diff --git a/happypose/pose_estimators/cosypose/setup.py b/happypose/pose_estimators/cosypose/setup.py
index d424a388..e963c370 100644
--- a/happypose/pose_estimators/cosypose/setup.py
+++ b/happypose/pose_estimators/cosypose/setup.py
@@ -12,5 +12,5 @@
     ext_modules=ext_modules,
     cmdclass={"build_ext": build_ext},
     zip_safe=False,
-    python_requires=">=3.9",
+    python_requires=">=3.8",
 )
diff --git a/poetry.lock b/poetry.lock
index cf14e5f3..33b7a889 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -69,6 +69,17 @@ doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphin
 test = ["anyio[trio]", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.17)"]
 trio = ["trio (>=0.23)"]
 
+[[package]]
+name = "appnope"
+version = "0.1.3"
+description = "Disable App Nap on macOS >= 10.9"
+optional = false
+python-versions = "*"
+files = [
+    {file = "appnope-0.1.3-py2.py3-none-any.whl", hash = "sha256:265a455292d0bd8a72453494fa24df5a11eb18373a60c7c0430889f22548605e"},
+    {file = "appnope-0.1.3.tar.gz", hash = "sha256:02bd91c4de869fbb1e1c50aafc4098827a7a54ab2f39d9dcba6c9547ed920e24"},
+]
+
 [[package]]
 name = "asttokens"
 version = "2.4.1"
@@ -116,9 +127,23 @@ files = [
     {file = "Babel-2.14.0.tar.gz", hash = "sha256:6919867db036398ba21eb5c7a0f6b28ab8cbc3ae7a73a44ebe34ae74a4e7d363"},
 ]
 
+[package.dependencies]
+pytz = {version = ">=2015.7", markers = "python_version < \"3.9\""}
+
 [package.extras]
 dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
 
+[[package]]
+name = "backcall"
+version = "0.2.0"
+description = "Specifications for callback functions passed in to an API"
+optional = false
+python-versions = "*"
+files = [
+    {file = "backcall-0.2.0-py2.py3-none-any.whl", hash = "sha256:fbbce6a29f263178a1f7915c1940bde0ec2b2a967566fe1c65c1dfb7422bd255"},
+    {file = "backcall-0.2.0.tar.gz", hash = "sha256:5cbdbf27be5e7cfadb448baf0aa95508f91f2bbc6c6437cd9cd06e2a4c215e1e"},
+]
+
 [[package]]
 name = "beautifulsoup4"
 version = "4.12.2"
@@ -196,13 +221,13 @@ files = [
 
 [[package]]
 name = "bokeh"
-version = "3.3.2"
+version = "3.1.1"
 description = "Interactive plots and applications in the browser from Python"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 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-3.1.1-py3-none-any.whl", hash = "sha256:a542a076ce326f81bf6d226355458572d39fe8fc9b547eab9728a2f1d71e4bdb"},
+    {file = "bokeh-3.1.1.tar.gz", hash = "sha256:ba0fc6bae4352d307541293256dee930a42d0acf92e760c72dc0e7397c3a28e9"},
 ]
 
 [package.dependencies]
@@ -483,6 +508,80 @@ files = [
 [package.dependencies]
 cmeel = "*"
 
+[[package]]
+name = "cmeel-boost"
+version = "1.82.0"
+description = "cmeel distribution for boost, which provides free peer-reviewed portable C++ source libraries."
+optional = true
+python-versions = ">= 3.8"
+files = [
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+    {file = "cmeel_boost-1.82.0-0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d166c9ced8b828f1d17829e320616ca5097f9461316fcffeb123ccb453bc90cf"},
+    {file = "cmeel_boost-1.82.0-0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:a785a017f7d44844fda1e2df81be28ca216c8ef85074c33078c535a1eb590037"},
+    {file = "cmeel_boost-1.82.0-0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:7798c16a372e834eb08dffcb849c439eed9349ee174e3eeb26da7fc1bf269d2a"},
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+    {file = "cmeel_boost-1.82.0-1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:41d3a60ca0e30e36d1803c8a68d060238040d7cc29ab9d31255a597ba4257191"},
+    {file = "cmeel_boost-1.82.0-1-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:e3bdd2bcb950a29c06fa76718d92875a4826b1f2562cf7c7da43ddbe7f6fbd0a"},
+    {file = "cmeel_boost-1.82.0-1-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:5cc97b5485b7c2eee99c039c6018288f5b95ff875304d8ec9d210ef2811032a7"},
+]
+
+[package.dependencies]
+cmeel = "*"
+numpy = ">=1.23,<1.25"
+
 [[package]]
 name = "cmeel-boost"
 version = "1.83.0"
@@ -528,7 +627,7 @@ files = [
 
