From 24d8b5d025fb044a0794cd422dfcd979f2a3885a Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sat, 9 Dec 2023 15:27:22 +0100
Subject: [PATCH 1/8] poetry: add gpu

---
 poetry.lock    | 610 ++++++++++++++++++++++++++-----------------------
 pyproject.toml |  12 +-
 2 files changed, 335 insertions(+), 287 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 9f431515..5025f73e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "addict"
@@ -191,13 +191,13 @@ files = [
 
 [[package]]
 name = "bokeh"
-version = "3.3.1"
+version = "3.3.2"
 description = "Interactive plots and applications in the browser from Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "bokeh-3.3.1-py3-none-any.whl", hash = "sha256:783fb503d80306fb1e3c06e9c775d98675bf9e07514a776d7109178798e85683"},
-    {file = "bokeh-3.3.1.tar.gz", hash = "sha256:2a7b3702d7e9f03ef4cd801b02b7380196c70cff2773859bcb84fa565218955c"},
+    {file = "bokeh-3.3.2-py3-none-any.whl", hash = "sha256:f70bcea96c72f85bbeae01b9dcd30a9f27aa48fbfaf8e6f45b6958dfcd08e5c5"},
+    {file = "bokeh-3.3.2.tar.gz", hash = "sha256:ae180f86f776525f7eb81673a1f27e0eb56887d733771662c512ec0d82a433f5"},
 ]
 
 [package.dependencies]
@@ -381,13 +381,13 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [[package]]
 name = "cmeel"
-version = "0.52.1"
+version = "0.53.0"
 description = "Create Wheel from CMake projects"
 optional = false
 python-versions = ">=3.8,<4.0"
 files = [
-    {file = "cmeel-0.52.1-py3-none-any.whl", hash = "sha256:7f3acda7742e62a6079d612e76fa35b6282db175e13340ae0d4bbd2a6ab5e87f"},
-    {file = "cmeel-0.52.1.tar.gz", hash = "sha256:d5ff1726c475f60bd170c9ef3c585352d9fc4cd58566f651832690995ccbd4e0"},
+    {file = "cmeel-0.53.0-py3-none-any.whl", hash = "sha256:0667737bb8b61044ff25396c1450520c3d3cc52dcbd603c41682f589d0b3d8b7"},
+    {file = "cmeel-0.53.0.tar.gz", hash = "sha256:db62977716a97a3971c5ceede57a656a33091a4c8ca31531c8a04e63806625c1"},
 ]
 
 [package.dependencies]
@@ -479,12 +479,6 @@ files = [
     {file = "cmeel_console_bridge-1.0.2.2-2-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:23cb0e37678a75778ba63444e598c41b4a694dab46037966357e81374bf4d182"},
     {file = "cmeel_console_bridge-1.0.2.2-2-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:5933c56b6d5f4c1d1642c8088ad2c01d31bd6ec6fa8c0d2cd1683791e8242f9a"},
     {file = "cmeel_console_bridge-1.0.2.2-2-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:375eb20ff3eb0bc7d7002e7a5b04cfdbb17ec9ed29b28e66bfe1644e9588a99c"},
-    {file = "cmeel_console_bridge-1.0.2.2-3-py3-none-macosx_12_0_arm64.whl", hash = "sha256:b9a6e0e18221f18b9ac1855bd281277a3de7b85875b44e72dac1fe9ff0ae0924"},
-    {file = "cmeel_console_bridge-1.0.2.2-3-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:b68c2c02821133f9c9c11401c3c68aec145eb400bab493f1a0ffd26ef59f8bbf"},
-    {file = "cmeel_console_bridge-1.0.2.2-3-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:cf21a07c86d30a77485a5db4d6629ea12b55f8733227a26f911b5f1cb1294ba9"},
-    {file = "cmeel_console_bridge-1.0.2.2-3-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:773b5ced1e9e2caacfb402a8abc5d6377dfdd56fd26d0e046da5724f26acfe40"},
-    {file = "cmeel_console_bridge-1.0.2.2-3-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:ba511d07bae34e07cc11146501b0e0cab23573c905888e1fe3f8688963a947be"},
-    {file = "cmeel_console_bridge-1.0.2.2.tar.gz", hash = "sha256:7d472606e0535c61583cf23fc654149a8ab7cf5278502dce80cbacb8a7a0f395"},
 ]
 
