diff --git a/environment.yml b/environment.yml
index f3aff00d..9f7c9d8f 100644
--- a/environment.yml
+++ b/environment.yml
@@ -6,11 +6,11 @@ channels:
    - anaconda
    - defaults
 dependencies:
-  - nvidia::cudatoolkit==11.3.1
+  - nvidia::cudatoolkit==12.1
   - python=3.9
   - pip
-  - pytorch::pytorch==1.11.0
-  - torchvision==0.12.0
+  - pytorch::pytorch==2.1
+  - torchvision==0.16
   - geckodriver
   - firefox
   - opencv
diff --git a/poetry.lock b/poetry.lock
index f1b83179..ba77d1f1 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
 
 [[package]]
 name = "addict"
@@ -13,13 +13,13 @@ files = [
 
 [[package]]
 name = "alabaster"
-version = "0.7.13"
-description = "A configurable sidebar-enabled Sphinx theme"
+version = "0.7.16"
+description = "A light, configurable Sphinx theme"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.9"
 files = [
-    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
-    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
+    {file = "alabaster-0.7.16-py3-none-any.whl", hash = "sha256:b46733c07dce03ae4e150330b975c75737fa60f0a7c591b6c8bf4928a28e2c92"},
+    {file = "alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65"},
 ]
 
 [[package]]
@@ -49,19 +49,20 @@ files = [
 
 [[package]]
 name = "anyio"
-version = "4.1.0"
+version = "4.2.0"
 description = "High level compatibility layer for multiple asynchronous event loop implementations"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "anyio-4.1.0-py3-none-any.whl", hash = "sha256:56a415fbc462291813a94528a779597226619c8e78af7de0507333f700011e5f"},
-    {file = "anyio-4.1.0.tar.gz", hash = "sha256:5a0bec7085176715be77df87fc66d6c9d70626bd752fcc85f57cdbee5b3760da"},
+    {file = "anyio-4.2.0-py3-none-any.whl", hash = "sha256:745843b39e829e108e518c489b31dc757de7d2131d53fac32bd8df268227bfee"},
+    {file = "anyio-4.2.0.tar.gz", hash = "sha256:e1875bb4b4e2de1669f4bc7869b6d3f54231cdced71605e6e64c9be77e3be50f"},
 ]
 
 [package.dependencies]
 exceptiongroup = {version = ">=1.0.2", markers = "python_version < \"3.11\""}
 idna = ">=2.8"
 sniffio = ">=1.1"
+typing-extensions = {version = ">=4.1", markers = "python_version < \"3.11\""}
 
 [package.extras]
 doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
@@ -88,21 +89,22 @@ test = ["astroid (>=1,<2)", "astroid (>=2,<4)", "pytest"]
 
 [[package]]
 name = "attrs"
-version = "23.1.0"
+version = "23.2.0"
 description = "Classes Without Boilerplate"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "attrs-23.1.0-py3-none-any.whl", hash = "sha256:1f28b4522cdc2fb4256ac1a020c78acf9cba2c6b461ccd2c126f3aa8e8335d04"},
-    {file = "attrs-23.1.0.tar.gz", hash = "sha256:6279836d581513a26f1bf235f9acd333bc9115683f14f7e8fae46c98fc50e015"},
+    {file = "attrs-23.2.0-py3-none-any.whl", hash = "sha256:99b87a485a5820b23b879f04c2305b44b951b502fd64be915879d77a7e8fc6f1"},
+    {file = "attrs-23.2.0.tar.gz", hash = "sha256:935dc3b529c262f6cf76e50877d35a4bd3c1de194fd41f47a2b7ae8f19971f30"},
 ]
 
 [package.extras]
 cov = ["attrs[tests]", "coverage[toml] (>=5.3)"]
-dev = ["attrs[docs,tests]", "pre-commit"]
+dev = ["attrs[tests]", "pre-commit"]
 docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier", "zope-interface"]
 tests = ["attrs[tests-no-zope]", "zope-interface"]
-tests-no-zope = ["cloudpickle", "hypothesis", "mypy (>=1.1.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
+tests-mypy = ["mypy (>=1.6)", "pytest-mypy-plugins"]
+tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
 