 [package.dependencies]
 cmeel = "*"
-numpy = {version = ">=1.26.0,<1.27.0", markers = "python_version >= \"3.9\""}
+numpy = {version = ">=1.23,<1.25", markers = "python_version < \"3.9\""}
 
 [[package]]
 name = "cmeel-console-bridge"
@@ -666,73 +765,81 @@ yaml = ["PyYAML"]
 
 [[package]]
 name = "contourpy"
-version = "1.2.0"
+version = "1.1.1"
 description = "Python library for calculating contours of 2D quadrilateral grids"
 optional = false
-python-versions = ">=3.9"
-files = [
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 ]
 
 [package.dependencies]
-numpy = ">=1.20,<2.0"
+numpy = {version = ">=1.16,<2.0", markers = "python_version <= \"3.11\""}
 
 [package.extras]
 bokeh = ["bokeh", "selenium"]
 docs = ["furo", "sphinx (>=7.2)", "sphinx-copybutton"]
-mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.6.1)", "types-Pillow"]
+mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.4.1)", "types-Pillow"]
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
-test-no-images = ["pytest", "pytest-cov", "pytest-xdist", "wurlitzer"]
+test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
 
 [[package]]
 name = "cosypose"
 version = "1.0.0"
 description = "CosyPose"
 optional = true
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 files = []
 develop = false
 
@@ -989,6 +1096,43 @@ files = [
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 ]
 
+[[package]]
+name = "eigenpy"
+version = "3.1.3"
+description = "Bindings between Numpy and Eigen using Boost.Python"
+optional = true
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+
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 version = "2.4.0"
@@ -1410,40 +1593,42 @@ testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)",
 
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 [[package]]
 name = "itsdangerous"
@@ -1516,7 +1701,9 @@ files = [
 
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 [package.dependencies]
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 [package.dependencies]
@@ -1821,10 +2028,10 @@ contourpy = ">=1.0.1"
 cycler = ">=0.10"
 fonttools = ">=4.22.0"
 importlib-resources = {version = ">=3.2.0", markers = "python_version < \"3.10\""}
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-numpy = ">=1.21,<2"
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+numpy = ">=1.20,<2"
 packaging = ">=20.0"
-pillow = ">=8"
+pillow = ">=6.2.0"
 pyparsing = ">=2.3.1"
 python-dateutil = ">=2.7"
 
@@ -1962,21 +2169,21 @@ files = [
 
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-version = "3.2.1"
+version = "3.1"
 description = "Python package for creating and manipulating graphs and networks"
 optional = false
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 [package.extras]
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-test = ["pytest (>=7.2)", "pytest-cov (>=4.0)"]
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+developer = ["mypy (>=1.1)", "pre-commit (>=3.2)"]
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+test = ["codecov (>=2.1)", "pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
 [[package]]
 name = "nodeenv"
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 ]
 
 [package.dependencies]
-numpy = {version = ">=1.22.4,<2", markers = "python_version < \"3.11\""}
+numpy = [
+    {version = ">=1.20.3", markers = "python_version < \"3.10\""},
+    {version = ">=1.21.0", markers = "python_version >= \"3.10\""},
+]
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
 tzdata = ">=2022.1"
 
 [package.extras]
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+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
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-mysql = ["SQLAlchemy (>=1.4.36)", "pymysql (>=1.0.2)"]
-output-formatting = ["jinja2 (>=3.1.2)", "tabulate (>=0.8.10)"]
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+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
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+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
 parquet = ["pyarrow (>=7.0.0)"]
-performance = ["bottleneck (>=1.3.4)", "numba (>=0.55.2)", "numexpr (>=2.8.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
 plot = ["matplotlib (>=3.6.1)"]
-postgresql = ["SQLAlchemy (>=1.4.36)", "psycopg2 (>=2.9.3)"]
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-test = ["hypothesis (>=6.46.1)", "pytest (>=7.3.2)", "pytest-xdist (>=2.2.0)"]
-xml = ["lxml (>=4.8.0)"]
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+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
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+xml = ["lxml (>=4.6.3)"]
 