 [package.dependencies]
@@ -511,12 +505,6 @@ files = [
     {file = "cmeel_octomap-1.9.8.2-2-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:175aa7e03c0d0e7beaa4fe4f7ea7c89e55165ddf7668c470687f369889c7481c"},
     {file = "cmeel_octomap-1.9.8.2-2-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:18886ebeb30e3355efef4321bee31f8eab93dfb4745aaf2ccd0e7effeab117cb"},
     {file = "cmeel_octomap-1.9.8.2-2-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:b5f986f3c6b18306769f441d7f1667023ac847bd79f90cab549596313b2bf780"},
-    {file = "cmeel_octomap-1.9.8.2-3-py3-none-macosx_12_0_arm64.whl", hash = "sha256:f702f288d38393535f4680d7065bc518acc8fb8517f3f5eb875e4039ca36d632"},
-    {file = "cmeel_octomap-1.9.8.2-3-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:fef4af62fe3bcd386218e65017a7d30a755c2dc944d1e6f791ede73358bf8664"},
-    {file = "cmeel_octomap-1.9.8.2-3-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:c0e083632db2a7133a8ed80da3db897339f43a92b397642fd7818f607cbf8d42"},
-    {file = "cmeel_octomap-1.9.8.2-3-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:eebda85fd38f3f79030d7748483be765233148309fed7af9a1e523f184f4e98d"},
-    {file = "cmeel_octomap-1.9.8.2-3-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:aa8810c4b8b2a0828de2ca2e3f983665ecdb6497c63a66721af5cad39d515f79"},
-    {file = "cmeel_octomap-1.9.8.2.tar.gz", hash = "sha256:c569b276dc5c078c8f539f7736ccd02bfa84c8a4785c74e8543ade9920f0f93b"},
 ]
 
 [package.dependencies]
@@ -542,26 +530,17 @@ cmeel = "*"
 
