diff --git a/.github/workflows/conda-test.yml b/.github/workflows/conda-test.yml
index 71c857e6..3d30c461 100644
--- a/.github/workflows/conda-test.yml
+++ b/.github/workflows/conda-test.yml
@@ -67,4 +67,6 @@ jobs:
               refiner-bop-hope-pbr--955392
 
       - name: Run tests
-        run: python -m unittest
+        run: |
+          python -m unittest
+          pytest
diff --git a/.github/workflows/pip-test.yml b/.github/workflows/pip-test.yml
index 651baf9b..dbccb892 100644
--- a/.github/workflows/pip-test.yml
+++ b/.github/workflows/pip-test.yml
@@ -45,4 +45,6 @@ jobs:
               refiner-bop-hope-pbr--955392
 
       - name: Run tests
-        run: python -m unittest
+        run: |
+          python -m unittest
+          pytest
diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml
index 2e71987a..d3dbee13 100644
--- a/.github/workflows/poetry-test.yml
+++ b/.github/workflows/poetry-test.yml
@@ -46,11 +46,13 @@ jobs:
               refiner-bop-hope-pbr--955392
 
       - name: Run tests
-        run: poetry run coverage run --source=happypose -m unittest
+        run: |
+          poetry run coverage run --source=happypose -m unittest
+          poetry run coverage run --source=happypose -m pytest
 
       - name: Process coverage
         run: poetry run coverage xml
 
-      - uses: codecov/codecov-action@v4
-        env:
-          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+      #- uses: codecov/codecov-action@v4
+        #env:
+          #CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_inference_on_example.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_inference_on_example.py
index 99c2f3e5..adf8a647 100644
--- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_inference_on_example.py
+++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_inference_on_example.py
@@ -60,7 +60,7 @@ def run_inference(
     return data_TCO.cpu()
 
 
-if __name__ == "__main__":
+def main():
     set_logging_level("info")
     parser = argparse.ArgumentParser()
     parser.add_argument("example_name")
@@ -77,7 +77,7 @@ def run_inference(
     assert (
         example_dir.exists()
     ), "Example {args.example_name} not available, follow download instructions"
-    dataset_to_use = args.dataset  # hope/tless/ycbv
+    # dataset_to_use = args.dataset  # hope/tless/ycbv
 
     # Load data
     detections = load_detections(example_dir).to(device)
@@ -118,3 +118,7 @@ def run_inference(
         make_poses_visualization(
             rgb, object_dataset, object_datas, camera_data, example_dir
         )
+
+
+if __name__ == "__main__":
+    main()
diff --git a/happypose/toolbox/utils/download.py b/happypose/toolbox/utils/download.py
index 266f3f7b..5640a080 100755
--- a/happypose/toolbox/utils/download.py
+++ b/happypose/toolbox/utils/download.py
@@ -362,7 +362,20 @@ async def adownload(self, download_path, local_path, flags=None):
                 break
         else:
             err = f"Can't find mirror for {download_path}."
-            raise ValueError(err)
+            logger.warning(f"{err} -- retrying soon...")
+            await asyncio.sleep(random.uniform(5, 10))
+            for mirror in self.mirrors:
+                dl = mirror + download_path
+                try:
+                    await asyncio.sleep(random.uniform(0, 3))
+                    head = await self.client.head(dl)
+                except (httpx.PoolTimeout, httpx.ReadTimeout, httpx.ConnectTimeout):
+                    continue
+                if head.is_success or head.is_redirect:
+                    download_path = dl
+                    break
+            else:
+                raise ValueError(err)
         if (
             not download_path.endswith("/")
             and not httpx.head(download_path).is_redirect
@@ -410,8 +423,13 @@ async def download_file(self, download_path, local_path):
             try:
                 await asyncio.sleep(random.uniform(0, 3))
                 head = await self.client.head(download_path)
-            except (httpx.PoolTimeout, httpx.ReadTimeout, httpx.ConnectTimeout):
-                logger.error(f"Failed {download_path} with HEAD timeout")
+            except (
+                httpx.PoolTimeout,
+                httpx.ReadTimeout,
+                httpx.ConnectTimeout,
+                httpx.RemoteProtocolError,
+            ) as e:
+                logger.error(f"Failed {download_path} with {e}")
                 return
             if "content-length" in head.headers:
                 if local_size == int(head.headers["content-length"]):
diff --git a/poetry.lock b/poetry.lock
index 957a560f..c57ca751 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -128,24 +128,24 @@ lxml = ["lxml"]
 
