diff --git a/WORKSPACE b/WORKSPACE
index c20b2345..1929f9ff 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -205,8 +205,12 @@ http_archive(
   strip_prefix="protobuf-25.3",
   sha256 = "3ae7a8f2181be28e5d694617c2b85c6561ba6a16bfcdc9db8e3a95077cab8815",
   patches = [
-    "@//third_party:protobuf-0002-
-)buf_deps.bzl", "protobuf_deps")
+    "@//third_party:protobuf-0002-use-rules-python-headers.patch",
+  ],
+  patch_args=["-p1"],
+)
+
+load("@com_google_protobuf//:protobuf_deps.bzl", "protobuf_deps")
 protobuf_deps()
 
 http_archive(
@@ -424,9 +428,13 @@ http_archive(
   integrity = "sha256-cSp9CdKiJlL7BqSa9RbgUZeaOYStsGfahnYOYO1Rp/U="
 )
 
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+
 http_archive(
-  name="fast-cpp-csv-parser",
-  urls = ["https://github.com/ben-strasser/fast-cpp-csv-parser/archive/refs/heads/master.zip"],
-  strip_prefix = "fast-cpp-csv-parser-master",
+    name = "symphony_lake_parser",
+    urls = ["https://github.com/cedricpradalier/SymphonyLakeDataset/archive/5366560263b660b0151844a297effa517480991a.zip"],
+    strip_prefix = "SymphonyLakeDataset-5366560263b660b0151844a297effa517480991a",
+    build_file = "//third_party:BUILD.symphony_lake_parser",
+    sha256 = "ab80544a4a7d8554e92c49e9b43e5bdbce0d84654798262c36134cd1224070be",
 )
 