 [[package]]
 name = "cmeel-tinyxml"
-version = "2.6.2.2"
+version = "2.6.2.3"
 description = "cmeel distribution for TinyXML, an obsolete thing."
 optional = false
-python-versions = ">= 3.7"
+python-versions = ">= 3.8"
 files = [
-    {file = "cmeel_tinyxml-2.6.2.2-0-py3-none-macosx_11_0_arm64.whl", hash = "sha256:819e113a9ddb74c5d4df2ef3a8c4ca0ccc6d7ddf8a51a078575a4a2626280b82"},
-    {file = "cmeel_tinyxml-2.6.2.2-1-py3-none-macosx_11_0_arm64.whl", hash = "sha256:43768e9f8cf92b337555c6615b95a9ffd4d3c1fb4a571dc3de2eaf4ed805721f"},
-    {file = "cmeel_tinyxml-2.6.2.2-1-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:ab68c61eb5e20a5dc671f370eb5066cbd868da23c6fe7754d79c01097611225e"},
-    {file = "cmeel_tinyxml-2.6.2.2-1-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:def3a40eaf1aa9e16f641a85e18baa1440820fbec5bb144533c1cb087dec8598"},
-    {file = "cmeel_tinyxml-2.6.2.2-1-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:ca09d64773ea7579a0537e996ea533c5b85aa6141a716fb8d43c96d8fe814279"},
-    {file = "cmeel_tinyxml-2.6.2.2-1-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:ea75d7d1ffa73f216e55c4ef82e0ddfbfa2584f74deb70139e34ca66e0e9754f"},
-    {file = "cmeel_tinyxml-2.6.2.2-2-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:c387a84b6971c8d08307da19767d79c759e3b5bc6931a09440df7047c6c431c5"},
-    {file = "cmeel_tinyxml-2.6.2.2-2-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:6c071be06b2da07b78ded40380ab91efb927b359a91ef983b2f49a3654c06746"},
-    {file = "cmeel_tinyxml-2.6.2.2-2-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:d1cfc138f74b92404a905e36b514b6cf7420bc08bd59c296adad9d078ce048a8"},
-    {file = "cmeel_tinyxml-2.6.2.2-2-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:65bccfc14744ee4f051eb0de8ef40b5ef26bbf37403f4060d0dc7d2d85d20799"},
-    {file = "cmeel_tinyxml-2.6.2.2-3-py3-none-macosx_12_0_arm64.whl", hash = "sha256:136966c8c0c8a712c915cc1d1e60a781a0284204632ff73b63930c2b6c3e3e0b"},
-    {file = "cmeel_tinyxml-2.6.2.2-3-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:fe6489a2c4f4b7f2b3355584bae5fa88ae2c78ada402ba6fe5c13b69c1ad83e8"},
-    {file = "cmeel_tinyxml-2.6.2.2-3-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:7d784705b8145d86bbcfb70cbf328dda4159fd9e2a3ecd92af8ac5bd0e778623"},
-    {file = "cmeel_tinyxml-2.6.2.2-3-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:57d4c654372c45d5f66067d150c56fb1ee63c8712b496c7d5b89d911d45e642c"},
-    {file = "cmeel_tinyxml-2.6.2.2-3-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:510b41c988920d55db187e5a906bced62a88ff623c502636622059876b974d38"},
+    {file = "cmeel_tinyxml-2.6.2.3-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:7fdf4df7abbb2a6bd48cddf2c103477110eb48caed92d4a4d8ac98c75ee53c89"},
+    {file = "cmeel_tinyxml-2.6.2.3-0-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:e69044b68d1f9c2597169a4099ae95a2e33cdbf98b5061c3ffafad4b9eed9c27"},
+    {file = "cmeel_tinyxml-2.6.2.3-0-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:ecb6107a6777b5bc0339b8f7fb4a76c95958648382244ac44e278a3a05db37df"},
+    {file = "cmeel_tinyxml-2.6.2.3-0-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:fe4bddefce9832c2c5f6e75c1d8af2b8282127180eb3f2aecbd02f5f152bad94"},
+    {file = "cmeel_tinyxml-2.6.2.3-0-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:fe088221f78ad7d35fbeb828ecb17709d20f60b68c0dcfef6f7d86ec6a57ee9b"},
+    {file = "cmeel_tinyxml-2.6.2.3.tar.gz", hash = "sha256:7404308e7a578df4d480223fbe4ff867563e267ef69c95d65b6dd28e42661ef2"},
 ]
 
 [package.dependencies]
@@ -569,24 +548,26 @@ cmeel = "*"
 
 [[package]]
 name = "cmeel-urdfdom"
-version = "3.1.1"
+version = "3.1.1.1"
 description = "cmeel distribution for urdfdom, URDF parser"
 optional = false
 python-versions = ">= 3.8"
 files = [
-    {file = "cmeel_urdfdom-3.1.1-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:c76416ae7b5ea5408918899e3ca5e4fd9c50cbb2e8e8c242a1f4e221a16ae04e"},
-    {file = "cmeel_urdfdom-3.1.1-0-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:3312e70b457f83916d2d79865e166a7dae815022be358120fdbfbeddd9afd279"},
-    {file = "cmeel_urdfdom-3.1.1-0-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:ccf3e6cacd30b1437928944dad2e657b1908eb9e96eb4d3c5136596bdf3b2ce4"},
-    {file = "cmeel_urdfdom-3.1.1-0-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:b315b631e267647bda6fa1552f58d550fbbd549d3d195ccc0048641dc137cb44"},
-    {file = "cmeel_urdfdom-3.1.1-0-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:05434210ee05ce78454946764c0da5145bf97a2746b10b56212d68d3a549d002"},
-    {file = "cmeel_urdfdom-3.1.1.tar.gz", hash = "sha256:6578a099be54090a9ccd67259d05fa02f268a811caff9a37c72cc6cd6c6c5f28"},
+    {file = "cmeel_urdfdom-3.1.1.1-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:354a44dce4692d19af61487ced4ee279b06fcc34fad8184c404ce91c41c73b67"},
+    {file = "cmeel_urdfdom-3.1.1.1-0-py3-none-macosx_12_0_x86_64.whl", hash = "sha256:7b4386a2d8db65208fd722cc11959bd5f42dd19b0c2caba361e315517d6513ab"},
+    {file = "cmeel_urdfdom-3.1.1.1-0-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:42faf8a6e7437a7c03e38dad07a65cace8bf77aa594acc58f87726178802771d"},
+    {file = "cmeel_urdfdom-3.1.1.1-0-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:83eafe0e494cd285b3a57805c72b12500d906586ff93a57a03d09a87d25ec62d"},
+    {file = "cmeel_urdfdom-3.1.1.1-0-py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:646dde19c61029ef1ccd9be39b301a6d0642516a159a2bbd9441a9590d3c97f4"},
+    {file = "cmeel_urdfdom-3.1.1.1.tar.gz", hash = "sha256:c37c2c4627593e8a6955421d83e3c4d592d6a18276ecefed95eefad0cd82251f"},
 ]
 