 [[package]]
 name = "babel"
@@ -138,33 +140,33 @@ lxml = ["lxml"]
 
 [[package]]
 name = "black"
-version = "23.12.0"
+version = "23.12.1"
 description = "The uncompromising code formatter."
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "black-23.12.1-cp39-cp39-win_amd64.whl", hash = "sha256:dd15245c8b68fe2b6bd0f32c1556509d11bb33aec9b5d0866dd8e2ed3dba09c2"},
+    {file = "black-23.12.1-py3-none-any.whl", hash = "sha256:78baad24af0f033958cad29731e27363183e140962595def56423e626f4bee3e"},
+    {file = "black-23.12.1.tar.gz", hash = "sha256:4ce3ef14ebe8d9509188014d96af1c456a910d5b5cbf434a09fef7e024b3d0d5"},
 ]
 
 [package.dependencies]
@@ -195,13 +197,13 @@ files = [
 
 [[package]]
 name = "bokeh"
-version = "3.3.2"
+version = "3.3.3"
 description = "Interactive plots and applications in the browser from Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "bokeh-3.3.2-py3-none-any.whl", hash = "sha256:f70bcea96c72f85bbeae01b9dcd30a9f27aa48fbfaf8e6f45b6958dfcd08e5c5"},
-    {file = "bokeh-3.3.2.tar.gz", hash = "sha256:ae180f86f776525f7eb81673a1f27e0eb56887d733771662c512ec0d82a433f5"},
+    {file = "bokeh-3.3.3-py3-none-any.whl", hash = "sha256:8f4a95f80e6e03a59eb0ae3c1bce67db3c888a7a5c4f287d4ef9f817849a8b2a"},
+    {file = "bokeh-3.3.3.tar.gz", hash = "sha256:6ece6f00263f2d2043a24eaf9db75a6f860efc8a1f96df663186fe3eb2692dd3"},
 ]
 
 [package.dependencies]
@@ -449,20 +451,20 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [[package]]
 name = "cmeel"
-version = "0.53.2"
+version = "0.53.3"
 description = "Create Wheel from CMake projects"
 optional = true
 python-versions = ">=3.8,<4.0"
 files = [
-    {file = "cmeel-0.53.2-py3-none-any.whl", hash = "sha256:7f1d5bc4f00dc4caf2be53ec1a8a3a375a869e50e189cef4745e32cfb4e5381d"},
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+    {file = "cmeel-0.53.3-py3-none-any.whl", hash = "sha256:26472fa9d57610cc5cb2c2ed0911b272b928e9e580a9d3c51e3ca90a919f3fad"},
+    {file = "cmeel-0.53.3.tar.gz", hash = "sha256:f40761e3b997910d5a3153a35d9635c3bc849fc21a79a8b57d67a3617006d359"},
 ]
 
 [package.dependencies]
 tomli = {version = ">=2.0.1,<3.0.0", markers = "python_version < \"3.11\""}
 
 [package.extras]
-build = ["cmake (>=3.27.7,<4.0.0)", "git-archive-all (>=1.23.1,<2.0.0)", "packaging (>=23.2,<24.0)", "wheel (>=0.41.1,<0.43.0)"]
+build = ["cmake (>=3.27.9,<4.0.0)", "git-archive-all (>=1.23.1,<2.0.0)", "packaging (>=23.2,<24.0)", "wheel (>=0.42.0)"]
 
 [[package]]
 name = "cmeel-assimp"
@@ -741,63 +743,63 @@ url = "happypose/pose_estimators/cosypose"
 
 [[package]]
 name = "coverage"
-version = "7.3.2"
+version = "7.4.0"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -823,69 +825,69 @@ tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
 [[package]]
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 optional = true
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 graphite = ["lz4 (>=1.7.4.2)"]
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 lxml = ["lxml (>=4.0,<5)"]
 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
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 ]
 
