+echo ""
+echo "You can verify the variable is set by running:"
+echo "    echo \$NUREC_IMAGE"
diff --git a/PythonAPI/examples/nvidia/grpc_proto/README.md b/PythonAPI/examples/nvidia/nurec/nre/grpc/README.md
similarity index 91%
rename from PythonAPI/examples/nvidia/grpc_proto/README.md
rename to PythonAPI/examples/nvidia/nurec/nre/grpc/README.md
index 10a7777192..44de3fd255 100644
--- a/PythonAPI/examples/nvidia/grpc_proto/README.md
+++ b/PythonAPI/examples/nvidia/nurec/nre/grpc/README.md
@@ -38,9 +38,9 @@ After generating the Python files, you can import and use them in your Python co
 
 ```python
 # Import the generated modules
-import grpc_proto.common_pb2 as common_pb2
-import grpc_proto.sensorsim_pb2 as sensorsim_pb2
-import grpc_proto.sensorsim_pb2_grpc as sensorsim_pb2_grpc
+import nre.grpc.protos.common_pb2 as common_pb2
+import nre.grpc.protos.sensorsim_pb2 as sensorsim_pb2
+import nre.grpc.protos.sensorsim_pb2_grpc as sensorsim_pb2_grpc
 
 # Create a gRPC channel and stub
 import grpc
@@ -73,7 +73,7 @@ The NuRec gRPC API provides the following main services:
 When modifying the .proto files, always regenerate the Python code:
 
 ```bash
-python PythonAPI/examples/nvidia/grpc/update_generated.py
+python PythonAPI/examples/nvidia/nre/grpc/update_generated.py
 ```
 
 ## Support
diff --git a/PythonAPI/examples/nvidia/grpc_proto/protos/__init__.py b/PythonAPI/examples/nvidia/nurec/nre/grpc/protos/__init__.py
similarity index 100%
rename from PythonAPI/examples/nvidia/grpc_proto/protos/__init__.py
rename to PythonAPI/examples/nvidia/nurec/nre/grpc/protos/__init__.py
diff --git a/PythonAPI/examples/nvidia/grpc_proto/protos/common.proto b/PythonAPI/examples/nvidia/nurec/nre/grpc/protos/common.proto
similarity index 90%
rename from PythonAPI/examples/nvidia/grpc_proto/protos/common.proto
rename to PythonAPI/examples/nvidia/nurec/nre/grpc/protos/common.proto
index 5d27b035d5..598057ebf1 100644
--- a/PythonAPI/examples/nvidia/grpc_proto/protos/common.proto
+++ b/PythonAPI/examples/nvidia/nurec/nre/grpc/protos/common.proto
@@ -1,10 +1,7 @@
-// SPDX-FileCopyrightText: © 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-//
-// SPDX-License-Identifier: MIT
-
+// Copyright (c) 2025 NVIDIA CORPORATION.  All rights reserved.
 syntax = "proto3";
 
-package common;
+package nre.grpc.protos.common;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Common types
@@ -78,4 +75,3 @@ message SessionRequestStatus {} // empty; reserved name in case we want to exten
 message AvailableScenesReturn {
     repeated string scene_ids = 1;
 }
-
diff --git a/PythonAPI/examples/nvidia/grpc_proto/protos/sensorsim.proto b/PythonAPI/examples/nvidia/nurec/nre/grpc/protos/sensorsim.proto
similarity index 85%
rename from PythonAPI/examples/nvidia/grpc_proto/protos/sensorsim.proto
rename to PythonAPI/examples/nvidia/nurec/nre/grpc/protos/sensorsim.proto
index 63b2776f6c..0e8504c24d 100644
--- a/PythonAPI/examples/nvidia/grpc_proto/protos/sensorsim.proto
+++ b/PythonAPI/examples/nvidia/nurec/nre/grpc/protos/sensorsim.proto
@@ -1,12 +1,9 @@
-// SPDX-FileCopyrightText: © 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-//
-// SPDX-License-Identifier: MIT
-
+// Copyright (c) 2025 NVIDIA CORPORATION.  All rights reserved.
 syntax = "proto3";
 
-package sensorsim;
+package nre.grpc.protos.sensorsim;
 
-import "common.proto";
+import "nre/grpc/protos/common.proto";
 
 ////////////////////////////////////////////////////////////////////////////////
 // Sensor simulator <-> Runtime
@@ -15,12 +12,12 @@ import "common.proto";
 service SensorsimService {
     rpc render_rgb (RGBRenderRequest) returns (RGBRenderReturn);
     rpc render_lidar (LidarRenderRequest) returns (LidarRenderReturn);
-    rpc get_version (common.Empty) returns (common.VersionId);
-    rpc get_available_scenes (common.Empty) returns (common.AvailableScenesReturn);
+    rpc get_version (nre.grpc.protos.common.Empty) returns (nre.grpc.protos.common.VersionId);
+    rpc get_available_scenes (nre.grpc.protos.common.Empty) returns (nre.grpc.protos.common.AvailableScenesReturn);
     rpc get_available_cameras (AvailableCamerasRequest) returns (AvailableCamerasReturn);
-    rpc shut_down (common.Empty) returns (common.Empty);
+    rpc shut_down (nre.grpc.protos.common.Empty) returns (nre.grpc.protos.common.Empty);
     rpc get_available_trajectories (AvailableTrajectoriesRequest) returns (AvailableTrajectoriesReturn);
-    rpc get_available_ego_masks (common.Empty) returns (AvailableEgoMasksReturn);
+    rpc get_available_ego_masks (nre.grpc.protos.common.Empty) returns (AvailableEgoMasksReturn);
 }
 
 message EgoMaskId {
@@ -46,6 +43,11 @@ enum ShutterType {
     GLOBAL = 5; //Instantaneous global shutter (no rolling shutter)
 }
 
+message LinearCde {
+    double linear_c = 1;
+    double linear_d = 2;
+    double linear_e = 3;
+}
 
 message FthetaCameraParam {
     enum PolynomialType {
@@ -64,6 +66,8 @@ message FthetaCameraParam {
     repeated double angle_to_pixeldist_poly = 5;
 
     double max_angle = 6;
+
+    LinearCde linear_cde = 7;
 }
 
 //TODO: implentation of OpenCV pinhole camera model parameters
@@ -130,8 +134,8 @@ message CameraSpec {
 message PosePair {
     // represents poses at start and end of the frame
     // TODO: replace with common.Trajectory (more general)
-    common.Pose start_pose = 1;
-    common.Pose end_pose = 2;
+    nre.grpc.protos.common.Pose start_pose = 1;
+    nre.grpc.protos.common.Pose end_pose = 2;
 }
 
 message DynamicObject {
@@ -183,7 +187,7 @@ message AvailableCamerasRequest {
 message AvailableCamerasReturn {
     message AvailableCamera {
         CameraSpec intrinsics = 1;
-        common.Pose rig_to_camera = 2; // should be camera_to_rig -> silently breaks things, deprecate and create duplicate? or just fix and let people know
+        nre.grpc.protos.common.Pose rig_to_camera = 2; // should be camera_to_rig -> silently breaks things, deprecate and create duplicate? or just fix and let people know
 
         string logical_id = 3;
         uint32 trajectory_idx = 4;
@@ -199,7 +203,7 @@ message AvailableTrajectoriesRequest {
 message AvailableTrajectoriesReturn {
     message AvailableTrajectory {
         uint32 trajectory_idx = 1;
-        common.Trajectory trajectory = 2;
+        nre.grpc.protos.common.Trajectory trajectory = 2;
     }
 
     repeated AvailableTrajectory available_trajectories = 1;
@@ -241,4 +245,4 @@ message LidarRenderRequest {
     PosePair sensor_pose = 5;
 
     repeated DynamicObject dynamic_objects = 6;
-}
+}
\ No newline at end of file
diff --git a/PythonAPI/examples/nvidia/grpc_proto/requirements.txt b/PythonAPI/examples/nvidia/nurec/nre/grpc/requirements.txt
similarity index 100%
rename from PythonAPI/examples/nvidia/grpc_proto/requirements.txt
rename to PythonAPI/examples/nvidia/nurec/nre/grpc/requirements.txt
diff --git a/PythonAPI/examples/nvidia/grpc_proto/update_generated.py b/PythonAPI/examples/nvidia/nurec/nre/grpc/update_generated.py
similarity index 85%
rename from PythonAPI/examples/nvidia/grpc_proto/update_generated.py
rename to PythonAPI/examples/nvidia/nurec/nre/grpc/update_generated.py
index 012e5efbfa..a25993c9da 100644
--- a/PythonAPI/examples/nvidia/grpc_proto/update_generated.py
+++ b/PythonAPI/examples/nvidia/nurec/nre/grpc/update_generated.py
@@ -1,15 +1,15 @@
-# SPDX-FileCopyrightText: © 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-#
-# SPDX-License-Identifier: MIT
+# Copyright (c) 2025 NVIDIA CORPORATION.  All rights reserved.
