diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 690a18b..3974a31 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -10,12 +10,12 @@ jobs:
       - name: Run black to test code linting
         uses: psf/black@stable
         with:
-          options: "--check --verbose --exclude 'prpl-mono|\\.venv|outputs'"
+          options: "--check --verbose --exclude 'third-party|\\.venv|outputs'"
           jupyter: true
       - name: Run isort to organize imports
         uses: isort/isort-action@master
         with:
-          configuration: "--skip prpl-mono --skip .venv --skip outputs --check-only"
+          configuration: "--skip third-party --skip .venv --skip outputs --check-only"
   linting:
     runs-on: ubuntu-latest
     strategy:
@@ -36,7 +36,7 @@ jobs:
       run: uv sync --all-extras --dev
     - name: Lint
       run: |
-        uv run pytest . --pylint -m pylint --pylint-rcfile=.pylintrc --ignore=prpl-mono --ignore=outputs
+        uv run pytest . --pylint -m pylint --pylint-rcfile=.pylintrc --ignore=third-party --ignore=outputs
   static-type-checking:
     runs-on: ubuntu-latest
     strategy:
@@ -57,7 +57,7 @@ jobs:
       run: uv sync --all-extras --dev
     - name: Mypy
       run: |
-        uv run mypy . --exclude prpl-mono --exclude outputs
+        uv run mypy . --exclude third-party --exclude outputs
   unit-tests:
     runs-on: ubuntu-latest
     strategy:
diff --git a/.gitmodules b/.gitmodules
index 35837e0..2514d0a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,3 @@
-[submodule "prpl-mono"]
-	path = prpl-mono
-	url = https://github.com/Jaraxxus-Me/prpl-roboclaude
+[submodule "third-party/kindergarden"]
+	path = third-party/kindergarden
+	url = https://github.com/Jaraxxus-Me/kindergarden
diff --git a/README.md b/README.md
index 6eb31dc..5c02084 100644
--- a/README.md
+++ b/README.md
@@ -136,9 +136,9 @@ All environments are available as Hydra configs via `environment=<config_name>`.
 | `obstruction3d_easy` | `kinder/Obstruction3D-o0-v0` | Easy (0 obstructions) |
 | `obstruction3d_medium` | `kinder/Obstruction3D-o2-v0` | Medium (2 obstructions) |
 | `obstruction3d_hard` | `kinder/Obstruction3D-o4-v0` | Hard (4 obstructions) |
-| `shelf3d_easy` | `kinder/Shelf3D-o1-v0` | Easy (1 cube) |
-| `shelf3d_medium` | `kinder/Shelf3D-o3-v0` | Medium (3 cubes) |
-| `shelf3d_hard` | `kinder/Shelf3D-o5-v0` | Hard (5 cubes) |
+| `shelf3d_easy` | `kinder/KinematicShelf3D-o1-v0` | Easy (1 cube) |