+[[package]]
+name = "fsspec"
+version = "2023.12.2"
+description = "File-system specification"
+optional = true
+python-versions = ">=3.8"
+files = [
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+
+[package.extras]
+abfs = ["adlfs"]
+adl = ["adlfs"]
+arrow = ["pyarrow (>=1)"]
+dask = ["dask", "distributed"]
+devel = ["pytest", "pytest-cov"]
+dropbox = ["dropbox", "dropboxdrivefs", "requests"]
+full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
+fuse = ["fusepy"]
+gcs = ["gcsfs"]
+git = ["pygit2"]
+github = ["requests"]
+gs = ["gcsfs"]
+gui = ["panel"]
+hdfs = ["pyarrow (>=1)"]
+http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
+libarchive = ["libarchive-c"]
+oci = ["ocifs"]
+s3 = ["s3fs"]
+sftp = ["paramiko"]
+smb = ["smbprotocol"]
+ssh = ["paramiko"]
+tqdm = ["tqdm"]
+
 [[package]]
 name = "h11"
 version = "0.14.0"
@@ -1372,13 +1409,13 @@ files = [
 
 [[package]]
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-version = "7.0.0"
+version = "7.0.1"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1476,13 +1513,13 @@ testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
 
 [[package]]
 name = "jinja2"
-version = "3.1.2"
+version = "3.1.3"
 description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -1525,13 +1562,13 @@ format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-
 
 [[package]]
 name = "jsonschema-specifications"
-version = "2023.11.2"
+version = "2023.12.1"
 description = "The JSON Schema meta-schemas and vocabularies, exposed as a Registry"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1539,13 +1576,13 @@ referencing = ">=0.31.0"
 
 [[package]]
 name = "jupyter-core"
-version = "5.5.0"
+version = "5.7.1"
 description = "Jupyter core package. A base package on which Jupyter projects rely."
 optional = false
 python-versions = ">=3.8"
 files = [
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@@ -1881,6 +1928,23 @@ pyzmq = ">=17.0.0"
 tornado = ">=4.0.0"
 u-msgpack-python = ">=2.4.1"
 
+[[package]]
+name = "mpmath"
+version = "1.3.0"
+description = "Python library for arbitrary-precision floating-point arithmetic"
+optional = true
+python-versions = "*"
+files = [
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+[package.extras]
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+docs = ["sphinx"]
+gmpy = ["gmpy2 (>=2.1.0a4)"]
+tests = ["pytest (>=4.6)"]
+
 [[package]]
 name = "mypy-extensions"
 version = "1.0.0"
@@ -1983,110 +2047,49 @@ setuptools = "*"
 
 [[package]]
 name = "numpy"
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+version = "1.26.3"
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 python-versions = ">=3.9"
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 [package.dependencies]
@@ -2404,70 +2407,88 @@ ptyprocess = ">=0.5"
 
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 [package.extras]
 docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
+fpx = ["olefile"]
+mic = ["olefile"]
 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+typing = ["typing-extensions"]
+xmp = ["defusedxml"]
 
 [[package]]
 name = "pin"
@@ -2542,13 +2563,13 @@ tenacity = ">=6.2.0"
 
 [[package]]
 name = "plyfile"
-version = "1.0.2"
+version = "1.0.3"
 description = "PLY file reader/writer"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -2669,13 +2690,13 @@ windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
 name = "pyngrok"
-version = "7.0.3"
+version = "7.0.5"
 description = "A Python wrapper for ngrok."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
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@@ -2933,13 +2964,13 @@ cffi = {version = "*", markers = "implementation_name == \"pypy\""}
 
 [[package]]
 name = "referencing"
-version = "0.32.0"
+version = "0.32.1"
 description = "JSON Referencing + Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "referencing-0.32.0.tar.gz", hash = "sha256:689e64fe121843dcfd57b71933318ef1f91188ffb45367332700a86ac8fd6161"},
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 ]
 
 [package.dependencies]
@@ -2994,136 +3025,136 @@ files = [
 
 [[package]]
 name = "rpds-py"
-version = "0.13.2"
+version = "0.16.2"
 description = "Python bindings to Rust's persistent data structures (rpds)"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
 tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
 
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 ]
 