 
-import os
-import sys
 import glob
-import subprocess
 import logging
+import os
 import re
+import subprocess
+import sys
+
 from pathlib import Path
 
+
 logging.basicConfig(level=logging.INFO)
 logger = logging.getLogger(__name__)
 
@@ -17,19 +17,19 @@
 def compile_proto(proto_path, project_base):
     """Compile a proto files to Python code."""
     # Use the protoc command installed by grpcio-tools through Python
-    # Use the directory of the proto file as the proto_path so imports work
+    # Use `project_base` as the root directory for the proto files such that protoc generates absolute imports
+    # starting from the project root.
     cmd = [
         sys.executable,
         "-m",
         "grpc_tools.protoc",
-        f"--proto_path={os.path.dirname(proto_path)}",
+        f"--proto_path={project_base}",
         f"--python_out={project_base}",
         f"--pyi_out={project_base}",
         f"--grpc_python_out={project_base}",
         proto_path,
     ]
 
-    print(" ".join(cmd))
     result = subprocess.run(cmd, capture_output=True, text=True)
 
     if result.returncode != 0:
@@ -41,12 +41,13 @@ def compile_proto(proto_path, project_base):
 def main():
     """Main function."""
     # Get the path to the proto files
+
     if "BUILD_WORKSPACE_DIRECTORY" in os.environ:
         project_base = os.environ["BUILD_WORKSPACE_DIRECTORY"]
     else:
-        project_base = Path(__file__).parent
+        project_base = Path(__file__).parent.parent.parent
 
-    project_proto_dir = os.path.join(project_base, "protos")
+    project_proto_dir = os.path.join(project_base, "nre", "grpc", "protos")
 
     # Create __init__.py in the output directory to make it importable
     init_file = os.path.join(project_proto_dir, "__init__.py")
@@ -81,4 +82,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()
\ No newline at end of file
diff --git a/PythonAPI/examples/nvidia/nurec_integration.py b/PythonAPI/examples/nvidia/nurec/nurec_integration.py
similarity index 99%
rename from PythonAPI/examples/nvidia/nurec_integration.py
rename to PythonAPI/examples/nvidia/nurec/nurec_integration.py
index d8c995f637..580d121e1b 100644
--- a/PythonAPI/examples/nvidia/nurec_integration.py
+++ b/PythonAPI/examples/nvidia/nurec/nurec_integration.py
@@ -41,9 +41,9 @@
 from blueprint_library import BlueprintLibrary
 
 import grpc
-from grpc_proto.common_pb2 import Empty as EmptyRequest
-from grpc_proto.sensorsim_pb2_grpc import SensorsimServiceStub
-from grpc_proto.sensorsim_pb2 import (
+from nre.grpc.protos.common_pb2 import Empty as EmptyRequest
+from nre.grpc.protos.sensorsim_pb2_grpc import SensorsimServiceStub
+from nre.grpc.protos.sensorsim_pb2 import (
     RGBRenderReturn,
     RGBRenderRequest,
     AvailableCamerasRequest,
diff --git a/PythonAPI/examples/nvidia/nurec_render_service.py b/PythonAPI/examples/nvidia/nurec/nurec_render_service.py
similarity index 95%
rename from PythonAPI/examples/nvidia/nurec_render_service.py
rename to PythonAPI/examples/nvidia/nurec/nurec_render_service.py
index 299a4627d9..8cf6655ecd 100644
--- a/PythonAPI/examples/nvidia/nurec_render_service.py
+++ b/PythonAPI/examples/nvidia/nurec/nurec_render_service.py
@@ -68,6 +68,27 @@ def get_container_name(uuid_val: str) -> str:
     container_name = f"NuRec_{uuid_val}_run_{random_suffix}"
     return container_name
 
+def check_if_scene_loaded(logs: str) -> bool:
+    """
+    Check if the scene is loaded by looking for the string "successfully loaded scene" or "done testing gathered scenes" in the logs.
+    """
+    return "successfully loaded scene" in logs.lower() or "done testing gathered scenes" in logs.lower()
+
+
+def _normalize_image_name(image: str) -> str:
+    """
+    Normalize Docker image names for comparison.
+    Docker often omits the leading "docker.io/" in image names when listing containers.
+    This strips that prefix for consistent equality checks.
+    """
+    if not image:
+        return image
+    prefix = "docker.io/"
+    if image.startswith(prefix):
+        return image[len(prefix):]
+    return image
+
+
 class ServerMonitor:
     def __init__(self, expected_host, expected_port):
         self.expected_host = expected_host
@@ -99,7 +120,7 @@ def process_line(self, line: str) -> None:
             
             # Check for scene loaded message
             if not self.scene_loaded.is_set():
-                if "successfully loaded scene" in line.lower():
+                if check_if_scene_loaded(line):
                     logger.debug(f"Scene loaded: {line}")
                     self.scene_loaded.set()
             
@@ -220,7 +241,7 @@ def _find_existing_container(self, uuid_val):
                     logger.warning(f"Skipping container {line} because it has the wrong format")
                     continue
                 name, image = parts
-                if pattern in name and image == self.image:
+                if pattern in name and _normalize_image_name(image) == _normalize_image_name(self.image):
                     matching_container = name
                     break
             
@@ -247,7 +268,7 @@ def _verify_container_logs(self, container_name, expected_scene, expected_port):
             server_started = "serving on" in logs.lower()
             
             # Check for correct scene
-            scene_loaded = "successfully loaded scene" in logs.lower()
+            scene_loaded = check_if_scene_loaded(logs)
             correct_scene = expected_scene in logs
             
             # Check for correct port
@@ -289,7 +310,7 @@ def _kill_old_nurec_containers(self):
                     
                     # Check if it's a NuRec container with the same image
                     if (container_name.startswith("NuRec_") and 
-                        container_image == self.image):
+                        _normalize_image_name(container_image) == _normalize_image_name(self.image)):
                         containers_to_kill.append(container_name)
             
             if containers_to_kill:
@@ -426,7 +447,6 @@ def start(self) -> Dict[str, Any]:
             self.image,
             "--artifact-glob",
             f"{os.path.realpath(self.usdz_path)}",
-            "--no-enable-nrend",
             f"--port={self.final_port}",
             "--host=localhost",
             "--test-scenes-are-valid",
diff --git a/PythonAPI/examples/nvidia/nurec/poetry.lock b/PythonAPI/examples/nvidia/nurec/poetry.lock
new file mode 100644
index 0000000000..3185c1ca04
--- /dev/null
+++ b/PythonAPI/examples/nvidia/nurec/poetry.lock
@@ -0,0 +1,317 @@
+# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand.