 [[package]]
 name = "parso"
@@ -2413,6 +2616,17 @@ files = [
 [package.dependencies]
 ptyprocess = ">=0.5"
 
+[[package]]
+name = "pickleshare"
+version = "0.7.5"
+description = "Tiny 'shelve'-like database with concurrency support"
+optional = false
+python-versions = "*"
+files = [
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+]
+
 [[package]]
 name = "pillow"
 version = "10.1.0"
@@ -2480,6 +2694,72 @@ files = [
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 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
 
+[[package]]
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+version = "2.6.20"
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+optional = true
+python-versions = ">=3.8"
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+]
+
+[package.dependencies]
+cmeel = "*"
+cmeel-boost = ">=1.82.0,<1.83.0"
+cmeel-console-bridge = ">=1.0.2.2,<2"
+cmeel-tinyxml = ">=2.6.2.2,<3"
+cmeel-urdfdom = ">=3.1.0.3,<4"
+hpp-fcl = ">=2.3.4,<4"
+
+[package.extras]
+build = ["cmeel-urdfdom[build] (>=3.1.0.3,<4)", "hpp-fcl[build] (>=2.3.4,<4)"]
+
 [[package]]
 name = "pin"
 version = "2.6.21"
@@ -2521,6 +2801,17 @@ hpp-fcl = ">=2.3.4,<4"
 [package.extras]
 build = ["cmeel-urdfdom[build] (>=3.1.0.3,<4)", "hpp-fcl[build] (>=2.3.4,<4)"]
 
+[[package]]
+name = "pkgutil-resolve-name"
+version = "1.3.10"
+description = "Resolve a name to an object."
+optional = false
+python-versions = ">=3.6"
+files = [
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+]
+
 [[package]]
 name = "platformdirs"
 version = "4.1.0"
@@ -2567,13 +2858,13 @@ numpy = ">=1.17"
 
 [[package]]
 name = "pre-commit"
-version = "3.6.0"
+version = "3.5.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 files = [
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+    {file = "scipy-1.10.1.tar.gz", hash = "sha256:2cf9dfb80a7b4589ba4c40ce7588986d6d5cebc5457cad2c2880f6bc2d42f3a5"},
 ]
 
 [package.dependencies]
-numpy = ">=1.21.6,<1.28.0"
+numpy = ">=1.19.5,<1.27.0"
 
 [package.extras]
-dev = ["click", "cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy", "pycodestyle", "pydevtool", "rich-click", "ruff", "types-psutil", "typing_extensions"]
-doc = ["jupytext", "matplotlib (>2)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-design (>=0.2.0)"]
+dev = ["click", "doit (>=0.36.0)", "flake8", "mypy", "pycodestyle", "pydevtool", "rich-click", "typing_extensions"]
+doc = ["matplotlib (>2)", "numpydoc", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-design (>=0.2.0)"]
 test = ["asv", "gmpy2", "mpmath", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
 
 [[package]]
@@ -3502,13 +3828,13 @@ files = [
 
 [[package]]
 name = "sphinx"
-version = "7.2.6"
+version = "7.1.2"
 description = "Python documentation generator"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 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-7.1.2-py3-none-any.whl", hash = "sha256:d170a81825b2fcacb6dfd5a0d7f578a053e45d3f2b153fecc948c37344eb4cbe"},
+    {file = "sphinx-7.1.2.tar.gz", hash = "sha256:780f4d32f1d7d1126576e0e5ecc19dc32ab76cd24e950228dcf7b1f6d3d9e22f"},
 ]
 
 [package.dependencies]
@@ -3520,7 +3846,7 @@ imagesize = ">=1.3"
 importlib-metadata = {version = ">=4.8", markers = "python_version < \"3.10\""}
 Jinja2 = ">=3.0"
 packaging = ">=21.0"
-Pygments = ">=2.14"
+Pygments = ">=2.13"
 requests = ">=2.25.0"
 snowballstemmer = ">=2.0"
 sphinxcontrib-applehelp = "*"
@@ -3528,63 +3854,54 @@ sphinxcontrib-devhelp = "*"
 sphinxcontrib-htmlhelp = ">=2.0.0"
 sphinxcontrib-jsmath = "*"
 sphinxcontrib-qthelp = "*"
-sphinxcontrib-serializinghtml = ">=1.1.9"
+sphinxcontrib-serializinghtml = ">=1.1.5"
 