 [package.dependencies]
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-nvidia-cuda-nvrtc-cu11 = {version = "11.7.99", markers = "platform_system == \"Linux\""}
-nvidia-cuda-runtime-cu11 = {version = "11.7.99", markers = "platform_system == \"Linux\""}
-nvidia-cudnn-cu11 = {version = "8.5.0.96", markers = "platform_system == \"Linux\""}
+filelock = "*"
+fsspec = "*"
+jinja2 = "*"
+networkx = "*"
+sympy = "*"
 typing-extensions = "*"
 
 [package.extras]
@@ -3732,26 +3777,31 @@ opt-einsum = ["opt-einsum (>=3.3)"]
 
 [[package]]
 name = "torch"
-version = "1.13.1+cpu"
+version = "2.1.0+cpu"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = true
-python-versions = ">=3.7.0"
+python-versions = ">=3.8.0"
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 ]
 
 [package.dependencies]
+filelock = "*"
+fsspec = "*"
+jinja2 = "*"
+networkx = "*"
+sympy = "*"
 typing-extensions = "*"
 
 [package.extras]
+dynamo = ["jinja2"]
 opt-einsum = ["opt-einsum (>=3.3)"]
 
 [package.source]
@@ -3761,65 +3811,64 @@ reference = "torch_cpu"
 
 [[package]]
 name = "torchvision"
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 description = "image and video datasets and models for torch deep learning"
 optional = true
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 ]
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
 requests = "*"
-torch = "1.13.1"
-typing-extensions = "*"
+torch = "2.1.0"
 
 [package.extras]
 scipy = ["scipy"]
 
 [[package]]
 name = "torchvision"
-version = "0.14.1+cpu"
+version = "0.16.0+cpu"
 description = "image and video datasets and models for torch deep learning"
 optional = true
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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+    {file = "torchvision-0.16.0+cpu-cp39-cp39-win_amd64.whl", hash = "sha256:8fdc472ca71ffcf34ec4bd0ed1c12ee889833f0ec05fd29771070d4a636439ae"},
 ]
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
 requests = "*"
-torch = "1.13.1"
-typing-extensions = "*"
+torch = "2.1.0"
 
 [package.extras]
 scipy = ["scipy"]
@@ -3871,13 +3920,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "traitlets"
-version = "5.14.0"
+version = "5.14.1"
 description = "Traitlets Python configuration system"
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "traitlets-5.14.1-py3-none-any.whl", hash = "sha256:2e5a030e6eff91737c643231bfcf04a65b0132078dad75e4936700b213652e74"},
+    {file = "traitlets-5.14.1.tar.gz", hash = "sha256:8585105b371a04b8316a43d5ce29c098575c2e477850b62b848b964f1444527e"},
 ]
 
 [package.extras]
@@ -3917,19 +3966,19 @@ test = ["autopep8 (<2)", "coveralls", "ezdxf", "pyinstrument", "pymeshlab", "pyt
 
 [[package]]
 name = "trio"
-version = "0.23.1"
+version = "0.24.0"
 description = "A friendly Python library for async concurrency and I/O"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "trio-0.23.1-py3-none-any.whl", hash = "sha256:bb4abb3f4af23f96679e7c8cdabb8b234520f2498550d2cf63ebfd95f2ce27fe"},
-    {file = "trio-0.23.1.tar.gz", hash = "sha256:16f89f7dcc8f7b9dcdec1fcd863e0c039af6d0f9a22f8dfd56f75d75ec73fd48"},
+    {file = "trio-0.24.0-py3-none-any.whl", hash = "sha256:c3bd3a4e3e3025cd9a2241eae75637c43fe0b9e88b4c97b9161a55b9e54cd72c"},
+    {file = "trio-0.24.0.tar.gz", hash = "sha256:ffa09a74a6bf81b84f8613909fb0beaee84757450183a7a2e0b47b455c0cac5d"},
 ]
 
 [package.dependencies]
 attrs = ">=20.1.0"
 cffi = {version = ">=1.14", markers = "os_name == \"nt\" and implementation_name != \"pypy\""}
-exceptiongroup = {version = ">=1.0.0rc9", markers = "python_version < \"3.11\""}
+exceptiongroup = {version = "*", markers = "python_version < \"3.11\""}
 idna = "*"
 outcome = "*"
 sniffio = ">=1.3.0"
@@ -3964,13 +4013,13 @@ files = [
 