+
+[[package]]
+name = "grpcio"
+version = "1.74.0"
+description = "HTTP/2-based RPC framework"
+optional = false
+python-versions = ">=3.9"
+groups = ["main"]
+markers = "python_version == \"3.10\""
+files = [
+    {file = "grpcio-1.74.0-cp310-cp310-linux_armv7l.whl", hash = "sha256:85bd5cdf4ed7b2d6438871adf6afff9af7096486fcf51818a81b77ef4dd30907"},
+    {file = "grpcio-1.74.0-cp310-cp310-macosx_11_0_universal2.whl", hash = "sha256:68c8ebcca945efff9d86d8d6d7bfb0841cf0071024417e2d7f45c5e46b5b08eb"},
+    {file = "grpcio-1.74.0-cp310-cp310-manylinux_2_17_aarch64.whl", hash = "sha256:e154d230dc1bbbd78ad2fdc3039fa50ad7ffcf438e4eb2fa30bce223a70c7486"},
+    {file = "grpcio-1.74.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e8978003816c7b9eabe217f88c78bc26adc8f9304bf6a594b02e5a49b2ef9c11"},
+    {file = "grpcio-1.74.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c3d7bd6e3929fd2ea7fbc3f562e4987229ead70c9ae5f01501a46701e08f1ad9"},
+    {file = "grpcio-1.74.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:136b53c91ac1d02c8c24201bfdeb56f8b3ac3278668cbb8e0ba49c88069e1bdc"},
+    {file = "grpcio-1.74.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:fe0f540750a13fd8e5da4b3eaba91a785eea8dca5ccd2bc2ffe978caa403090e"},
+    {file = "grpcio-1.74.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:4e4181bfc24413d1e3a37a0b7889bea68d973d4b45dd2bc68bb766c140718f82"},
+    {file = "grpcio-1.74.0-cp310-cp310-win32.whl", hash = "sha256:1733969040989f7acc3d94c22f55b4a9501a30f6aaacdbccfaba0a3ffb255ab7"},
+    {file = "grpcio-1.74.0-cp310-cp310-win_amd64.whl", hash = "sha256:9e912d3c993a29df6c627459af58975b2e5c897d93287939b9d5065f000249b5"},
+    {file = "grpcio-1.74.0-cp311-cp311-linux_armv7l.whl", hash = "sha256:69e1a8180868a2576f02356565f16635b99088da7df3d45aaa7e24e73a054e31"},
+    {file = "grpcio-1.74.0-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:8efe72fde5500f47aca1ef59495cb59c885afe04ac89dd11d810f2de87d935d4"},
+    {file = "grpcio-1.74.0-cp311-cp311-manylinux_2_17_aarch64.whl", hash = "sha256:a8f0302f9ac4e9923f98d8e243939a6fb627cd048f5cd38595c97e38020dffce"},
+    {file = "grpcio-1.74.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2f609a39f62a6f6f05c7512746798282546358a37ea93c1fcbadf8b2fed162e3"},
+    {file = "grpcio-1.74.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c98e0b7434a7fa4e3e63f250456eaef52499fba5ae661c58cc5b5477d11e7182"},
+    {file = "grpcio-1.74.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:662456c4513e298db6d7bd9c3b8df6f75f8752f0ba01fb653e252ed4a59b5a5d"},
+    {file = "grpcio-1.74.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:3d14e3c4d65e19d8430a4e28ceb71ace4728776fd6c3ce34016947474479683f"},
+    {file = "grpcio-1.74.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:1bf949792cee20d2078323a9b02bacbbae002b9e3b9e2433f2741c15bdeba1c4"},
+    {file = "grpcio-1.74.0-cp311-cp311-win32.whl", hash = "sha256:55b453812fa7c7ce2f5c88be3018fb4a490519b6ce80788d5913f3f9d7da8c7b"},
+    {file = "grpcio-1.74.0-cp311-cp311-win_amd64.whl", hash = "sha256:86ad489db097141a907c559988c29718719aa3e13370d40e20506f11b4de0d11"},
+    {file = "grpcio-1.74.0-cp312-cp312-linux_armv7l.whl", hash = "sha256:8533e6e9c5bd630ca98062e3a1326249e6ada07d05acf191a77bc33f8948f3d8"},
+    {file = "grpcio-1.74.0-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:2918948864fec2a11721d91568effffbe0a02b23ecd57f281391d986847982f6"},
+    {file = "grpcio-1.74.0-cp312-cp312-manylinux_2_17_aarch64.whl", hash = "sha256:60d2d48b0580e70d2e1954d0d19fa3c2e60dd7cbed826aca104fff518310d1c5"},
+    {file = "grpcio-1.74.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3601274bc0523f6dc07666c0e01682c94472402ac2fd1226fd96e079863bfa49"},
+    {file = "grpcio-1.74.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:176d60a5168d7948539def20b2a3adcce67d72454d9ae05969a2e73f3a0feee7"},
+    {file = "grpcio-1.74.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:e759f9e8bc908aaae0412642afe5416c9f983a80499448fcc7fab8692ae044c3"},
+    {file = "grpcio-1.74.0-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:9e7c4389771855a92934b2846bd807fc25a3dfa820fd912fe6bd8136026b2707"},
+    {file = "grpcio-1.74.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:cce634b10aeab37010449124814b05a62fb5f18928ca878f1bf4750d1f0c815b"},
+    {file = "grpcio-1.74.0-cp312-cp312-win32.whl", hash = "sha256:885912559974df35d92219e2dc98f51a16a48395f37b92865ad45186f294096c"},
+    {file = "grpcio-1.74.0-cp312-cp312-win_amd64.whl", hash = "sha256:42f8fee287427b94be63d916c90399ed310ed10aadbf9e2e5538b3e497d269bc"},
+    {file = "grpcio-1.74.0-cp313-cp313-linux_armv7l.whl", hash = "sha256:2bc2d7d8d184e2362b53905cb1708c84cb16354771c04b490485fa07ce3a1d89"},
+    {file = "grpcio-1.74.0-cp313-cp313-macosx_11_0_universal2.whl", hash = "sha256:c14e803037e572c177ba54a3e090d6eb12efd795d49327c5ee2b3bddb836bf01"},
+    {file = "grpcio-1.74.0-cp313-cp313-manylinux_2_17_aarch64.whl", hash = "sha256:f6ec94f0e50eb8fa1744a731088b966427575e40c2944a980049798b127a687e"},
+    {file = "grpcio-1.74.0-cp313-cp313-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:566b9395b90cc3d0d0c6404bc8572c7c18786ede549cdb540ae27b58afe0fb91"},
+    {file = "grpcio-1.74.0-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e1ea6176d7dfd5b941ea01c2ec34de9531ba494d541fe2057c904e601879f249"},
+    {file = "grpcio-1.74.0-cp313-cp313-musllinux_1_1_aarch64.whl", hash = "sha256:64229c1e9cea079420527fa8ac45d80fc1e8d3f94deaa35643c381fa8d98f362"},
+    {file = "grpcio-1.74.0-cp313-cp313-musllinux_1_1_i686.whl", hash = "sha256:0f87bddd6e27fc776aacf7ebfec367b6d49cad0455123951e4488ea99d9b9b8f"},
+    {file = "grpcio-1.74.0-cp313-cp313-musllinux_1_1_x86_64.whl", hash = "sha256:3b03d8f2a07f0fea8c8f74deb59f8352b770e3900d143b3d1475effcb08eec20"},
+    {file = "grpcio-1.74.0-cp313-cp313-win32.whl", hash = "sha256:b6a73b2ba83e663b2480a90b82fdae6a7aa6427f62bf43b29912c0cfd1aa2bfa"},
+    {file = "grpcio-1.74.0-cp313-cp313-win_amd64.whl", hash = "sha256:fd3c71aeee838299c5887230b8a1822795325ddfea635edd82954c1eaa831e24"},
+    {file = "grpcio-1.74.0-cp39-cp39-linux_armv7l.whl", hash = "sha256:4bc5fca10aaf74779081e16c2bcc3d5ec643ffd528d9e7b1c9039000ead73bae"},
+    {file = "grpcio-1.74.0-cp39-cp39-macosx_11_0_universal2.whl", hash = "sha256:6bab67d15ad617aff094c382c882e0177637da73cbc5532d52c07b4ee887a87b"},
+    {file = "grpcio-1.74.0-cp39-cp39-manylinux_2_17_aarch64.whl", hash = "sha256:655726919b75ab3c34cdad39da5c530ac6fa32696fb23119e36b64adcfca174a"},
+    {file = "grpcio-1.74.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1a2b06afe2e50ebfd46247ac3ba60cac523f54ec7792ae9ba6073c12daf26f0a"},