 [package.dependencies]
 cmeel = "*"
+cmeel-console-bridge = "*"
+cmeel-tinyxml = "*"
 
 [package.extras]
-build = ["cmeel-console-bridge", "cmeel-tinyxml", "cmeel-urdfdom-headers"]
+build = ["cmeel-urdfdom-headers"]
 
 [[package]]
 name = "colorama"
@@ -930,13 +911,13 @@ files = [
 
 [[package]]
 name = "docutils"
-version = "0.19"
+version = "0.20.1"
 description = "Docutils -- Python Documentation Utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "docutils-0.19-py3-none-any.whl", hash = "sha256:5e1de4d849fee02c63b040a4a3fd567f4ab104defd8a5511fbbc24a8a017efbc"},
-    {file = "docutils-0.19.tar.gz", hash = "sha256:33995a6753c30b7f577febfc2c50411fec6aac7f7ffeb7c4cfe5991072dcf9e6"},
+    {file = "docutils-0.20.1-py3-none-any.whl", hash = "sha256:96f387a2c5562db4476f09f13bbab2192e764cac08ebbf3a34a95d9b1e4a59d6"},
+    {file = "docutils-0.20.1.tar.gz", hash = "sha256:f08a4e276c3a1583a86dce3e34aba3fe04d02bba2dd51ed16106244e8a923e3b"},
 ]
 
 [[package]]
@@ -1066,53 +1047,53 @@ dotenv = ["python-dotenv"]
 