 [[package]]
 name = "blinker"
-version = "1.7.0"
+version = "1.8.1"
 description = "Fast, simple object-to-object and broadcast signaling"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "blinker-1.7.0-py3-none-any.whl", hash = "sha256:c3f865d4d54db7abc53758a01601cf343fe55b84c1de4e3fa910e420b438d5b9"},
-    {file = "blinker-1.7.0.tar.gz", hash = "sha256:e6820ff6fa4e4d1d8e2747c2283749c3f547e4fee112b98555cdcdae32996182"},
+    {file = "blinker-1.8.1-py3-none-any.whl", hash = "sha256:5f1cdeff423b77c31b89de0565cd03e5275a03028f44b2b15f912632a58cced6"},
+    {file = "blinker-1.8.1.tar.gz", hash = "sha256:da44ec748222dcd0105ef975eed946da197d5bdf8bafb6aa92f5bc89da63fa25"},
 ]
 
 [[package]]
 name = "bokeh"
-version = "3.4.0"
+version = "3.4.1"
 description = "Interactive plots and applications in the browser from Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "bokeh-3.4.0-py3-none-any.whl", hash = "sha256:d8d9ba026b734317740f90a8a58502d63c76b96c58752fc421ad4aa04df1fbcd"},
-    {file = "bokeh-3.4.0.tar.gz", hash = "sha256:9ea6bc407b5e7d04ba7a2f07d8f00e8b6ffe02c2368e707f41bb362a9928569a"},
+    {file = "bokeh-3.4.1-py3-none-any.whl", hash = "sha256:1e3c502a0a8205338fc74dadbfa321f8a0965441b39501e36796a47b4017b642"},
+    {file = "bokeh-3.4.1.tar.gz", hash = "sha256:d824961e4265367b0750ce58b07e564ad0b83ca64b335521cd3421e9b9f10d89"},
 ]
 
 [package.dependencies]
@@ -159,28 +159,6 @@ PyYAML = ">=3.10"
 tornado = ">=6.2"
 xyzservices = ">=2021.09.1"
 
-[[package]]
-name = "bop_toolkit_lib"
-version = "1.0"
-description = ""
-optional = false
-python-versions = "*"
-files = []
-develop = false
-
-[package.dependencies]
-cython = "*"
-PyOpenGL = "3.1.0"
-pypng = "*"
-pytz = "*"
-vispy = ">=0.6.5"
-
-[package.source]
-type = "git"
-url = "https://github.com/agimus-project/bop_toolkit"
-reference = "HEAD"
-resolved_reference = "53b6e2e335c4e6aa76e5db34e809506ee3f4cf16"
-
 [[package]]
 name = "braceexpand"
 version = "0.1.7"
@@ -552,6 +530,26 @@ files = [
 [package.dependencies]
 cmeel = "*"
 
+[[package]]
+name = "cmeel-teaser-plusplus"
+version = "2.0"
+description = "cmeel distribution for TEASER++"
+optional = true
+python-versions = ">=3.8"
+files = [
+    {file = "cmeel_teaser_plusplus-2.0-0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:84e87efcc0be9664323a1148e95f3d13e2b560f67ee161d01f1f7515bd6cc883"},
+    {file = "cmeel_teaser_plusplus-2.0-0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:eb89cd7cfae25b19e82d084a73d27831d4dbd64e532aefedc44b077c17a98105"},
+    {file = "cmeel_teaser_plusplus-2.0-0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:3c7d930f63a4de11516f3d643e4c6f9e2d7918c3ab39ab768cbfcd7313ef10bc"},
+    {file = "cmeel_teaser_plusplus-2.0-0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:552193b8705d4a8c60d9cf645a8b95108a7af9c46a401fc77d85aa4d872303be"},
+    {file = "cmeel_teaser_plusplus-2.0.tar.gz", hash = "sha256:126bcdee7525a55d21aad040594ac3f013ea18b0ecd4b991544e2aa782cfac27"},
+]
+
+[package.dependencies]
+cmeel = "*"
+
+[package.extras]
+build = ["cmeel-eigen"]
+
 [[package]]
 name = "cmeel-tinyxml"
 version = "2.6.2.3"
@@ -697,63 +695,63 @@ url = "happypose/pose_estimators/cosypose"
 