+    {file = "grpcio-1.74.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5f251c355167b2360537cf17bea2cf0197995e551ab9da6a0a59b3da5e8704f9"},
+    {file = "grpcio-1.74.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:8f7b5882fb50632ab1e48cb3122d6df55b9afabc265582808036b6e51b9fd6b7"},
+    {file = "grpcio-1.74.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:834988b6c34515545b3edd13e902c1acdd9f2465d386ea5143fb558f153a7176"},
+    {file = "grpcio-1.74.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:22b834cef33429ca6cc28303c9c327ba9a3fafecbf62fae17e9a7b7163cc43ac"},
+    {file = "grpcio-1.74.0-cp39-cp39-win32.whl", hash = "sha256:7d95d71ff35291bab3f1c52f52f474c632db26ea12700c2ff0ea0532cb0b5854"},
+    {file = "grpcio-1.74.0-cp39-cp39-win_amd64.whl", hash = "sha256:ecde9ab49f58433abe02f9ed076c7b5be839cf0153883a6d23995937a82392fa"},
+    {file = "grpcio-1.74.0.tar.gz", hash = "sha256:80d1f4fbb35b0742d3e3d3bb654b7381cd5f015f8497279a1e9c21ba623e01b1"},
+]
+
+[package.extras]
+protobuf = ["grpcio-tools (>=1.74.0)"]
+
+[[package]]
+name = "numpy"
+version = "2.2.5"
+description = "Fundamental package for array computing in Python"
+optional = false
+python-versions = ">=3.10"
+groups = ["main"]
+markers = "python_version == \"3.10\""
+files = [
+    {file = "numpy-2.2.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1f4a922da1729f4c40932b2af4fe84909c7a6e167e6e99f71838ce3a29f3fe26"},
+    {file = "numpy-2.2.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b6f91524d31b34f4a5fee24f5bc16dcd1491b668798b6d85585d836c1e633a6a"},
+    {file = "numpy-2.2.5-cp310-cp310-macosx_14_0_arm64.whl", hash = "sha256:19f4718c9012e3baea91a7dba661dcab2451cda2550678dc30d53acb91a7290f"},
+    {file = "numpy-2.2.5-cp310-cp310-macosx_14_0_x86_64.whl", hash = "sha256:eb7fd5b184e5d277afa9ec0ad5e4eb562ecff541e7f60e69ee69c8d59e9aeaba"},
+    {file = "numpy-2.2.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6413d48a9be53e183eb06495d8e3b006ef8f87c324af68241bbe7a39e8ff54c3"},
+    {file = "numpy-2.2.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7451f92eddf8503c9b8aa4fe6aa7e87fd51a29c2cfc5f7dbd72efde6c65acf57"},
+    {file = "numpy-2.2.5-cp310-cp310-musllinux_1_2_aarch64.whl", hash = "sha256:0bcb1d057b7571334139129b7f941588f69ce7c4ed15a9d6162b2ea54ded700c"},
+    {file = "numpy-2.2.5-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:36ab5b23915887543441efd0417e6a3baa08634308894316f446027611b53bf1"},
+    {file = "numpy-2.2.5-cp310-cp310-win32.whl", hash = "sha256:422cc684f17bc963da5f59a31530b3936f57c95a29743056ef7a7903a5dbdf88"},
+    {file = "numpy-2.2.5-cp310-cp310-win_amd64.whl", hash = "sha256:e4f0b035d9d0ed519c813ee23e0a733db81ec37d2e9503afbb6e54ccfdee0fa7"},
+    {file = "numpy-2.2.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c42365005c7a6c42436a54d28c43fe0e01ca11eb2ac3cefe796c25a5f98e5e9b"},
+    {file = "numpy-2.2.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:498815b96f67dc347e03b719ef49c772589fb74b8ee9ea2c37feae915ad6ebda"},
+    {file = "numpy-2.2.5-cp311-cp311-macosx_14_0_arm64.whl", hash = "sha256:6411f744f7f20081b1b4e7112e0f4c9c5b08f94b9f086e6f0adf3645f85d3a4d"},
+    {file = "numpy-2.2.5-cp311-cp311-macosx_14_0_x86_64.whl", hash = "sha256:9de6832228f617c9ef45d948ec1cd8949c482238d68b2477e6f642c33a7b0a54"},
+    {file = "numpy-2.2.5-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:369e0d4647c17c9363244f3468f2227d557a74b6781cb62ce57cf3ef5cc7c610"},
+    {file = "numpy-2.2.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:262d23f383170f99cd9191a7c85b9a50970fe9069b2f8ab5d786eca8a675d60b"},
+    {file = "numpy-2.2.5-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:aa70fdbdc3b169d69e8c59e65c07a1c9351ceb438e627f0fdcd471015cd956be"},
+    {file = "numpy-2.2.5-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:37e32e985f03c06206582a7323ef926b4e78bdaa6915095ef08070471865b906"},
+    {file = "numpy-2.2.5-cp311-cp311-win32.whl", hash = "sha256:f5045039100ed58fa817a6227a356240ea1b9a1bc141018864c306c1a16d4175"},
+    {file = "numpy-2.2.5-cp311-cp311-win_amd64.whl", hash = "sha256:b13f04968b46ad705f7c8a80122a42ae8f620536ea38cf4bdd374302926424dd"},
+    {file = "numpy-2.2.5-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:ee461a4eaab4f165b68780a6a1af95fb23a29932be7569b9fab666c407969051"},
+    {file = "numpy-2.2.5-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ec31367fd6a255dc8de4772bd1658c3e926d8e860a0b6e922b615e532d320ddc"},
+    {file = "numpy-2.2.5-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:47834cde750d3c9f4e52c6ca28a7361859fcaf52695c7dc3cc1a720b8922683e"},
+    {file = "numpy-2.2.5-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:2c1a1c6ccce4022383583a6ded7bbcda22fc635eb4eb1e0a053336425ed36dfa"},
+    {file = "numpy-2.2.5-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9d75f338f5f79ee23548b03d801d28a505198297534f62416391857ea0479571"},
+    {file = "numpy-2.2.5-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a801fef99668f309b88640e28d261991bfad9617c27beda4a3aec4f217ea073"},
+    {file = "numpy-2.2.5-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:abe38cd8381245a7f49967a6010e77dbf3680bd3627c0fe4362dd693b404c7f8"},
+    {file = "numpy-2.2.5-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:5a0ac90e46fdb5649ab6369d1ab6104bfe5854ab19b645bf5cda0127a13034ae"},
+    {file = "numpy-2.2.5-cp312-cp312-win32.whl", hash = "sha256:0cd48122a6b7eab8f06404805b1bd5856200e3ed6f8a1b9a194f9d9054631beb"},
+    {file = "numpy-2.2.5-cp312-cp312-win_amd64.whl", hash = "sha256:ced69262a8278547e63409b2653b372bf4baff0870c57efa76c5703fd6543282"},
+    {file = "numpy-2.2.5-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:059b51b658f4414fff78c6d7b1b4e18283ab5fa56d270ff212d5ba0c561846f4"},
+    {file = "numpy-2.2.5-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:47f9ed103af0bc63182609044b0490747e03bd20a67e391192dde119bf43d52f"},
+    {file = "numpy-2.2.5-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:261a1ef047751bb02f29dfe337230b5882b54521ca121fc7f62668133cb119c9"},
+    {file = "numpy-2.2.5-cp313-cp313-macosx_14_0_x86_64.whl", hash = "sha256:4520caa3807c1ceb005d125a75e715567806fed67e315cea619d5ec6e75a4191"},
+    {file = "numpy-2.2.5-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3d14b17b9be5f9c9301f43d2e2a4886a33b53f4e6fdf9ca2f4cc60aeeee76372"},
+    {file = "numpy-2.2.5-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2ba321813a00e508d5421104464510cc962a6f791aa2fca1c97b1e65027da80d"},
