diff --git a/rb_ws/src/buggy/vision/test_track.py b/rb_ws/src/buggy/vision/test_track.py
new file mode 100644
index 0000000..89b5cd3
--- /dev/null
+++ b/rb_ws/src/buggy/vision/test_track.py
@@ -0,0 +1,44 @@
+import cv2
+from ultralytics import YOLO
+
+# Load the YOLO11 model
+model = YOLO("yolo11n.pt")
+
+# Open the video file
+video_path = "robobuggy test detect.mp4"
+cap = cv2.VideoCapture(video_path)
+i = 0
+
+# Loop through the video frames
+while cap.isOpened():
+    # Read a frame from the video
+  success, frame = cap.read()
+  if i % 800 == 0:
+    if success:
+        # Run YOLO11 tracking on the frame, persisting tracks between frames
+        results = model.track(frame, persist=True, classes=[0])
+
+        # Visualize the results on the frame
+        annotated_frame = results[0].plot()
+        # try:
+        #   index = results[0].boxes.id.tolist().index(64.) 
+        #   print(results[0].boxes.xyxy[index])
+        # except:
+        #   print("None found")
+      
+        print(results[0].boxes.xyxy)
+
+        # Display the annotated frame
+        cv2.imshow("YOLO11 Tracking", annotated_frame)
+
+        # Break the loop if 'q' is pressed
+        if cv2.waitKey(1) & 0xFF == ord("q"):
+            break
+    else:
+        # Break the loop if the end of the video is reached
+        break
+  i += 1
+
+# Release the video capture object and close the display window
+cap.release()
+cv2.destroyAllWindows()
\ No newline at end of file
diff --git a/rb_ws/src/buggy/vision/yolo11n.pt b/rb_ws/src/buggy/vision/yolo11n.pt
new file mode 100644
index 0000000..45b273b
Binary files /dev/null and b/rb_ws/src/buggy/vision/yolo11n.pt differ