 [[package]]
 name = "fonttools"
-version = "4.45.1"
+version = "4.46.0"
 description = "Tools to manipulate font files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "fonttools-4.45.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:45fa321c458ea29224067700954ec44493ae869b47e7c5485a350a149a19fb53"},
-    {file = "fonttools-4.45.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0dc7617d96b1e668eea9250e1c1fe62d0c78c3f69573ce7e3332cc40e6d84356"},
-    {file = "fonttools-4.45.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:03ed3bda541e86725f6b4e1b94213f13ed1ae51a5a1f167028534cedea38c010"},
-    {file = "fonttools-4.45.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4f4a5870e3b56788fb196da8cf30d0dfd51a76dc3b907861d018165f76ae4c2"},
-    {file = "fonttools-4.45.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:a3c11d9687479f01eddef729aa737abcdea0a44fdaffb62a930a18892f186c9b"},
-    {file = "fonttools-4.45.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:316cec50581e844c3ab69d7c82455b54c7cf18236b2f09e722faf665fbfcac58"},
-    {file = "fonttools-4.45.1-cp310-cp310-win32.whl", hash = "sha256:e2277cba9f0b525e30de2a9ad3cb4219aa4bc697230c1645666b0deee9f914f0"},
-    {file = "fonttools-4.45.1-cp310-cp310-win_amd64.whl", hash = "sha256:1b9e9ad2bcded9a1431afaa57c8d3c39143ac1f050862d66bddd863c515464a2"},
-    {file = "fonttools-4.45.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ff6a698bdd435d24c379f6e8a54908cd9bb7dda23719084d56bf8c87709bf3bd"},
-    {file = "fonttools-4.45.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:2c980d60cd6ec1376206fe55013d166e5627ad0b149b5c81e74eaa913ab6134f"},
-    {file = "fonttools-4.45.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a12dee6523c02ca78aeedd0a5e12bfa9b7b29896350edd5241542897b072ae23"},
-    {file = "fonttools-4.45.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:37cd1ced6efb3dd6fe82e9f9bf92fd74ac58a5aefc284045f59ecd517a5fb9ab"},
-    {file = "fonttools-4.45.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:e3d24248221bd7151dfff0d88b1b5da02dccd7134bd576ce8888199827bbaa19"},
-    {file = "fonttools-4.45.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:ba6c23591427844dfb0a13658f1718489de75de6a46b64234584c0d17573162d"},
-    {file = "fonttools-4.45.1-cp311-cp311-win32.whl", hash = "sha256:cebcddbe9351b67166292b4f71ffdbfcce01ba4b07d4267824eb46b277aeb19a"},
-    {file = "fonttools-4.45.1-cp311-cp311-win_amd64.whl", hash = "sha256:f22eb69996a0bd49f76bdefb30be54ce8dbb89a0d1246874d610f05c2aa2e69e"},
-    {file = "fonttools-4.45.1-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:794de93e83297db7b4943f2431e206d8b1ea69cb3ae14638a49cc50332bf0db8"},
-    {file = "fonttools-4.45.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:4ba17822a6681d06849078daaf6e03eccc9f467efe7c4c60280e28a78e8e5df9"},
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 [[package]]
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+    {file = "tornado-6.4-cp38-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:71ddfc23a0e03ef2df1c1397d859868d158c8276a0603b96cf86892bff58149f"},
+    {file = "tornado-6.4-cp38-abi3-win32.whl", hash = "sha256:6f8a6c77900f5ae93d8b4ae1196472d0ccc2775cc1dfdc9e7727889145c45052"},
+    {file = "tornado-6.4-cp38-abi3-win_amd64.whl", hash = "sha256:10aeaa8006333433da48dec9fe417877f8bcc21f48dda8d661ae79da357b2a63"},
+    {file = "tornado-6.4.tar.gz", hash = "sha256:72291fa6e6bc84e626589f1c29d90a5a6d593ef5ae68052ee2ef000dfd273dee"},
 ]
 
 [[package]]
@@ -3580,13 +3629,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.24.7"
+version = "20.25.0"
 description = "Virtual Python Environment builder"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.24.7-py3-none-any.whl", hash = "sha256:a18b3fd0314ca59a2e9f4b556819ed07183b3e9a3702ecfe213f593d44f7b3fd"},
-    {file = "virtualenv-20.24.7.tar.gz", hash = "sha256:69050ffb42419c91f6c1284a7b24e0475d793447e35929b488bf6a0aade39353"},
+    {file = "virtualenv-20.25.0-py3-none-any.whl", hash = "sha256:4238949c5ffe6876362d9c0180fc6c3a824a7b12b80604eeb8085f2ed7460de3"},
+    {file = "virtualenv-20.25.0.tar.gz", hash = "sha256:bf51c0d9c7dd63ea8e44086fa1e4fb1093a31e963b86959257378aef020e1f1b"},
 ]
 
 [package.dependencies]
@@ -3667,13 +3716,13 @@ files = [
 
 [[package]]
 name = "webdataset"
-version = "0.2.79"
+version = "0.2.86"
 description = "Record sequential storage for deep learning."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "webdataset-0.2.79-py3-none-any.whl", hash = "sha256:7eefdcdf46acc01e80cb6c212acb267e046011c75d4ebdf6a2769f5312eed619"},
-    {file = "webdataset-0.2.79.tar.gz", hash = "sha256:a8ef8809e8c6b32423e40811a529b76a0799d93e3eba1bd1671640906a5fe138"},
+    {file = "webdataset-0.2.86-py3-none-any.whl", hash = "sha256:843a2b57c6356ebba25e811adf38a476da8e176f1b192f8bd5c8270daf1a6989"},
+    {file = "webdataset-0.2.86.tar.gz", hash = "sha256:373e9324271d26f952d8908a07bfa71afd0d84761fc314d47ddc597c876743d1"},
 ]
 