+    {file = "numpy-2.2.5-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:a4cbdef3ddf777423060c6f81b5694bad2dc9675f110c4b2a60dc0181543fac7"},
+    {file = "numpy-2.2.5-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:54088a5a147ab71a8e7fdfd8c3601972751ded0739c6b696ad9cb0343e21ab73"},
+    {file = "numpy-2.2.5-cp313-cp313-win32.whl", hash = "sha256:c8b82a55ef86a2d8e81b63da85e55f5537d2157165be1cb2ce7cfa57b6aef38b"},
+    {file = "numpy-2.2.5-cp313-cp313-win_amd64.whl", hash = "sha256:d8882a829fd779f0f43998e931c466802a77ca1ee0fe25a3abe50278616b1471"},
+    {file = "numpy-2.2.5-cp313-cp313t-macosx_10_13_x86_64.whl", hash = "sha256:e8b025c351b9f0e8b5436cf28a07fa4ac0204d67b38f01433ac7f9b870fa38c6"},
+    {file = "numpy-2.2.5-cp313-cp313t-macosx_11_0_arm64.whl", hash = "sha256:8dfa94b6a4374e7851bbb6f35e6ded2120b752b063e6acdd3157e4d2bb922eba"},
+    {file = "numpy-2.2.5-cp313-cp313t-macosx_14_0_arm64.whl", hash = "sha256:97c8425d4e26437e65e1d189d22dff4a079b747ff9c2788057bfb8114ce1e133"},
+    {file = "numpy-2.2.5-cp313-cp313t-macosx_14_0_x86_64.whl", hash = "sha256:352d330048c055ea6db701130abc48a21bec690a8d38f8284e00fab256dc1376"},
+    {file = "numpy-2.2.5-cp313-cp313t-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8b4c0773b6ada798f51f0f8e30c054d32304ccc6e9c5d93d46cb26f3d385ab19"},
+    {file = "numpy-2.2.5-cp313-cp313t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:55f09e00d4dccd76b179c0f18a44f041e5332fd0e022886ba1c0bbf3ea4a18d0"},
+    {file = "numpy-2.2.5-cp313-cp313t-musllinux_1_2_aarch64.whl", hash = "sha256:02f226baeefa68f7d579e213d0f3493496397d8f1cff5e2b222af274c86a552a"},
+    {file = "numpy-2.2.5-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:c26843fd58f65da9491165072da2cccc372530681de481ef670dcc8e27cfb066"},
+    {file = "numpy-2.2.5-cp313-cp313t-win32.whl", hash = "sha256:1a161c2c79ab30fe4501d5a2bbfe8b162490757cf90b7f05be8b80bc02f7bb8e"},
+    {file = "numpy-2.2.5-cp313-cp313t-win_amd64.whl", hash = "sha256:d403c84991b5ad291d3809bace5e85f4bbf44a04bdc9a88ed2bb1807b3360bb8"},
+    {file = "numpy-2.2.5-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:b4ea7e1cff6784e58fe281ce7e7f05036b3e1c89c6f922a6bfbc0a7e8768adbe"},
+    {file = "numpy-2.2.5-pp310-pypy310_pp73-macosx_14_0_x86_64.whl", hash = "sha256:d7543263084a85fbc09c704b515395398d31d6395518446237eac219eab9e55e"},
+    {file = "numpy-2.2.5-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0255732338c4fdd00996c0421884ea8a3651eea555c3a56b84892b66f696eb70"},
+    {file = "numpy-2.2.5-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:d2e3bdadaba0e040d1e7ab39db73e0afe2c74ae277f5614dad53eadbecbbb169"},
+    {file = "numpy-2.2.5.tar.gz", hash = "sha256:a9c0d994680cd991b1cb772e8b297340085466a6fe964bc9d4e80f5e2f43c291"},
+]
+
+[[package]]
+name = "nvidia-nvimgcodec-cu12"
+version = "0.5.0.13"
+description = "NVIDIA nvimgcodec  for CUDA 12. Git SHA:"
+optional = false
+python-versions = "<3.14,>=3.8"
+groups = ["main"]
+markers = "python_version == \"3.10\""
+files = [
+    {file = "nvidia_nvimgcodec_cu12-0.5.0.13-py3-none-manylinux2014_aarch64.whl", hash = "sha256:d76fadc2ed0f9075871627e45f2592c7807a0e944a0505afc21f87ccceb75caa"},
+    {file = "nvidia_nvimgcodec_cu12-0.5.0.13-py3-none-manylinux2014_x86_64.whl", hash = "sha256:24cf0a759b1b02a6c3c0aedf8bf6602643f74c4c6df68c4b1c3c4ec1d48d71b0"},
+    {file = "nvidia_nvimgcodec_cu12-0.5.0.13-py3-none-win_amd64.whl", hash = "sha256:331fc77cc844b982ab0d5c0e9d660b2e777e82c61471657c18f40ca3d15640c2"},
+]
+
+[package.extras]
+all = ["nvidia-nvcomp-cu12", "nvidia-nvjpeg-cu12", "nvidia-nvjpeg2k-cu12", "nvidia-nvtiff-cu12"]
+nvjpeg = ["nvidia-nvjpeg-cu12"]
+nvjpeg2k = ["nvidia-nvjpeg2k-cu12"]
+nvtiff = ["nvidia-nvcomp-cu12", "nvidia-nvtiff-cu12"]
+
+[[package]]
+name = "protobuf"
+version = "4.23.3"
+description = ""
+optional = false
+python-versions = ">=3.7"
+groups = ["main"]
+markers = "python_version == \"3.10\""
+files = [
+    {file = "protobuf-4.23.3-cp310-abi3-win32.whl", hash = "sha256:514b6bbd54a41ca50c86dd5ad6488afe9505901b3557c5e0f7823a0cf67106fb"},
+    {file = "protobuf-4.23.3-cp310-abi3-win_amd64.whl", hash = "sha256:cc14358a8742c4e06b1bfe4be1afbdf5c9f6bd094dff3e14edb78a1513893ff5"},
+    {file = "protobuf-4.23.3-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:2991f5e7690dab569f8f81702e6700e7364cc3b5e572725098215d3da5ccc6ac"},
+    {file = "protobuf-4.23.3-cp37-abi3-manylinux2014_aarch64.whl", hash = "sha256:08fe19d267608d438aa37019236db02b306e33f6b9902c3163838b8e75970223"},
+    {file = "protobuf-4.23.3-cp37-abi3-manylinux2014_x86_64.whl", hash = "sha256:3b01a5274ac920feb75d0b372d901524f7e3ad39c63b1a2d55043f3887afe0c1"},
+    {file = "protobuf-4.23.3-cp37-cp37m-win32.whl", hash = "sha256:aca6e86a08c5c5962f55eac9b5bd6fce6ed98645d77e8bfc2b952ecd4a8e4f6a"},
+    {file = "protobuf-4.23.3-cp37-cp37m-win_amd64.whl", hash = "sha256:0149053336a466e3e0b040e54d0b615fc71de86da66791c592cc3c8d18150bf8"},
+    {file = "protobuf-4.23.3-cp38-cp38-win32.whl", hash = "sha256:84ea0bd90c2fdd70ddd9f3d3fc0197cc24ecec1345856c2b5ba70e4d99815359"},
+    {file = "protobuf-4.23.3-cp38-cp38-win_amd64.whl", hash = "sha256:3bcbeb2bf4bb61fe960dd6e005801a23a43578200ea8ceb726d1f6bd0e562ba1"},
+    {file = "protobuf-4.23.3-cp39-cp39-win32.whl", hash = "sha256:5cb9e41188737f321f4fce9a4337bf40a5414b8d03227e1d9fbc59bc3a216e35"},
+    {file = "protobuf-4.23.3-cp39-cp39-win_amd64.whl", hash = "sha256:29660574cd769f2324a57fb78127cda59327eb6664381ecfe1c69731b83e8288"},
+    {file = "protobuf-4.23.3-py3-none-any.whl", hash = "sha256:447b9786ac8e50ae72cae7a2eec5c5df6a9dbf9aa6f908f1b8bda6032644ea62"},
+    {file = "protobuf-4.23.3.tar.gz", hash = "sha256:7a92beb30600332a52cdadbedb40d33fd7c8a0d7f549c440347bc606fb3fe34b"},
+]
+
+[[package]]
+name = "pygame"
+version = "2.6.1"
+description = "Python Game Development"
+optional = false
+python-versions = ">=3.6"
+groups = ["main"]
+markers = "python_version == \"3.10\""
+files = [
+    {file = "pygame-2.6.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9beeb647e555afb5657111fa83acb74b99ad88761108eaea66472e8b8547b55b"},
+    {file = "pygame-2.6.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:10e3d2a55f001f6c0a6eb44aa79ea7607091c9352b946692acedb2ac1482f1c9"},
+    {file = "pygame-2.6.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:816e85000c5d8b02a42b9834f761a5925ef3377d2924e3a7c4c143d2990ce5b8"},
+    {file = "pygame-2.6.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8a78fd030d98faab4a8e27878536fdff7518d3e062a72761c552f624ebba5a5f"},
+    {file = "pygame-2.6.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:da3ad64d685f84a34ebe5daacb39fff14f1251acb34c098d760d63fee768f50c"},