+| `shelf3d_medium` | `kinder/KinematicShelf3D-o3-v0` | Medium (3 cubes) |
+| `shelf3d_hard` | `kinder/KinematicShelf3D-o5-v0` | Hard (5 cubes) |
 | `transport3d_easy` | `kinder/Transport3D-o1-v0` | Easy (1 cube) |
 | `transport3d_hard` | `kinder/Transport3D-o2-v0` | Hard (2 cubes) |
 | `packing3d_easy` | `kinder/Packing3D-p1-v0` | Easy (1 part) |
diff --git a/experiments/conf/environment/shelf3d_easy.yaml b/experiments/conf/environment/shelf3d_easy.yaml
index e1a3232..1758b1e 100644
--- a/experiments/conf/environment/shelf3d_easy.yaml
+++ b/experiments/conf/environment/shelf3d_easy.yaml
@@ -1,2 +1,2 @@
 _target_: robocode.environments.kinder_geom3d_env.KinderGeom3DEnv
-env_id: kinder/Shelf3D-o1-v0
+env_id: kinder/KinematicShelf3D-o1-v0
diff --git a/experiments/conf/environment/shelf3d_hard.yaml b/experiments/conf/environment/shelf3d_hard.yaml
index c9e1636..e3590e4 100644
--- a/experiments/conf/environment/shelf3d_hard.yaml
+++ b/experiments/conf/environment/shelf3d_hard.yaml
@@ -1,2 +1,2 @@
 _target_: robocode.environments.kinder_geom3d_env.KinderGeom3DEnv
-env_id: kinder/Shelf3D-o5-v0
+env_id: kinder/KinematicShelf3D-o5-v0
diff --git a/experiments/conf/environment/shelf3d_medium.yaml b/experiments/conf/environment/shelf3d_medium.yaml
index a4a2c4d..9681e1b 100644
--- a/experiments/conf/environment/shelf3d_medium.yaml
+++ b/experiments/conf/environment/shelf3d_medium.yaml
@@ -1,2 +1,2 @@
 _target_: robocode.environments.kinder_geom3d_env.KinderGeom3DEnv
-env_id: kinder/Shelf3D-o3-v0
+env_id: kinder/KinematicShelf3D-o3-v0
diff --git a/prpl-mono b/prpl-mono
deleted file mode 160000
index 650efc5..0000000
--- a/prpl-mono
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 650efc50d947c7f5dbcead2a056c4627b6d099cf
diff --git a/pyproject.toml b/pyproject.toml
index 53c504c..ca8b2be 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -17,11 +17,8 @@ dependencies = [
    "hydra-core",
    "hydra-joblib-launcher",
    "omegaconf",
-   "relational-structs",
-   "prpl_utils",
-   "tomsgeoms2d",
-   "kinder[all]",
-   "pybullet_helpers",
+   "kindergarden[kinematic2d,kinematic3d,dynamic2d,dynamic3d]",
+   "pybullet",
    "types-shapely",
    "scipy-stubs",
    "imageio",
@@ -65,14 +62,10 @@ wrap-descriptions = 88
 strict_equality = true
 disallow_untyped_calls = true
 warn_unreachable = true
-exclude = ["venv/*", ".venv/*", "outputs/*"]
+exclude = ["venv/*", ".venv/*", "outputs/*", "third-party/*"]
 