 [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)"]
+test = ["cython", "filelock", "html5lib", "pytest (>=4.6)"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
-version = "1.0.7"
+version = "1.0.4"
 description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 files = [
-    {file = "sphinxcontrib_applehelp-1.0.7-py3-none-any.whl", hash = "sha256:094c4d56209d1734e7d252f6e0b3ccc090bd52ee56807a5d9315b19c122ab15d"},
-    {file = "sphinxcontrib_applehelp-1.0.7.tar.gz", hash = "sha256:39fdc8d762d33b01a7d8f026a3b7d71563ea3b72787d5f00ad8465bd9d6dfbfa"},
+    {file = "sphinxcontrib-applehelp-1.0.4.tar.gz", hash = "sha256:828f867945bbe39817c210a1abfd1bc4895c8b73fcaade56d45357a348a07d7e"},
+    {file = "sphinxcontrib_applehelp-1.0.4-py3-none-any.whl", hash = "sha256:29d341f67fb0f6f586b23ad80e072c8e6ad0b48417db2bde114a4c9746feb228"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
-version = "1.0.5"
-description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
+version = "1.0.2"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.5"
 files = [
-    {file = "sphinxcontrib_devhelp-1.0.5-py3-none-any.whl", hash = "sha256:fe8009aed765188f08fcaadbb3ea0d90ce8ae2d76710b7e29ea7d047177dae2f"},
-    {file = "sphinxcontrib_devhelp-1.0.5.tar.gz", hash = "sha256:63b41e0d38207ca40ebbeabcf4d8e51f76c03e78cd61abe118cf4435c73d4212"},
+    {file = "sphinxcontrib-devhelp-1.0.2.tar.gz", hash = "sha256:ff7f1afa7b9642e7060379360a67e9c41e8f3121f2ce9164266f61b9f4b338e4"},
+    {file = "sphinxcontrib_devhelp-1.0.2-py2.py3-none-any.whl", hash = "sha256:8165223f9a335cc1af7ffe1ed31d2871f325254c0423bc0c4c7cd1c1e4734a2e"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
-version = "2.0.4"
+version = "2.0.1"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 files = [
-    {file = "sphinxcontrib_htmlhelp-2.0.4-py3-none-any.whl", hash = "sha256:8001661c077a73c29beaf4a79968d0726103c5605e27db92b9ebed8bab1359e9"},
-    {file = "sphinxcontrib_htmlhelp-2.0.4.tar.gz", hash = "sha256:6c26a118a05b76000738429b724a0568dbde5b72391a688577da08f11891092a"},
+    {file = "sphinxcontrib-htmlhelp-2.0.1.tar.gz", hash = "sha256:0cbdd302815330058422b98a113195c9249825d681e18f11e8b1f78a2f11efff"},
+    {file = "sphinxcontrib_htmlhelp-2.0.1-py3-none-any.whl", hash = "sha256:c38cb46dccf316c79de6e5515e1770414b797162b23cd3d06e67020e1d2a6903"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["html5lib", "pytest"]
@@ -3605,36 +3922,30 @@ test = ["flake8", "mypy", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
-version = "1.0.6"
-description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
+version = "1.0.3"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.5"
 files = [
-    {file = "sphinxcontrib_qthelp-1.0.6-py3-none-any.whl", hash = "sha256:bf76886ee7470b934e363da7a954ea2825650013d367728588732c7350f49ea4"},
-    {file = "sphinxcontrib_qthelp-1.0.6.tar.gz", hash = "sha256:62b9d1a186ab7f5ee3356d906f648cacb7a6bdb94d201ee7adf26db55092982d"},
+    {file = "sphinxcontrib-qthelp-1.0.3.tar.gz", hash = "sha256:4c33767ee058b70dba89a6fc5c1892c0d57a54be67ddd3e7875a18d14cba5a72"},
+    {file = "sphinxcontrib_qthelp-1.0.3-py2.py3-none-any.whl", hash = "sha256:bd9fc24bcb748a8d51fd4ecaade681350aa63009a347a8c14e637895444dfab6"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
-version = "1.1.9"
-description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
+version = "1.1.5"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.5"
 files = [
-    {file = "sphinxcontrib_serializinghtml-1.1.9-py3-none-any.whl", hash = "sha256:9b36e503703ff04f20e9675771df105e58aa029cfcbc23b8ed716019b7416ae1"},
-    {file = "sphinxcontrib_serializinghtml-1.1.9.tar.gz", hash = "sha256:0c64ff898339e1fac29abd2bf5f11078f3ec413cfe9c046d3120d7ca65530b54"},
+    {file = "sphinxcontrib-serializinghtml-1.1.5.tar.gz", hash = "sha256:aa5f6de5dfdf809ef505c4895e51ef5c9eac17d0f287933eb49ec495280b6952"},
+    {file = "sphinxcontrib_serializinghtml-1.1.5-py2.py3-none-any.whl", hash = "sha256:352a9a00ae864471d3a7ead8d7d79f5fc0b57e8b3f95e9867eb9eb28999b92fd"},
 ]
 