+    {file = "pygame-2.6.1-cp310-cp310-win32.whl", hash = "sha256:9dd5c054d4bd875a8caf978b82672f02bec332f52a833a76899220c460bb4b58"},
+    {file = "pygame-2.6.1-cp310-cp310-win_amd64.whl", hash = "sha256:00827aba089355925902d533f9c41e79a799641f03746c50a374dc5c3362e43d"},
+    {file = "pygame-2.6.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:20349195326a5e82a16e351ed93465a7845a7e2a9af55b7bc1b2110ea3e344e1"},
+    {file = "pygame-2.6.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f3935459109da4bb0b3901da9904f0a3e52028a3332a355d298b1673a334cf21"},
+    {file = "pygame-2.6.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c31dbdb5d0217f32764797d21c2752e258e5fb7e895326538d82b5f75a0cd856"},
+    {file = "pygame-2.6.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:173badf82fa198e6888017bea40f511cb28e69ecdd5a72b214e81e4dcd66c3b1"},
+    {file = "pygame-2.6.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ce8cc108b92de9b149b344ad2e25eedbe773af0dc41dfb24d1f07f679b558c60"},
+    {file = "pygame-2.6.1-cp311-cp311-win32.whl", hash = "sha256:811e7b925146d8149d79193652cbb83e0eca0aae66476b1cb310f0f4226b8b5c"},
+    {file = "pygame-2.6.1-cp311-cp311-win_amd64.whl", hash = "sha256:91476902426facd4bb0dad4dc3b2573bc82c95c71b135e0daaea072ed528d299"},
+    {file = "pygame-2.6.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:4ee7f2771f588c966fa2fa8b829be26698c9b4836f82ede5e4edc1a68594942e"},
+    {file = "pygame-2.6.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:c8040ea2ab18c6b255af706ec01355c8a6b08dc48d77fd4ee783f8fc46a843bf"},
+    {file = "pygame-2.6.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c47a6938de93fa610accd4969e638c2aebcb29b2fca518a84c3a39d91ab47116"},
+    {file = "pygame-2.6.1-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:33006f784e1c7d7e466fcb61d5489da59cc5f7eb098712f792a225df1d4e229d"},
+    {file = "pygame-2.6.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1206125f14cae22c44565c9d333607f1d9f59487b1f1432945dfc809aeaa3e88"},
+    {file = "pygame-2.6.1-cp312-cp312-win32.whl", hash = "sha256:84fc4054e25262140d09d39e094f6880d730199710829902f0d8ceae0213379e"},
+    {file = "pygame-2.6.1-cp312-cp312-win_amd64.whl", hash = "sha256:3a9e7396be0d9633831c3f8d5d82dd63ba373ad65599628294b7a4f8a5a01a65"},
+    {file = "pygame-2.6.1-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:ae6039f3a55d800db80e8010f387557b528d34d534435e0871326804df2a62f2"},
+    {file = "pygame-2.6.1-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:2a3a1288e2e9b1e5834e425bedd5ba01a3cd4902b5c2bff8ed4a740ccfe98171"},
+    {file = "pygame-2.6.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:27eb17e3dc9640e4b4683074f1890e2e879827447770470c2aba9f125f74510b"},
+    {file = "pygame-2.6.1-cp313-cp313-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4c1623180e70a03c4a734deb9bac50fc9c82942ae84a3a220779062128e75f3b"},
+    {file = "pygame-2.6.1-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ef07c0103d79492c21fced9ad68c11c32efa6801ca1920ebfd0f15fb46c78b1c"},
+    {file = "pygame-2.6.1-cp313-cp313-win32.whl", hash = "sha256:3acd8c009317190c2bfd81db681ecef47d5eb108c2151d09596d9c7ea9df5c0e"},
+    {file = "pygame-2.6.1-cp313-cp313-win_amd64.whl", hash = "sha256:813af4fba5d0b2cb8e58f5d95f7910295c34067dcc290d34f1be59c48bd1ea6a"},
+    {file = "pygame-2.6.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:56ffca6059b165bbf64f4b4be23b8068f6a0e220780e4f96ec0bb5ac3c63ec39"},
+    {file = "pygame-2.6.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3bede70ec708057e305815d6546012669226d1d80566785feca9b044216062e7"},
+    {file = "pygame-2.6.1-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f84f15d146d6aa93254008a626c56ef96fed276006202881a47b29757f0cd65a"},
+    {file = "pygame-2.6.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:14f9dda45469b254c0f15edaaeaa85d2cc072ff6a83584a265f5d684c7f7efd8"},
+    {file = "pygame-2.6.1-cp36-cp36m-win32.whl", hash = "sha256:28b43190436037e428a5be28fc80cf6615304fd528009f2c688cc828f4ff104b"},
+    {file = "pygame-2.6.1-cp36-cp36m-win_amd64.whl", hash = "sha256:a4b8f04fceddd9a3ac30778d11f0254f59efcd1c382d5801271113cea8b4f2f3"},
+    {file = "pygame-2.6.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:a620883d589926f157b8f1d1f543183ac52e5c30507dea445e3927ae0bee1c54"},
+    {file = "pygame-2.6.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b46e68cd168f44d0224c670bb72186688fc692d7079715f79d04096757d703d0"},
+    {file = "pygame-2.6.1-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c0b11356ac96261162d54a2c2b41a41978f00525631b01ec9c4fe26b01c66595"},
+    {file = "pygame-2.6.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:325a84d072d52e3c2921eff02f87c6a74b7e77d71db3bdf53801c6c975f1b6c4"},
+    {file = "pygame-2.6.1-cp37-cp37m-win32.whl", hash = "sha256:2a615d78b2364e86f541458ff41c2a46181b9a1e9eabd97b389282fdf04efbb3"},
+    {file = "pygame-2.6.1-cp37-cp37m-win_amd64.whl", hash = "sha256:94afd1177680d92f9214c54966ad3517d18210c4fbc5d84a0192d218e93647e0"},
+    {file = "pygame-2.6.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:97ac4e13847b6b293ecaffa5ffce9886c98d09c03309406931cc592f0cea6366"},
+    {file = "pygame-2.6.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:d1a7f2b66ac2e4c9583b6d4c6d6f346fb10a3392c04163f537061f86a448ed5c"},
+    {file = "pygame-2.6.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ac3f033d2be4a9e23660a96afe2986df3a6916227538a6a0061bc218c5088507"},
+    {file = "pygame-2.6.1-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a1bf7ab5311bbced70320f1a56701650b4c18231343ae5af42111eea91e0949a"},
+    {file = "pygame-2.6.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:21160d9093533eb831f1b708e630706e5ac16b30750571ec27bc3b8364814f38"},
+    {file = "pygame-2.6.1-cp38-cp38-win32.whl", hash = "sha256:7bffdd3eaf394d9645331d1c3a5df9d782ebcc3c5a78f3b657c7879a828dd111"},
+    {file = "pygame-2.6.1-cp38-cp38-win_amd64.whl", hash = "sha256:818b4eaec9c4acb6ac64805d4ca8edd4062bebca77bd815c18739fe2842c97e9"},
+    {file = "pygame-2.6.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:15efaa11a80a65dd589a95bebe812fa5bfc7e14946b638a424c5bd9ac6cca1a4"},
+    {file = "pygame-2.6.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:481cfe1bdbb7fe00acc5950c494c26f00240888619bdc396fc8c39a734797432"},
+    {file = "pygame-2.6.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5d09fd950725d187aa5207c0cb8eb9ab0d2f8ce9ab8d189c30eeb470e71b617e"},
+    {file = "pygame-2.6.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:163e66de169bd5670c86e27d0b74aad0d2d745e3b63cf4e7eb5b2bff1231ca8d"},