 [tool.uv.sources]
-relational-structs = { path = "prpl-mono/relational-structs", editable = true }
-prpl_utils = { path = "prpl-mono/prpl-utils", editable = true }
-tomsgeoms2d = { path = "prpl-mono/toms-geoms-2d", editable = true }
-kinder = { path = "prpl-mono/kinder", editable = true }
-pybullet_helpers = { path = "prpl-mono/pybullet-helpers", editable = true }
+kindergarden = { path = "third-party/kindergarden", editable = true }
 
 [[tool.mypy.overrides]]
 module = [
diff --git a/run_autoformat.sh b/run_autoformat.sh
index c7df242..2e8bd2e 100755
--- a/run_autoformat.sh
+++ b/run_autoformat.sh
@@ -1,4 +1,4 @@
 #!/bin/bash
-python -m black . --exclude 'prpl-mono|\.venv|outputs|multirun'
-docformatter -i -r . --exclude venv .venv prpl-mono outputs multirun
-isort . --skip .venv --skip prpl-mono --skip outputs --skip multirun
+python -m black . --exclude 'third-party|\.venv|outputs|multirun'
+docformatter -i -r . --exclude venv .venv third-party outputs multirun
+isort . --skip .venv --skip third-party --skip outputs --skip multirun
diff --git a/run_ci_checks.sh b/run_ci_checks.sh
index 2bbc355..d9f4070 100755
--- a/run_ci_checks.sh
+++ b/run_ci_checks.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 set -e
 ./run_autoformat.sh
-mypy . --exclude prpl-mono --exclude outputs --exclude multirun --exclude 'src/robocode/mcp'
-pytest . --pylint -m pylint --pylint-rcfile=.pylintrc --ignore=prpl-mono --ignore=outputs --ignore=multirun
+mypy . --exclude third-party --exclude outputs --exclude multirun --exclude 'src/robocode/mcp'
+pytest . --pylint -m pylint --pylint-rcfile=.pylintrc --ignore=third-party --ignore=outputs --ignore=multirun
 pytest tests/ --ignore=tests/mcp
diff --git a/src/robocode/environments/kinder_geom2d_env.py b/src/robocode/environments/kinder_geom2d_env.py
index 257cac6..47074e8 100644
--- a/src/robocode/environments/kinder_geom2d_env.py
+++ b/src/robocode/environments/kinder_geom2d_env.py
@@ -71,8 +71,8 @@ def env_description(self) -> str:
             f"`KinderGeom2DEnv` is a thin wrapper. The underlying environment "
             f"logic lives in the `kinder` package. To find the source files:\n\n"
             f"```python\n"
-            f"import kinder.envs.geom2d\n"
-            f"print(kinder.envs.geom2d.__path__)\n"
+            f"import kinder.envs.kinematic2d\n"
+            f"print(kinder.envs.kinematic2d.__path__)\n"
             f"```\n\n"
             f"Key files in that directory:\n"
             f"- `base_env.py` \u2014 `step()` transition dynamics and collision "
diff --git a/src/robocode/environments/kinder_geom3d_env.py b/src/robocode/environments/kinder_geom3d_env.py
index 891b0e1..5836b06 100644
--- a/src/robocode/environments/kinder_geom3d_env.py
+++ b/src/robocode/environments/kinder_geom3d_env.py
@@ -71,8 +71,8 @@ def env_description(self) -> str:
             f"`KinderGeom3DEnv` is a thin wrapper. The underlying environment "
             f"logic lives in the `kinder` package. To find the source files:\n\n"
             f"```python\n"
-            f"import kinder.envs.geom3d\n"
-            f"print(kinder.envs.geom3d.__path__)\n"
+            f"import kinder.envs.kinematic3d\n"
+            f"print(kinder.envs.kinematic3d.__path__)\n"
             f"```\n\n"
             f"Key files in that directory:\n"
             f"- `base_env.py` \u2014 `step()` transition dynamics and collision "
diff --git a/src/robocode/oracles/clutteredstorage2d_medium/obs_helpers.py b/src/robocode/oracles/clutteredstorage2d_medium/obs_helpers.py
index 6b29741..aef4289 100644
--- a/src/robocode/oracles/clutteredstorage2d_medium/obs_helpers.py
+++ b/src/robocode/oracles/clutteredstorage2d_medium/obs_helpers.py
@@ -5,13 +5,13 @@
 from dataclasses import dataclass
 
 import numpy as np
-from kinder.envs.geom2d.object_types import (
+from kinder.envs.kinematic2d.object_types import (
     CRVRobotType,
     DoubleRectType,
-    Geom2DRobotEnvTypeFeatures,
+    Kinematic2DRobotEnvTypeFeatures,
     RectangleType,
 )
-from kinder.envs.geom2d.utils import create_walls_from_world_boundaries
+from kinder.envs.kinematic2d.utils import create_walls_from_world_boundaries
 from numpy.typing import NDArray
 from relational_structs import Object, ObjectCentricState
 
@@ -94,9 +94,9 @@
 _BLOCK_OBJECTS = {name: Object(name, RectangleType) for name in BLOCK_NAMES}
 
 _OBJECT_CENTRIC_TYPE_FEATURES = {
-    CRVRobotType: Geom2DRobotEnvTypeFeatures[CRVRobotType],
-    DoubleRectType: Geom2DRobotEnvTypeFeatures[DoubleRectType],
-    RectangleType: Geom2DRobotEnvTypeFeatures[RectangleType],
+    CRVRobotType: Kinematic2DRobotEnvTypeFeatures[CRVRobotType],
+    DoubleRectType: Kinematic2DRobotEnvTypeFeatures[DoubleRectType],
+    RectangleType: Kinematic2DRobotEnvTypeFeatures[RectangleType],
 }
 