 [[package]]
 name = "coverage"
-version = "7.4.4"
+version = "7.5.0"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
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@@ -1247,17 +1155,6 @@ eigenpy = ">=3.1,<4"
 [package.extras]
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 [package.extras]
@@ -1319,24 +1216,24 @@ license = ["ukkonen"]
 
 [[package]]
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+version = "3.7"
 description = "Internationalized Domain Names in Applications (IDNA)"
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 python-versions = ">=3.5"
 files = [
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 ]
 
 [[package]]
 name = "imageio"
-version = "2.34.0"
+version = "2.34.1"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1458,13 +1355,13 @@ test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.22)", "pa
 
 [[package]]
 name = "itsdangerous"
-version = "2.1.2"
+version = "2.2.0"
 description = "Safely pass data to untrusted environments and back."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
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 [[package]]
@@ -1845,13 +1742,13 @@ python-dateutil = ">=2.7"
 
 [[package]]
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-version = "0.1.6"
+version = "0.1.7"
 description = "Inline Matplotlib backend for Jupyter"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -2315,44 +2212,42 @@ files = [
 
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 python-versions = ">=3.9"
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 ]
 
 [package.dependencies]
-numpy = {version = ">=1.22.4,<2", markers = "python_version < \"3.11\""}
+numpy = {version = ">=1.22.4", markers = "python_version < \"3.11\""}
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
 tzdata = ">=2022.7"
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@@ -2543,28 +2433,29 @@ build = ["cmeel-urdfdom[build] (>=3.1.1.1,<4)", "hpp-fcl[build] (>=2.3.4,<4)"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.0"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "4.2.1"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
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 test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
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-version = "5.20.0"
+version = "5.21.0"
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 [package.dependencies]
@@ -2573,13 +2464,13 @@ tenacity = ">=6.2.0"
 
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+version = "1.5.0"
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 docs = ["Sphinx", "mypy", "sphinx-autodoc-typehints (==1.25.2)", "sphinx-notfound-page", "sphinx-substitution-extensions", "types-PyYAML"]
 
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-name = "pyopengl"
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+version = "8.2.0"
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 [package.dependencies]
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 exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
 iniconfig = "*"
 packaging = "*"
-pluggy = ">=1.4,<2.0"
+pluggy = ">=1.5,<2.0"
 tomli = {version = ">=1", markers = "python_version < \"3.11\""}
 
 [package.extras]
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+dev = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
 [[package]]
 name = "python-dateutil"
@@ -2911,104 +2791,99 @@ files = [
 
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 [package.dependencies]
@@ -3016,13 +2891,13 @@ cffi = {version = "*", markers = "implementation_name == \"pypy\""}
 
 [[package]]
 name = "referencing"
-version = "0.34.0"
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 description = "JSON Referencing + Python"
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 ]
 
 [package.dependencies]
@@ -3066,13 +2941,13 @@ six = ">=1.7.0"
 
 [[package]]
 name = "roma"
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 description = "A lightweight library to deal with 3D rotations in PyTorch."
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 [[package]]
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 [package.dependencies]
 joblib = ">=1.2.0"
-numpy = ">=1.19.5,<2.0"
+numpy = ">=1.19.5"
 scipy = ">=1.6.0"
 threadpoolctl = ">=2.0.0"
 
@@ -3364,13 +3239,13 @@ stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
 
 [[package]]
 name = "selenium"
-version = "4.19.0"
+version = "4.20.0"
 description = ""
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -3382,18 +3257,18 @@ urllib3 = {version = ">=1.26,<3", extras = ["socks"]}
 
