diff --git a/.github/workflows/pyright.yml b/.github/workflows/pyright.yml
new file mode 100644
index 0000000..58b29af
--- /dev/null
+++ b/.github/workflows/pyright.yml
@@ -0,0 +1,32 @@
+name: pyright
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  pyright:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.12"]
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          pip install uv
+          uv pip install --system -e .
+          uv pip install --system jax
+          uv pip install --system git+https://github.com/brentyi/jaxls.git
+          uv pip install --system git+https://github.com/brentyi/hamer_helper.git
+          uv pip install --system pyright
+      - name: Run pyright
+        run: |
+          pyright .
diff --git a/3_aria_inference.py b/3_aria_inference.py
index ed9c0d2..c489011 100644
--- a/3_aria_inference.py
+++ b/3_aria_inference.py
@@ -188,7 +188,7 @@ def main(args: Args) -> None:
             hamer_detections,
             aria_detections,
             points_data=points_data,
-            splat_path=splat_path,
+            splat_path=traj_paths.splat_path,
             floor_z=floor_z,
         )
         while True:
diff --git a/pyproject.toml b/pyproject.toml
index eee4434..e94089e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -18,7 +18,7 @@ dependencies = [
     "torch>2.2",
     "viser>=0.2.11",
     "typeguard",
-    "jaxtyping",
+    "jaxtyping>=0.2.29",
     "einops",
     "rotary-embedding-torch",
     "h5py",
@@ -28,7 +28,8 @@ dependencies = [
     "tensorboardX",
     "loguru",
     "projectaria-tools[all]",
-    "opencv-python"
+    "opencv-python",
+    "gdown",
 ]
 
 [tool.setuptools.package-data]
diff --git a/src/egoallo/data/amass.py b/src/egoallo/data/amass.py
index a3adfb3..8f8bda4 100644
--- a/src/egoallo/data/amass.py
+++ b/src/egoallo/data/amass.py
@@ -1,12 +1,11 @@
 from pathlib import Path
-from typing import Any, Literal, cast
+from typing import Any, Literal, assert_never, cast
 
 import h5py
 import numpy as np
 import torch
 import torch.utils
 import torch.utils.data
-from typing_extensions import assert_never
 
 from .dataclass import EgoTrainingData
 
diff --git a/src/egoallo/data/dataclass.py b/src/egoallo/data/dataclass.py
index bc79523..f552285 100644
--- a/src/egoallo/data/dataclass.py
+++ b/src/egoallo/data/dataclass.py
@@ -58,7 +58,7 @@ def joints_wrt_world(self) -> Tensor:
 
     @staticmethod
     def load_from_npz(
-        body_model: fncsmpl.SmplModel,
+        body_model: fncsmpl.SmplhModel,
         path: Path,
         include_hands: bool,
     ) -> EgoTrainingData:
diff --git a/src/egoallo/network.py b/src/egoallo/network.py
index 7574c3d..64c3150 100644
--- a/src/egoallo/network.py
+++ b/src/egoallo/network.py
@@ -2,7 +2,7 @@
 
 from dataclasses import dataclass
 from functools import cache, cached_property
-from typing import Literal
+from typing import Literal, assert_never
 
 import numpy as np
 import torch
@@ -11,7 +11,6 @@
 from loguru import logger
 from rotary_embedding_torch import RotaryEmbedding
 from torch import Tensor, nn
-from typing_extensions import assert_never
 
 from .fncsmpl import SmplhModel, SmplhShapedAndPosed
 from .tensor_dataclass import TensorDataclass
diff --git a/src/egoallo/tensor_dataclass.py b/src/egoallo/tensor_dataclass.py
index 92925a7..edc438b 100644
--- a/src/egoallo/tensor_dataclass.py
+++ b/src/egoallo/tensor_dataclass.py
@@ -1,8 +1,7 @@
 import dataclasses
-from typing import Any, Callable
+from typing import Any, Callable, Self, dataclass_transform
 
 import torch
-from typing_extensions import Self, dataclass_transform
 
 
 @dataclass_transform()
diff --git a/src/egoallo/training_utils.py b/src/egoallo/training_utils.py
index e17c378..d0a128d 100644
--- a/src/egoallo/training_utils.py
+++ b/src/egoallo/training_utils.py
@@ -8,10 +8,18 @@
 import time
 import traceback as tb
 from pathlib import Path
-from typing import Any, Dict, Generator, Iterable, Protocol, Sized, overload
+from typing import (
+    Any,
+    Dict,
+    Generator,
+    Iterable,
+    Protocol,
+    Sized,
+    get_type_hints,
+    overload,
+)
 
 import torch
-from typing_extensions import get_type_hints
 
 
 def flattened_hparam_dict_from_dataclass(
diff --git a/src/egoallo/transforms/_base.py b/src/egoallo/transforms/_base.py
index 7c321ed..8847397 100644
--- a/src/egoallo/transforms/_base.py
+++ b/src/egoallo/transforms/_base.py
@@ -1,10 +1,20 @@
 import abc
-from typing import ClassVar, Generic, Tuple, Type, TypeVar, Union, overload
+from typing import (
+    ClassVar,
+    Generic,
+    Self,
+    Tuple,
+    Type,
+    TypeVar,
+    Union,
+    final,
+    overload,
+    override,
+)
 
 import numpy as onp
 import torch
 from torch import Tensor
-from typing_extensions import Self, final, override
 
 GroupType = TypeVar("GroupType", bound="MatrixLieGroup")
 SEGroupType = TypeVar("SEGroupType", bound="SEBase")
diff --git a/src/egoallo/transforms/_se3.py b/src/egoallo/transforms/_se3.py
index 660871b..104fbbf 100644
--- a/src/egoallo/transforms/_se3.py
+++ b/src/egoallo/transforms/_se3.py
@@ -1,12 +1,11 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
-from typing import cast
+from typing import Union, cast, override
 
 import numpy as np
 import torch
 from torch import Tensor
-from typing_extensions import Union, override
 
 from . import _base
 from ._so3 import SO3
diff --git a/src/egoallo/transforms/_so3.py b/src/egoallo/transforms/_so3.py
index cf37ff8..39e1dfb 100644
--- a/src/egoallo/transforms/_so3.py
+++ b/src/egoallo/transforms/_so3.py
@@ -1,12 +1,11 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
-from typing import Union
+from typing import Union, override
 
 import numpy as np
 import torch
 from torch import Tensor
-from typing_extensions import override
 
 from . import _base
 from .utils import get_epsilon, register_lie_group