 [[package]]
 name = "tzdata"
-version = "2023.3"
+version = "2023.4"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
-    {file = "tzdata-2023.3-py2.py3-none-any.whl", hash = "sha256:7e65763eef3120314099b6939b5546db7adce1e7d6f2e179e3df563c70511eda"},
-    {file = "tzdata-2023.3.tar.gz", hash = "sha256:11ef1e08e54acb0d4f95bdb1be05da659673de4acbd21bf9c69e94cc5e907a3a"},
+    {file = "tzdata-2023.4-py2.py3-none-any.whl", hash = "sha256:aa3ace4329eeacda5b7beb7ea08ece826c28d761cda36e747cfbf97996d39bf3"},
+    {file = "tzdata-2023.4.tar.gz", hash = "sha256:dd54c94f294765522c77399649b4fefd95522479a664a0cec87f41bebc6148c9"},
 ]
 
 [[package]]
@@ -4081,13 +4130,13 @@ wx = ["wxPython"]
 
 [[package]]
 name = "wcwidth"
-version = "0.2.12"
+version = "0.2.13"
 description = "Measures the displayed width of unicode strings in a terminal"
 optional = false
 python-versions = "*"
 files = [
-    {file = "wcwidth-0.2.12-py2.py3-none-any.whl", hash = "sha256:f26ec43d96c8cbfed76a5075dac87680124fa84e0855195a6184da9c187f133c"},
-    {file = "wcwidth-0.2.12.tar.gz", hash = "sha256:f01c104efdf57971bcb756f054dd58ddec5204dd15fa31d6503ea57947d97c02"},
+    {file = "wcwidth-0.2.13-py2.py3-none-any.whl", hash = "sha256:3da69048e4540d84af32131829ff948f1e022c1c6bdb8d6102117aac784f6859"},
+    {file = "wcwidth-0.2.13.tar.gz", hash = "sha256:72ea0c06399eb286d978fdedb6923a9eb47e1c486ce63e9b4e64fc18303972b5"},
 ]
 
 [[package]]
@@ -4123,20 +4172,6 @@ MarkupSafe = ">=2.1.1"
 [package.extras]
 watchdog = ["watchdog (>=2.3)"]
 
-[[package]]
-name = "wheel"
-version = "0.42.0"
-description = "A built-package format for Python"
-optional = true
-python-versions = ">=3.7"
-files = [
-    {file = "wheel-0.42.0-py3-none-any.whl", hash = "sha256:177f9c9b0d45c47873b619f5b650346d632cdc35fb5e4d25058e09c9e581433d"},
-    {file = "wheel-0.42.0.tar.gz", hash = "sha256:c45be39f7882c9d34243236f2d63cbd58039e360f85d0913425fbd7ceea617a8"},
-]
-
-[package.extras]
-test = ["pytest (>=6.0.0)", "setuptools (>=65)"]
-
 [[package]]
 name = "wsproto"
 version = "1.2.0"
@@ -4187,4 +4222,4 @@ pypi = ["opencv-contrib-python", "opencv-python", "pin"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "c29768a968a260a9f63d4d693564453771f637c8edc741f2db0bf9cda4a66755"
+content-hash = "e29766009d645398793aed19268feb341662976f1b210d36797a36ce9a658c3c"
diff --git a/pyproject.toml b/pyproject.toml
index 35bf8d32..2e37d821 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -54,12 +54,12 @@ seaborn = "^0.12.2"
 selenium = "^4.16.0"
 simplejson = "^3.19.1"
 torch = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "1.13.1+cpu"},
-  {markers = "extra=='gpu'", optional = true, version = "1.13.1"}
+  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "2.1"},
+  {markers = "extra=='gpu'", optional = true, version = "2.1"}
 ]
 torchvision = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.14.1+cpu"},
-  {markers = "extra=='gpu'", optional = true, version = "0.14.1"}
+  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.16"},
+  {markers = "extra=='gpu'", optional = true, version = "0.16"}
 ]
 tqdm = "^4.66.1"
 transforms3d = "^0.4.1"