 [[package]]
 name = "setuptools"
-version = "69.2.0"
+version = "69.5.1"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "importlib-metadata", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mypy (==1.9)", "packaging (>=23.2)", "pip (>=19.1)", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist (>=3)", "tomli", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.2)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
@@ -3560,20 +3435,20 @@ files = [
 
 [[package]]
 name = "sphinx"
-version = "7.2.6"
+version = "7.3.7"
 description = "Python documentation generator"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "sphinx-7.2.6-py3-none-any.whl", hash = "sha256:1e09160a40b956dc623c910118fa636da93bd3ca0b9876a7b3df90f07d691560"},
-    {file = "sphinx-7.2.6.tar.gz", hash = "sha256:9a5160e1ea90688d5963ba09a2dcd8bdd526620edbb65c328728f1b2228d5ab5"},
+    {file = "sphinx-7.3.7-py3-none-any.whl", hash = "sha256:413f75440be4cacf328f580b4274ada4565fb2187d696a84970c23f77b64d8c3"},
+    {file = "sphinx-7.3.7.tar.gz", hash = "sha256:a4a7db75ed37531c05002d56ed6948d4c42f473a36f46e1382b0bd76ca9627bc"},
 ]
 
 [package.dependencies]
-alabaster = ">=0.7,<0.8"
+alabaster = ">=0.7.14,<0.8.0"
 babel = ">=2.9"
 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.18.1,<0.21"
+docutils = ">=0.18.1,<0.22"
 imagesize = ">=1.3"
 importlib-metadata = {version = ">=4.8", markers = "python_version < \"3.10\""}
 Jinja2 = ">=3.0"
@@ -3587,11 +3462,12 @@ sphinxcontrib-htmlhelp = ">=2.0.0"
 sphinxcontrib-jsmath = "*"
 sphinxcontrib-qthelp = "*"
 sphinxcontrib-serializinghtml = ">=1.1.9"
+tomli = {version = ">=2", markers = "python_version < \"3.11\""}
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-simplify", "isort", "mypy (>=0.990)", "ruff", "sphinx-lint", "types-requests"]
-test = ["cython (>=3.0)", "filelock", "html5lib", "pytest (>=4.6)", "setuptools (>=67.0)"]
+lint = ["flake8 (>=3.5.0)", "importlib_metadata", "mypy (==1.9.0)", "pytest (>=6.0)", "ruff (==0.3.7)", "sphinx-lint", "tomli", "types-docutils", "types-requests"]
+test = ["cython (>=3.0)", "defusedxml (>=0.7.1)", "pytest (>=6.0)", "setuptools (>=67.0)"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
@@ -3733,13 +3609,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2024.2.12"
+version = "2024.4.24"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"},
-    {file = "tifffile-2024.2.12.tar.gz", hash = "sha256:4920a3ec8e8e003e673d3c6531863c99eedd570d1b8b7e141c072ed78ff8030d"},
+    {file = "tifffile-2024.4.24-py3-none-any.whl", hash = "sha256:8d0b982f4b01ace358835ae6c2beb5a70cb7287f5d3a2e96c318bd5befa97b1f"},
+    {file = "tifffile-2024.4.24.tar.gz", hash = "sha256:e329f36ac8ff3bbe7dd04609340be26b03c4b9e9a69235fc3ab33434157c38ea"},
 ]
 
 [package.dependencies]
@@ -3940,18 +3816,18 @@ telegram = ["requests"]
 
 [[package]]
 name = "traitlets"
-version = "5.14.2"
+version = "5.14.3"
 description = "Traitlets Python configuration system"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "traitlets-5.14.2-py3-none-any.whl", hash = "sha256:fcdf85684a772ddeba87db2f398ce00b40ff550d1528c03c14dbf6a02003cd80"},
-    {file = "traitlets-5.14.2.tar.gz", hash = "sha256:8cdd83c040dab7d1dee822678e5f5d100b514f7b72b01615b26fc5718916fdf9"},
+    {file = "traitlets-5.14.3-py3-none-any.whl", hash = "sha256:b74e89e397b1ed28cc831db7aea759ba6640cb3de13090ca145426688ff1ac4f"},
+    {file = "traitlets-5.14.3.tar.gz", hash = "sha256:9ed0579d3502c94b4b3732ac120375cda96f923114522847de4b3bb98b96b6b7"},
 ]
 