 [package.dependencies]
@@ -3725,11 +3774,12 @@ docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.link
 testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
 
 [extras]
-cpu = ["torch", "torchvision"]
+cpu = ["torch", "torch", "torchvision", "torchvision"]
 evaluation = ["bop_toolkit_lib"]
+gpu = ["torch", "torch", "torchvision", "torchvision"]
 multiview = ["cosypose"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "1ef32acfc0612eb8f97960e0f40d5789a2619fc8db9f70089ad42fa533b799cb"
+content-hash = "8cb4ff3479341777fa045a9a764ba53d27f006689f01d3c8add623771e414430"
diff --git a/pyproject.toml b/pyproject.toml
index 81e35f76..434aa494 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -52,10 +52,12 @@ scipy = "^1.11.2"
 seaborn = "^0.12.2"
 simplejson = "^3.19.1"
 torch = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "1.11.0+cpu"}
+  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "1.11.0+cpu"},
+  {markers = "extra=='gpu'", optional = true, version = "1.11.0"}
 ]
 torchvision = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.12.0+cpu"}
+  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.12.0+cpu"},
+  {markers = "extra=='gpu'", optional = true, version = "0.12.0"}
 ]
 tqdm = "^4.66.1"
 transforms3d = "^0.4.1"
@@ -65,6 +67,7 @@ webdataset = "^0.2.57"
 [tool.poetry.extras]
 cpu = ["torch", "torchvision"]
 evaluation = ["bop_toolkit_lib"]
+gpu = ["torch", "torchvision"]
 multiview = ["cosypose"]
 
 [tool.poetry.group.dev]
@@ -88,11 +91,6 @@ name = "torch_cpu"
 priority = "supplemental"
 url = "https://download.pytorch.org/whl/cpu"
 
-[[tool.poetry.source]]
-name = "torch_cu113"
-priority = "supplemental"
-url = "https://download.pytorch.org/whl/cu113"
-
 [[tool.poetry.source]]
 name = "PyPI"
 priority = "primary"

From 384232d51a4387be9e1e084185ac412a71779163 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sat, 9 Dec 2023 16:36:57 +0100
Subject: [PATCH 2/8] add missing dependencies

---
 environment.yml |   2 +
 poetry.lock     | 336 +++++++++++++++++++++++++++++++++++++++++++++++-
 pyproject.toml  |   2 +
 3 files changed, 338 insertions(+), 2 deletions(-)

diff --git a/environment.yml b/environment.yml
index e857f5c1..f91956e5 100644
--- a/environment.yml
+++ b/environment.yml
@@ -11,3 +11,5 @@ dependencies:
   - pip
   - pytorch::pytorch==1.11.0
   - torchvision==0.12.0
+  - geckodriver
+  - firefox
diff --git a/poetry.lock b/poetry.lock
index 5025f73e..39c93607 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"
@@ -255,6 +255,70 @@ files = [
     {file = "certifi-2023.11.17.tar.gz", hash = "sha256:9b469f3a900bf28dc19b8cfbf8019bf47f7fdd1a65a1d4ffb98fc14166beb4d1"},
 ]
 