-[package.dependencies]
-Sphinx = ">=5"
-
 [package.extras]
 lint = ["docutils-stubs", "flake8", "mypy"]
 test = ["pytest"]
@@ -3685,20 +3996,20 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2023.12.9"
+version = "2023.7.10"
 description = "Read and write TIFF files"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.8"
 files = [
-    {file = "tifffile-2023.12.9-py3-none-any.whl", hash = "sha256:9b066e4b1a900891ea42ffd33dab8ba34c537935618b9893ddef42d7d422692f"},
-    {file = "tifffile-2023.12.9.tar.gz", hash = "sha256:9dd1da91180a6453018a241ff219e1905f169384355cd89c9ef4034c1b46cdb8"},
+    {file = "tifffile-2023.7.10-py3-none-any.whl", hash = "sha256:94dfdec321ace96abbfe872a66cfd824800c099a2db558443453eebc2c11b304"},
+    {file = "tifffile-2023.7.10.tar.gz", hash = "sha256:c06ec460926d16796eeee249a560bcdddf243daae36ac62af3c84a953cd60b4a"},
 ]
 
 [package.dependencies]
 numpy = "*"
 
 [package.extras]
-all = ["defusedxml", "fsspec", "imagecodecs (>=2023.8.12)", "lxml", "matplotlib", "zarr"]
+all = ["defusedxml", "fsspec", "imagecodecs (>=2023.1.23)", "lxml", "matplotlib", "zarr"]
 
 [[package]]
 name = "tomli"
@@ -4207,5 +4518,5 @@ pypi = ["opencv-contrib-python", "opencv-python", "pin"]
 
 [metadata]
 lock-version = "2.0"
-python-versions = ">=3.9,<3.11"
-content-hash = "4032eea6853e825809f46b91eddb76f5170d5f325ff15b01eb003f623481689a"
+python-versions = ">=3.8,<3.11"
+content-hash = "d9a6575c40c731ce0ea59fb360670a266ba54818adc494869141ef7548250780"
diff --git a/pyproject.toml b/pyproject.toml
index 61a9c229..8a44f423 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -26,7 +26,7 @@ version = "0.1.0"
 [tool.poetry.dependencies]
 addict = "^2.4.0"
 beautifulsoup4 = "^4.12.2"
-bokeh = "^3.2.2"
+bokeh = "^3"
 bop_toolkit_lib = {git = "https://github.com/agimus-project/bop_toolkit", optional = true}
 cosypose = {optional = true, path = "happypose/pose_estimators/cosypose"}
 httpx = "^0.25.0"
@@ -44,12 +44,12 @@ plyfile = "^1.0.1"
 pybind11 = "^2.10.4"
 pybullet = "^3.2.5"
 pypng = "^0.20220715.0"
-python = ">=3.9,<3.11"
+python = ">=3.8,<3.11"
 pyyaml = "^6.0.1"
 roma = "^1.4.0"
-scikit-image = "^0.22.0"
+scikit-image = "^0.21.0"
 scikit-learn = "^1.3.1"
-scipy = "^1.11.2"
+scipy = "^1.10"
 seaborn = "^0.12.2"
 selenium = "^4.16.0"
 simplejson = "^3.19.1"
@@ -87,7 +87,7 @@ optional = true
 
 [tool.poetry.group.docs.dependencies]
 myst-parser = "^2.0.0"
-sphinx = "^7.2.6"
+sphinx = "^7"
 
 [[tool.poetry.source]]
 name = "torch_cpu"