 [package.extras]
 docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
-test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<8.1)", "pytest-mock", "pytest-mypy-testing"]
+test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<8.2)", "pytest-mock", "pytest-mypy-testing"]
 
 [[package]]
 name = "transforms3d"
@@ -4075,13 +3951,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.1"
+version = "20.26.0"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.25.1-py3-none-any.whl", hash = "sha256:961c026ac520bac5f69acb8ea063e8a4f071bcc9457b9c1f28f6b085c511583a"},
-    {file = "virtualenv-20.25.1.tar.gz", hash = "sha256:e08e13ecdca7a0bd53798f356d5831434afa5b07b93f0abdf0797b7a06ffe197"},
+    {file = "virtualenv-20.26.0-py3-none-any.whl", hash = "sha256:0846377ea76e818daaa3e00a4365c018bc3ac9760cbb3544de542885aad61fb3"},
+    {file = "virtualenv-20.26.0.tar.gz", hash = "sha256:ec25a9671a5102c8d2657f62792a27b48f016664c6873f6beed3800008577210"},
 ]
 
 [package.dependencies]
@@ -4090,65 +3966,9 @@ filelock = ">=3.12.2,<4"
 platformdirs = ">=3.9.1,<5"
 
 [package.extras]
-docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2,!=7.3)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
 test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
 
-[[package]]
-name = "vispy"
-version = "0.14.2"
-description = "Interactive visualization in Python"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "vispy-0.14.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:be9cafc28da544692e4377168448b0901c06eef62057deeab861e7c38fe5f042"},
-    {file = "vispy-0.14.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:bed0fefc54c0b63cbc326b4fca043cbb490a329a14edb2e24f5d714afc56d8e2"},
-    {file = "vispy-0.14.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b178cd8921c02de0405a5c4af7a4d48185849810bccc30d404ac4bac0f36846"},
-    {file = "vispy-0.14.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2db2a4487ede8356eea4c29a189b345ca7f904bb507d0193356e8c3924a85ac8"},
-    {file = "vispy-0.14.2-cp310-cp310-win_amd64.whl", hash = "sha256:0738c0b606939978309280c5528dc08db368d6b3a88e8eee532e5df9050d98cb"},
-    {file = "vispy-0.14.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:15bb4e80e533651b9f9132839a62cabf053988f2a87f066d492bdba6a807a3f0"},
-    {file = "vispy-0.14.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f3230929b11e2515f59396f8972dd0864e6d4133297a29b30581173a59b8fc30"},
-    {file = "vispy-0.14.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:492eba503d1831fd55f16c8d17a543a3f811c2acee22fb212b9402622685a165"},
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-    {file = "vispy-0.14.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:98405adc58b9fb119dceb7c6606b05304cf1e21826f7877e19c43c750b03386b"},
-    {file = "vispy-0.14.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c4ab02e56e655a0e53c60f2b3b4fbc87361fbd6126d28fc9ad11e32313eab9a3"},
-    {file = "vispy-0.14.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:679d151bd767f9b04d5d8cb73caf46f5ffbd73437ac707e1ed703172e7496fcd"},
-    {file = "vispy-0.14.2-cp39-cp39-win_amd64.whl", hash = "sha256:cf5882d996e31c94d67a678ffa41575c14c23cba856baf2f048a4bf5c2bbaa37"},
-    {file = "vispy-0.14.2.tar.gz", hash = "sha256:eed8b44d6f5c87bd295b24aa9a2e0e4e6dc6a905ccee01b2d41c8fbf0a767b3d"},
-]
-
-[package.dependencies]
-freetype-py = "*"
-hsluv = "*"
-kiwisolver = "*"
-numpy = "*"
-packaging = "*"
-
-[package.extras]
-doc = ["myst-parser", "numpydoc", "pillow", "pydata-sphinx-theme", "pyopengl", "pytest", "sphinx-gallery", "sphinxcontrib-apidoc"]
-io = ["Pillow", "meshio"]
-ipython-static = ["ipython"]
-pyglet = ["pyglet (>=1.2)"]
-pyqt5 = ["pyqt5"]
-pyqt6 = ["pyqt6"]
-pyside = ["PySide"]
-pyside2 = ["PySide2"]
-pyside6 = ["PySide6"]
-sdl2 = ["PySDL2"]
-tk = ["pyopengltk"]
-wx = ["wxPython"]
-
 [[package]]
 name = "wcwidth"
 version = "0.2.13"
@@ -4221,6 +4041,30 @@ files = [
 [package.dependencies]
 h11 = ">=0.9.0,<1"
 