diff --git a/common/csv_reader/BUILD b/common/csv_reader/BUILD
deleted file mode 100644
index b7c54a15..00000000
--- a/common/csv_reader/BUILD
+++ /dev/null
@@ -1,20 +0,0 @@
-package(features=["warning_compile_flags"])
-
-cc_library(
-  name = "csv_reader",
-  hdrs = ["learn_descriptorcsv.hh"],
-  visibility = ["//visibility:public"],
-  srcs = ["learn_descriptors.cc"],
-  deps = [
-    "@"
-  ]
-)
-
-cc_test(
-  name = "csv_reader_test",
-  srcs = ["csv_reader_test.cc"],
-  deps = [
-    "@com_google_googletest//:gtest_main",
-    ":learn_descriptors",
-  ]
-)
diff --git a/common/csv_reader/csv_reader.cc b/common/csv_reader/csv_reader.cc
deleted file mode 100644
index e69de29b..00000000
diff --git a/common/csv_reader/csv_reader.hh b/common/csv_reader/csv_reader.hh
deleted file mode 100644
index 0ea4fda1..00000000
--- a/common/csv_reader/csv_reader.hh
+++ /dev/null
@@ -1 +0,0 @@
-#include "csv.h"
\ No newline at end of file
diff --git a/common/csv_reader/csv_reader_test.cc b/common/csv_reader/csv_reader_test.cc
deleted file mode 100644
index e69de29b..00000000
diff --git a/experimental/learn_descriptors/BUILD b/experimental/learn_descriptors/BUILD
index 5d4f6204..6cdd6274 100644
--- a/experimental/learn_descriptors/BUILD
+++ b/experimental/learn_descriptors/BUILD
@@ -15,3 +15,24 @@ cc_test(
     ":learn_descriptors",
   ]
 )
+
+cc_library(
+  name = "symphony_lake_parser",
+  hdrs = ["symphony_lake_parser.hh"],
+  copts = ["-Wno-unused-parameter"],
+  visibility = ["//visibility:public"],
+  srcs = ["symphony_lake_parser.cc"],
+  deps = [
+    "@symphony_lake_parser",
+  ]
+)
+
+cc_test(
+  name = "symphony_lake_parser_test",
+  srcs = ["symphony_lake_parser_test.cc"],
+  copts = ["-Wno-unused-parameter"],
+  deps = [
+    "@com_google_googletest//:gtest_main",
+    ":symphony_lake_parser"
+  ]
+)
\ No newline at end of file
diff --git a/experimental/learn_descriptors/symphony_lake_parser.cc b/experimental/learn_descriptors/symphony_lake_parser.cc
new file mode 100644
index 00000000..f0b48522
--- /dev/null
+++ b/experimental/learn_descriptors/symphony_lake_parser.cc
@@ -0,0 +1,7 @@
+#include "experimental/learn_descriptors/symphony_lake_parser.hh"
+
+#include <iostream>
+
+namespace robot::experimental::learn_descriptors::symphony_lake_dataset {
+void hello_world(const std::string &msg) { std::cout << msg << std::endl; }
+}  // namespace robot::experimental::learn_descriptors::symphony_lake_dataset
\ No newline at end of file
diff --git a/experimental/learn_descriptors/symphony_lake_parser.hh b/experimental/learn_descriptors/symphony_lake_parser.hh
new file mode 100644
index 00000000..a148254c
--- /dev/null
+++ b/experimental/learn_descriptors/symphony_lake_parser.hh
@@ -0,0 +1,9 @@
+#pragma once
+
+#include <string.h>
+
+#include "symphony_lake_dataset/SurveyVector.h"
+
+namespace robot::experimental::learn_descriptors::symphony_lake_dataset {
+void hello_world(const std::string &msg);
+}
\ No newline at end of file
diff --git a/experimental/learn_descriptors/symphony_lake_parser_test.cc b/experimental/learn_descriptors/symphony_lake_parser_test.cc
new file mode 100644
index 00000000..a31449f1
--- /dev/null
+++ b/experimental/learn_descriptors/symphony_lake_parser_test.cc
@@ -0,0 +1,7 @@
+#include "experimental/learn_descriptors/symphony_lake_parser.hh"
+
+#include "gtest/gtest.h"
+
+namespace robot::experimental::learn_descriptors::symphony_lake_dataset {
+TEST(SymphonyLakeParserTest, hello_world) { hello_world("womp womp"); }
+}  // namespace robot::experimental::learn_descriptors::symphony_lake_dataset
\ No newline at end of file
diff --git a/third_party/BUILD.cpp_fast_csv_parser b/third_party/BUILD.cpp_fast_csv_parser
deleted file mode 100644
index 487303e4..00000000
--- a/third_party/BUILD.cpp_fast_csv_parser
+++ /dev/null
@@ -1,6 +0,0 @@
-cc_library(
-    name = "cpp_fast_csv_parser",
-    srcs = ["csv.h"],
-    hdrs = ["csh.h"],
-    visibility = ["//visibility:public"],
-)
\ No newline at end of file
diff --git a/third_party/BUILD.symphony_lake_parser b/third_party/BUILD.symphony_lake_parser
new file mode 100644
index 00000000..894c9902
--- /dev/null
+++ b/third_party/BUILD.symphony_lake_parser
@@ -0,0 +1,26 @@
+package(features=["-warning_compile_flags"])
+
+cc_library(
+  name = "symphony_lake_parser",
+  hdrs = [
+    "include/symphony_lake_dataset/SurveyVector.h",
+    "include/symphony_lake_dataset/csv_functions.h",
+    "include/symphony_lake_dataset/Function.h",
+    "include/symphony_lake_dataset/ImagePoint.h",
+    "include/symphony_lake_dataset/ParseSurvey.h",
+    "include/symphony_lake_dataset/Pose.h",
+    "include/symphony_lake_dataset/Survey.h",
+  ],
+  copts = ["-Wno-unused-parameter"],
+  visibility = ["//visibility:public"],
+  srcs = [
+    "src/Function.cpp",
+    "src/ParseSurvey.cpp",
+    "src/Survey.cpp",
+    "src/SurveyVector.cpp"
+  ],
+  strip_include_prefix="include/",
+  deps = [
+    "@opencv//:opencv",
+  ],
+)