 
@@ -463,7 +463,7 @@ def extract_object_centric_state(obs: NDArray) -> ObjectCentricState:
         min_dy=-0.05,
         max_dy=0.05,
     )
-    rect_features = Geom2DRobotEnvTypeFeatures[RectangleType]
+    rect_features = Kinematic2DRobotEnvTypeFeatures[RectangleType]
     for wall_obj, wall_feat_dict in walls.items():
         state_data[wall_obj] = np.array(
             [float(wall_feat_dict[feat]) for feat in rect_features],
diff --git a/src/robocode/oracles/pushpullhook2d/behaviors.py b/src/robocode/oracles/pushpullhook2d/behaviors.py
index b774ad2..d1295aa 100644
--- a/src/robocode/oracles/pushpullhook2d/behaviors.py
+++ b/src/robocode/oracles/pushpullhook2d/behaviors.py
@@ -21,7 +21,7 @@
 from typing import Callable
 
 import numpy as np
-from kinder.envs.geom2d.structs import SE2Pose
+from kinder.envs.kinematic2d.structs import SE2Pose
 from numpy.typing import NDArray
 
 from robocode.oracles.pushpullhook2d.act_helpers import (
diff --git a/src/robocode/primitives/crv_motion_planning.py b/src/robocode/primitives/crv_motion_planning.py
index 13b6f0a..df54390 100644
--- a/src/robocode/primitives/crv_motion_planning.py
+++ b/src/robocode/primitives/crv_motion_planning.py
@@ -20,8 +20,8 @@
 
 import numpy as np
 from kinder.core import RobotActionSpace
-from kinder.envs.geom2d.object_types import DoubleRectType, RectangleType
-from kinder.envs.geom2d.structs import MultiBody2D, SE2Pose, ZOrder
+from kinder.envs.kinematic2d.object_types import DoubleRectType, RectangleType
+from kinder.envs.kinematic2d.structs import MultiBody2D, SE2Pose, ZOrder
 from kinder.envs.utils import (
     BLACK,
     crv_robot_to_multibody2d,
diff --git a/src/robocode/primitives/crv_motion_planning_grasp.py b/src/robocode/primitives/crv_motion_planning_grasp.py
index 6000bd5..beb87f8 100644
--- a/src/robocode/primitives/crv_motion_planning_grasp.py
+++ b/src/robocode/primitives/crv_motion_planning_grasp.py
@@ -15,8 +15,8 @@
 from dataclasses import dataclass
 
 import numpy as np
-from kinder.envs.geom2d.object_types import RectangleType
-from kinder.envs.geom2d.structs import MultiBody2D, SE2Pose
+from kinder.envs.kinematic2d.object_types import RectangleType
+from kinder.envs.kinematic2d.structs import MultiBody2D, SE2Pose
 from kinder.envs.utils import rectangle_object_to_geom, state_2d_has_collision
 from prpl_utils.utils import get_signed_angle_distance, wrap_angle
 from relational_structs import Object, ObjectCentricState
diff --git a/tests/environments/test_kinder_geom3d_env.py b/tests/environments/test_kinder_geom3d_env.py
index c8256db..bf926d3 100644
--- a/tests/environments/test_kinder_geom3d_env.py
+++ b/tests/environments/test_kinder_geom3d_env.py
@@ -10,9 +10,9 @@
     "kinder/Obstruction3D-o0-v0",
     "kinder/Obstruction3D-o2-v0",
     "kinder/Obstruction3D-o4-v0",
-    "kinder/Shelf3D-o1-v0",
-    "kinder/Shelf3D-o3-v0",
-    "kinder/Shelf3D-o5-v0",
+    "kinder/KinematicShelf3D-o1-v0",
+    "kinder/KinematicShelf3D-o3-v0",
+    "kinder/KinematicShelf3D-o5-v0",
     "kinder/Transport3D-o1-v0",
     "kinder/Transport3D-o2-v0",
     "kinder/Packing3D-p1-v0",
diff --git a/tests/primitives/test_crv_motion_planning.py b/tests/primitives/test_crv_motion_planning.py
index 5389c6a..68bddf0 100644
--- a/tests/primitives/test_crv_motion_planning.py
+++ b/tests/primitives/test_crv_motion_planning.py
@@ -3,9 +3,9 @@
 from __future__ import annotations
 
 import numpy as np
-from kinder.envs.geom2d.object_types import (
+from kinder.envs.kinematic2d.object_types import (
     CRVRobotType,
-    Geom2DRobotEnvTypeFeatures,
+    Kinematic2DRobotEnvTypeFeatures,
     RectangleType,
 )
 from relational_structs import Object, ObjectCentricState
@@ -26,8 +26,8 @@
 