+[[package]]
+name = "xarray"
+version = "2024.3.0"
+description = "N-D labeled arrays and datasets in Python"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "xarray-2024.3.0-py3-none-any.whl", hash = "sha256:ca2bc4da2bf2e7879e15862a7a7c3fc76ad19f6a08931d030220cef39a29118d"},
+    {file = "xarray-2024.3.0.tar.gz", hash = "sha256:5c1db19efdde61db7faedad8fc944f4e29698fb6fbd578d352668b63598bd1d8"},
+]
+
+[package.dependencies]
+numpy = ">=1.23"
+packaging = ">=22"
+pandas = ">=1.5"
+
+[package.extras]
+accel = ["bottleneck", "flox", "numbagg", "opt-einsum", "scipy"]
+complete = ["xarray[accel,dev,io,parallel,viz]"]
+dev = ["hypothesis", "pre-commit", "pytest", "pytest-cov", "pytest-env", "pytest-timeout", "pytest-xdist", "ruff", "xarray[complete]"]
+io = ["cftime", "fsspec", "h5netcdf", "netCDF4", "pooch", "pydap", "scipy", "zarr"]
+parallel = ["dask[complete]"]
+viz = ["matplotlib", "nc-time-axis", "seaborn"]
+
 [[package]]
 name = "xyzservices"
 version = "2024.4.0"
@@ -4249,6 +4093,7 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 
 [extras]
 cpu = ["torch", "torch", "torchvision", "torchvision"]
+evaluation = ["cmeel-teaser-plusplus"]
 gpu = ["torch", "torch", "torchvision", "torchvision"]
 multiview = ["cosypose"]
 pypi = ["opencv-contrib-python", "opencv-python", "pin"]
@@ -4256,4 +4101,4 @@ pypi = ["opencv-contrib-python", "opencv-python", "pin"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "654748234a5d133b5c23d7596df6659807f59c7db61766509c9898d9fe09d51a"
+content-hash = "4d2878e5184230c9d4a08ab7413436470973b9fe66d318978bc7e7cf46aaef72"
diff --git a/pyproject.toml b/pyproject.toml
index 898ea2bd..ad2363a4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -24,7 +24,7 @@ version = "0.1.0"
 addict = "^2.4.0"
 beautifulsoup4 = "^4.12.2"
 bokeh = "^3.2.2"
-bop_toolkit_lib = {git = "https://github.com/agimus-project/bop_toolkit"}
+cmeel-teaser-plusplus = {optional = true, version = "^2.0"}
 cosypose = {optional = true, path = "happypose/pose_estimators/cosypose"}
 httpx = "^0.25.0"
 imageio = "^2.31.4"
@@ -63,9 +63,11 @@ tqdm = "^4.66.1"
 transforms3d = "^0.4.1"
 trimesh = "^3.23.5"
 webdataset = "^0.2.57"
+xarray = "^2024.3.0"
 
 [tool.poetry.extras]
 cpu = ["torch", "torchvision"]
+evaluation = ["cmeel-teaser-plusplus"]
 gpu = ["torch", "torchvision"]
 multiview = ["cosypose"]
 pypi = ["opencv-contrib-python", "opencv-python", "pin"]