+    {file = "pygame-2.6.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fb6e8d0547f30ddc845f4fd1e33070ef548233ad0dbf21f7ecea768883d1bbdc"},
+    {file = "pygame-2.6.1-cp39-cp39-win32.whl", hash = "sha256:d29eb9a93f12aa3d997b6e3c447ac85b2a4b142ab2548441523a8fcf5e216042"},
+    {file = "pygame-2.6.1-cp39-cp39-win_amd64.whl", hash = "sha256:6582aa71a681e02e55d43150a9ab41394e6bf4d783d2962a10aea58f424be060"},
+    {file = "pygame-2.6.1-pp36-pypy36_pp73-win32.whl", hash = "sha256:4a8ea113b1bf627322a025a1a5a87e3818a7f55ab3a4077ff1ae5c8c60576614"},
+    {file = "pygame-2.6.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b7f9f8e6f76de36f4725175d686601214af362a4f30614b4dae2240198e72e6f"},
+    {file = "pygame-2.6.1-pp39-pypy39_pp73-macosx_10_15_x86_64.whl", hash = "sha256:bbb7167c92103a2091366e9af26d4914ba3776666e8677d3c93551353fffa626"},
+    {file = "pygame-2.6.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:17498a2b043bc0e795faedef1b081199c688890200aef34991c1941caa2d2c89"},
+    {file = "pygame-2.6.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7103c60939bbc1e05cfc7ba3f1d2ad3bbf103b7828b82a7166a9ab6f51950146"},
+    {file = "pygame-2.6.1.tar.gz", hash = "sha256:56fb02ead529cee00d415c3e007f75e0780c655909aaa8e8bf616ee09c9feb1f"},
+]
+
+[[package]]
+name = "scipy"
+version = "1.15.3"
+description = "Fundamental algorithms for scientific computing in Python"
+optional = false
+python-versions = ">=3.10"
+groups = ["main"]
+markers = "python_version == \"3.10\""
+files = [
+    {file = "scipy-1.15.3-cp310-cp310-macosx_10_13_x86_64.whl", hash = "sha256:a345928c86d535060c9c2b25e71e87c39ab2f22fc96e9636bd74d1dbf9de448c"},
+    {file = "scipy-1.15.3-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:ad3432cb0f9ed87477a8d97f03b763fd1d57709f1bbde3c9369b1dff5503b253"},
+    {file = "scipy-1.15.3-cp310-cp310-macosx_14_0_arm64.whl", hash = "sha256:aef683a9ae6eb00728a542b796f52a5477b78252edede72b8327a886ab63293f"},
+    {file = "scipy-1.15.3-cp310-cp310-macosx_14_0_x86_64.whl", hash = "sha256:1c832e1bd78dea67d5c16f786681b28dd695a8cb1fb90af2e27580d3d0967e92"},
+    {file = "scipy-1.15.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:263961f658ce2165bbd7b99fa5135195c3a12d9bef045345016b8b50c315cb82"},
+    {file = "scipy-1.15.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9e2abc762b0811e09a0d3258abee2d98e0c703eee49464ce0069590846f31d40"},
+    {file = "scipy-1.15.3-cp310-cp310-musllinux_1_2_aarch64.whl", hash = "sha256:ed7284b21a7a0c8f1b6e5977ac05396c0d008b89e05498c8b7e8f4a1423bba0e"},
+    {file = "scipy-1.15.3-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:5380741e53df2c566f4d234b100a484b420af85deb39ea35a1cc1be84ff53a5c"},
+    {file = "scipy-1.15.3-cp310-cp310-win_amd64.whl", hash = "sha256:9d61e97b186a57350f6d6fd72640f9e99d5a4a2b8fbf4b9ee9a841eab327dc13"},
+    {file = "scipy-1.15.3-cp311-cp311-macosx_10_13_x86_64.whl", hash = "sha256:993439ce220d25e3696d1b23b233dd010169b62f6456488567e830654ee37a6b"},
+    {file = "scipy-1.15.3-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:34716e281f181a02341ddeaad584205bd2fd3c242063bd3423d61ac259ca7eba"},
+    {file = "scipy-1.15.3-cp311-cp311-macosx_14_0_arm64.whl", hash = "sha256:3b0334816afb8b91dab859281b1b9786934392aa3d527cd847e41bb6f45bee65"},
+    {file = "scipy-1.15.3-cp311-cp311-macosx_14_0_x86_64.whl", hash = "sha256:6db907c7368e3092e24919b5e31c76998b0ce1684d51a90943cb0ed1b4ffd6c1"},
+    {file = "scipy-1.15.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:721d6b4ef5dc82ca8968c25b111e307083d7ca9091bc38163fb89243e85e3889"},
+    {file = "scipy-1.15.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:39cb9c62e471b1bb3750066ecc3a3f3052b37751c7c3dfd0fd7e48900ed52982"},
+    {file = "scipy-1.15.3-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:795c46999bae845966368a3c013e0e00947932d68e235702b5c3f6ea799aa8c9"},
+    {file = "scipy-1.15.3-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:18aaacb735ab38b38db42cb01f6b92a2d0d4b6aabefeb07f02849e47f8fb3594"},
+    {file = "scipy-1.15.3-cp311-cp311-win_amd64.whl", hash = "sha256:ae48a786a28412d744c62fd7816a4118ef97e5be0bee968ce8f0a2fba7acf3bb"},
+    {file = "scipy-1.15.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:6ac6310fdbfb7aa6612408bd2f07295bcbd3fda00d2d702178434751fe48e019"},
+    {file = "scipy-1.15.3-cp312-cp312-macosx_12_0_arm64.whl", hash = "sha256:185cd3d6d05ca4b44a8f1595af87f9c372bb6acf9c808e99aa3e9aa03bd98cf6"},
+    {file = "scipy-1.15.3-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:05dc6abcd105e1a29f95eada46d4a3f251743cfd7d3ae8ddb4088047f24ea477"},
+    {file = "scipy-1.15.3-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:06efcba926324df1696931a57a176c80848ccd67ce6ad020c810736bfd58eb1c"},
+    {file = "scipy-1.15.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c05045d8b9bfd807ee1b9f38761993297b10b245f012b11b13b91ba8945f7e45"},
+    {file = "scipy-1.15.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:271e3713e645149ea5ea3e97b57fdab61ce61333f97cfae392c28ba786f9bb49"},
+    {file = "scipy-1.15.3-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:6cfd56fc1a8e53f6e89ba3a7a7251f7396412d655bca2aa5611c8ec9a6784a1e"},
+    {file = "scipy-1.15.3-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:0ff17c0bb1cb32952c09217d8d1eed9b53d1463e5f1dd6052c7857f83127d539"},
+    {file = "scipy-1.15.3-cp312-cp312-win_amd64.whl", hash = "sha256:52092bc0472cfd17df49ff17e70624345efece4e1a12b23783a1ac59a1b728ed"},
+    {file = "scipy-1.15.3-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:2c620736bcc334782e24d173c0fdbb7590a0a436d2fdf39310a8902505008759"},
+    {file = "scipy-1.15.3-cp313-cp313-macosx_12_0_arm64.whl", hash = "sha256:7e11270a000969409d37ed399585ee530b9ef6aa99d50c019de4cb01e8e54e62"},
+    {file = "scipy-1.15.3-cp313-cp313-macosx_14_0_arm64.whl", hash = "sha256:8c9ed3ba2c8a2ce098163a9bdb26f891746d02136995df25227a20e71c396ebb"},
+    {file = "scipy-1.15.3-cp313-cp313-macosx_14_0_x86_64.whl", hash = "sha256:0bdd905264c0c9cfa74a4772cdb2070171790381a5c4d312c973382fc6eaf730"},
+    {file = "scipy-1.15.3-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79167bba085c31f38603e11a267d862957cbb3ce018d8b38f79ac043bc92d825"},
+    {file = "scipy-1.15.3-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c9deabd6d547aee2c9a81dee6cc96c6d7e9a9b1953f74850c179f91fdc729cb7"},
+    {file = "scipy-1.15.3-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:dde4fc32993071ac0c7dd2d82569e544f0bdaff66269cb475e0f369adad13f11"},