 _ROBOT = Object("robot", CRVRobotType)
 _TYPE_FEATURES = {
-    CRVRobotType: Geom2DRobotEnvTypeFeatures[CRVRobotType],
-    RectangleType: Geom2DRobotEnvTypeFeatures[RectangleType],
+    CRVRobotType: Kinematic2DRobotEnvTypeFeatures[CRVRobotType],
+    RectangleType: Kinematic2DRobotEnvTypeFeatures[RectangleType],
 }
 
 
@@ -86,7 +86,7 @@ def _state(
     for name, (cx, cy, width, height) in (block_specs or {}).items():
         data[Object(name, RectangleType)] = _rect_from_center(cx, cy, width, height)
 
-    rect_features = Geom2DRobotEnvTypeFeatures[RectangleType]
+    rect_features = Kinematic2DRobotEnvTypeFeatures[RectangleType]
     walls = create_walls_from_world_boundaries(
         WORLD_MIN_X,
         WORLD_MAX_X,
diff --git a/tests/primitives/test_crv_motion_planning_grasp.py b/tests/primitives/test_crv_motion_planning_grasp.py
index b513119..8487225 100644
--- a/tests/primitives/test_crv_motion_planning_grasp.py
+++ b/tests/primitives/test_crv_motion_planning_grasp.py
@@ -3,9 +3,9 @@
 from __future__ import annotations
 
 import numpy as np
-from kinder.envs.geom2d.object_types import (
+from kinder.envs.kinematic2d.object_types import (
     CRVRobotType,
-    Geom2DRobotEnvTypeFeatures,
+    Kinematic2DRobotEnvTypeFeatures,
     RectangleType,
 )
 from relational_structs import Object, ObjectCentricState
@@ -27,8 +27,8 @@
 
 _ROBOT = Object("robot", CRVRobotType)
 _TYPE_FEATURES = {
-    CRVRobotType: Geom2DRobotEnvTypeFeatures[CRVRobotType],
-    RectangleType: Geom2DRobotEnvTypeFeatures[RectangleType],
+    CRVRobotType: Kinematic2DRobotEnvTypeFeatures[CRVRobotType],
+    RectangleType: Kinematic2DRobotEnvTypeFeatures[RectangleType],
 }
 
 
@@ -73,7 +73,7 @@ def _state(
     for name, (cx, cy, width, height) in (extra_blocks or {}).items():
         data[Object(name, RectangleType)] = _rect_from_center(cx, cy, width, height)
 
-    rect_features = Geom2DRobotEnvTypeFeatures[RectangleType]
+    rect_features = Kinematic2DRobotEnvTypeFeatures[RectangleType]
     walls = create_walls_from_world_boundaries(
         WORLD_MIN_X,
         WORLD_MAX_X,
diff --git a/tests/utils/test_docker_sandbox.py b/tests/utils/test_docker_sandbox.py
index 36bdca9..a01bffc 100644
--- a/tests/utils/test_docker_sandbox.py
+++ b/tests/utils/test_docker_sandbox.py
@@ -152,12 +152,6 @@ def test_find_repo_root_has_pyproject() -> None:
     assert (root / "pyproject.toml").exists()
 
 
-def test_find_repo_root_has_prpl_mono() -> None:
-    """_find_repo_root() returns a directory containing prpl-mono/."""
-    root = _find_repo_root()
-    assert (root / "prpl-mono").is_dir()
-
-
 def test_setup_creates_sandbox_dir(tmp_path: Path) -> None:
     """_setup_sandbox_dir() creates the sandbox directory if absent."""
     config = DockerSandboxConfig(sandbox_dir=tmp_path / "sandbox")
diff --git a/third-party/kindergarden b/third-party/kindergarden
new file mode 160000
index 0000000..e4f2c40
--- /dev/null
+++ b/third-party/kindergarden
@@ -0,0 +1 @@
+Subproject commit e4f2c402f90a1e31fc61c550b4cff949ee2ccbf3