+    {file = "scipy-1.15.3-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:f77f853d584e72e874d87357ad70f44b437331507d1c311457bed8ed2b956126"},
+    {file = "scipy-1.15.3-cp313-cp313-win_amd64.whl", hash = "sha256:b90ab29d0c37ec9bf55424c064312930ca5f4bde15ee8619ee44e69319aab163"},
+    {file = "scipy-1.15.3-cp313-cp313t-macosx_10_13_x86_64.whl", hash = "sha256:3ac07623267feb3ae308487c260ac684b32ea35fd81e12845039952f558047b8"},
+    {file = "scipy-1.15.3-cp313-cp313t-macosx_12_0_arm64.whl", hash = "sha256:6487aa99c2a3d509a5227d9a5e889ff05830a06b2ce08ec30df6d79db5fcd5c5"},
+    {file = "scipy-1.15.3-cp313-cp313t-macosx_14_0_arm64.whl", hash = "sha256:50f9e62461c95d933d5c5ef4a1f2ebf9a2b4e83b0db374cb3f1de104d935922e"},
+    {file = "scipy-1.15.3-cp313-cp313t-macosx_14_0_x86_64.whl", hash = "sha256:14ed70039d182f411ffc74789a16df3835e05dc469b898233a245cdfd7f162cb"},
+    {file = "scipy-1.15.3-cp313-cp313t-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0a769105537aa07a69468a0eefcd121be52006db61cdd8cac8a0e68980bbb723"},
+    {file = "scipy-1.15.3-cp313-cp313t-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9db984639887e3dffb3928d118145ffe40eff2fa40cb241a306ec57c219ebbbb"},
+    {file = "scipy-1.15.3-cp313-cp313t-musllinux_1_2_aarch64.whl", hash = "sha256:40e54d5c7e7ebf1aa596c374c49fa3135f04648a0caabcb66c52884b943f02b4"},
+    {file = "scipy-1.15.3-cp313-cp313t-musllinux_1_2_x86_64.whl", hash = "sha256:5e721fed53187e71d0ccf382b6bf977644c533e506c4d33c3fb24de89f5c3ed5"},
+    {file = "scipy-1.15.3-cp313-cp313t-win_amd64.whl", hash = "sha256:76ad1fb5f8752eabf0fa02e4cc0336b4e8f021e2d5f061ed37d6d264db35e3ca"},
+    {file = "scipy-1.15.3.tar.gz", hash = "sha256:eae3cf522bc7df64b42cad3925c876e1b0b6c35c1337c93e12c0f366f55b0eaf"},
+]
+
+[package.dependencies]
+numpy = ">=1.23.5,<2.5"
+
+[package.extras]
+dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy (==1.10.0)", "pycodestyle", "pydevtool", "rich-click", "ruff (>=0.0.292)", "types-psutil", "typing_extensions"]
+doc = ["intersphinx_registry", "jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.19.1)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0,<8.0.0)", "sphinx-copybutton", "sphinx-design (>=0.4.0)"]
+test = ["Cython", "array-api-strict (>=2.0,<2.1.1)", "asv", "gmpy2", "hypothesis (>=6.30)", "meson", "mpmath", "ninja ; sys_platform != \"emscripten\"", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
+
+[metadata]
+lock-version = "2.1"
+python-versions = "*"
+content-hash = "b0587520411cd55eeb9df56512d00f4b77bde4cfaaa44569805a73107dcc3bde"
diff --git a/PythonAPI/examples/nvidia/projection_functions.py b/PythonAPI/examples/nvidia/nurec/projection_functions.py
similarity index 100%
rename from PythonAPI/examples/nvidia/projection_functions.py
rename to PythonAPI/examples/nvidia/nurec/projection_functions.py
diff --git a/PythonAPI/examples/nvidia/pygame_display.py b/PythonAPI/examples/nvidia/nurec/pygame_display.py
similarity index 100%
rename from PythonAPI/examples/nvidia/pygame_display.py
rename to PythonAPI/examples/nvidia/nurec/pygame_display.py
diff --git a/PythonAPI/examples/nvidia/nurec/pyproject.toml b/PythonAPI/examples/nvidia/nurec/pyproject.toml
new file mode 100644
index 0000000000..68c344e86d
--- /dev/null
+++ b/PythonAPI/examples/nvidia/nurec/pyproject.toml
@@ -0,0 +1,13 @@
+[tool.poetry]
+name = "carla"
+version = "0.2"
+description = ""
+authors = ["Your Name <your.email@example.com>"]
+
+[tool.poetry.dependencies]
+pygame = {version = "2.6.1", python = ">=3.10, <3.11"}
+numpy = {version = "2.2.5", python = ">=3.10, <3.11"}
+scipy = {version = "1.15.3", python = ">=3.10, <3.11"}
+grpcio = {version = "1.74.0", python = ">=3.10, <3.11"}
+protobuf = {version = "4.23.3", python = ">=3.10, <3.11"}
+nvidia-nvimgcodec-cu12 = {version = "^0.5.0.13", python = ">=3.10, <3.11"}
diff --git a/PythonAPI/examples/nvidia/requirements.txt b/PythonAPI/examples/nvidia/nurec/requirements.txt
similarity index 86%
rename from PythonAPI/examples/nvidia/requirements.txt
rename to PythonAPI/examples/nvidia/nurec/requirements.txt
index 0d3be9e369..5b63876931 100644
--- a/PythonAPI/examples/nvidia/requirements.txt
+++ b/PythonAPI/examples/nvidia/nurec/requirements.txt
@@ -1,7 +1,7 @@
 pygame==2.6.1
 numpy==2.2.5
 scipy==1.15.3
-grpcio==1.64.0
+grpcio==1.74.0
 protobuf==4.23.3
 carla>=0.9.16
 nvidia-nvimgcodec-cu12
diff --git a/PythonAPI/examples/nvidia/scenario.py b/PythonAPI/examples/nvidia/nurec/scenario.py
similarity index 100%
rename from PythonAPI/examples/nvidia/scenario.py
rename to PythonAPI/examples/nvidia/nurec/scenario.py
diff --git a/PythonAPI/examples/nvidia/simple_trajectory_follower.py b/PythonAPI/examples/nvidia/nurec/simple_trajectory_follower.py
similarity index 100%
rename from PythonAPI/examples/nvidia/simple_trajectory_follower.py
rename to PythonAPI/examples/nvidia/nurec/simple_trajectory_follower.py
diff --git a/PythonAPI/examples/nvidia/tools.md b/PythonAPI/examples/nvidia/nurec/tools.md
similarity index 100%
rename from PythonAPI/examples/nvidia/tools.md
rename to PythonAPI/examples/nvidia/nurec/tools.md
diff --git a/PythonAPI/examples/nvidia/tools/extract_blueprint_sizes.py b/PythonAPI/examples/nvidia/nurec/tools/extract_blueprint_sizes.py
similarity index 100%
rename from PythonAPI/examples/nvidia/tools/extract_blueprint_sizes.py
rename to PythonAPI/examples/nvidia/nurec/tools/extract_blueprint_sizes.py
diff --git a/PythonAPI/examples/nvidia/track.py b/PythonAPI/examples/nvidia/nurec/track.py
similarity index 100%
rename from PythonAPI/examples/nvidia/track.py
rename to PythonAPI/examples/nvidia/nurec/track.py
diff --git a/PythonAPI/examples/nvidia/utils.py b/PythonAPI/examples/nvidia/nurec/utils.py
similarity index 98%
rename from PythonAPI/examples/nvidia/utils.py
rename to PythonAPI/examples/nvidia/nurec/utils.py
index 41be430658..9e5979f281 100644
--- a/PythonAPI/examples/nvidia/utils.py
+++ b/PythonAPI/examples/nvidia/nurec/utils.py
@@ -24,7 +24,7 @@
 """
 
 import numpy as np
-from grpc_proto import common_pb2 as grpc_types
+from nre.grpc.protos import common_pb2 as grpc_types
 import carla
 from scipy.spatial.transform import Rotation as R
 import logging
@@ -107,7 +107,8 @@ def undo_carla_coordinate_transform(transform: np.ndarray) -> np.ndarray:
     # yaw, pitch, roll = roll, -yaw, pitch
     # yaw, pitch, roll = -pitch, roll, yaw
     yaw = -yaw
-    roll = -roll
+    roll = roll
+    pitch = -pitch
     rotation = R.from_euler("zyx", [yaw, pitch, roll], degrees=False)
     # carla.Rotation(pitch=euler_angles[2] * 180 / np.pi, yaw=-euler_angles[0] * 180 / np.pi, roll=euler_angles[1] * 180 / np.pi)
     result[:3, :3] = rotation.as_matrix()