+[[package]]
+name = "cffi"
+version = "1.16.0"
+description = "Foreign Function Interface for Python calling C code."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "cffi-1.16.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:6b3d6606d369fc1da4fd8c357d026317fbb9c9b75d36dc16e90e84c26854b088"},
+    {file = "cffi-1.16.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ac0f5edd2360eea2f1daa9e26a41db02dd4b0451b48f7c318e217ee092a213e9"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7e61e3e4fa664a8588aa25c883eab612a188c725755afff6289454d6362b9673"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a72e8961a86d19bdb45851d8f1f08b041ea37d2bd8d4fd19903bc3083d80c896"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5b50bf3f55561dac5438f8e70bfcdfd74543fd60df5fa5f62d94e5867deca684"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7651c50c8c5ef7bdb41108b7b8c5a83013bfaa8a935590c5d74627c047a583c7"},
+    {file = "cffi-1.16.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e4108df7fe9b707191e55f33efbcb2d81928e10cea45527879a4749cbe472614"},
+    {file = "cffi-1.16.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:32c68ef735dbe5857c810328cb2481e24722a59a2003018885514d4c09af9743"},
+    {file = "cffi-1.16.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:673739cb539f8cdaa07d92d02efa93c9ccf87e345b9a0b556e3ecc666718468d"},
+    {file = "cffi-1.16.0-cp310-cp310-win32.whl", hash = "sha256:9f90389693731ff1f659e55c7d1640e2ec43ff725cc61b04b2f9c6d8d017df6a"},
+    {file = "cffi-1.16.0-cp310-cp310-win_amd64.whl", hash = "sha256:e6024675e67af929088fda399b2094574609396b1decb609c55fa58b028a32a1"},
+    {file = "cffi-1.16.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b84834d0cf97e7d27dd5b7f3aca7b6e9263c56308ab9dc8aae9784abb774d404"},
+    {file = "cffi-1.16.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:1b8ebc27c014c59692bb2664c7d13ce7a6e9a629be20e54e7271fa696ff2b417"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ee07e47c12890ef248766a6e55bd38ebfb2bb8edd4142d56db91b21ea68b7627"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d8a9d3ebe49f084ad71f9269834ceccbf398253c9fac910c4fd7053ff1386936"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e70f54f1796669ef691ca07d046cd81a29cb4deb1e5f942003f401c0c4a2695d"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5bf44d66cdf9e893637896c7faa22298baebcd18d1ddb6d2626a6e39793a1d56"},
+    {file = "cffi-1.16.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7b78010e7b97fef4bee1e896df8a4bbb6712b7f05b7ef630f9d1da00f6444d2e"},
+    {file = "cffi-1.16.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:c6a164aa47843fb1b01e941d385aab7215563bb8816d80ff3a363a9f8448a8dc"},
+    {file = "cffi-1.16.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e09f3ff613345df5e8c3667da1d918f9149bd623cd9070c983c013792a9a62eb"},
+    {file = "cffi-1.16.0-cp311-cp311-win32.whl", hash = "sha256:2c56b361916f390cd758a57f2e16233eb4f64bcbeee88a4881ea90fca14dc6ab"},
+    {file = "cffi-1.16.0-cp311-cp311-win_amd64.whl", hash = "sha256:db8e577c19c0fda0beb7e0d4e09e0ba74b1e4c092e0e40bfa12fe05b6f6d75ba"},
+    {file = "cffi-1.16.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:fa3a0128b152627161ce47201262d3140edb5a5c3da88d73a1b790a959126956"},
+    {file = "cffi-1.16.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:68e7c44931cc171c54ccb702482e9fc723192e88d25a0e133edd7aff8fcd1f6e"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:abd808f9c129ba2beda4cfc53bde801e5bcf9d6e0f22f095e45327c038bfe68e"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:88e2b3c14bdb32e440be531ade29d3c50a1a59cd4e51b1dd8b0865c54ea5d2e2"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:fcc8eb6d5902bb1cf6dc4f187ee3ea80a1eba0a89aba40a5cb20a5087d961357"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b7be2d771cdba2942e13215c4e340bfd76398e9227ad10402a8767ab1865d2e6"},
+    {file = "cffi-1.16.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e715596e683d2ce000574bae5d07bd522c781a822866c20495e52520564f0969"},
+    {file = "cffi-1.16.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:2d92b25dbf6cae33f65005baf472d2c245c050b1ce709cc4588cdcdd5495b520"},
+    {file = "cffi-1.16.0-cp312-cp312-win32.whl", hash = "sha256:b2ca4e77f9f47c55c194982e10f058db063937845bb2b7a86c84a6cfe0aefa8b"},
+    {file = "cffi-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:68678abf380b42ce21a5f2abde8efee05c114c2fdb2e9eef2efdb0257fba1235"},
+    {file = "cffi-1.16.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:0c9ef6ff37e974b73c25eecc13952c55bceed9112be2d9d938ded8e856138bcc"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a09582f178759ee8128d9270cd1344154fd473bb77d94ce0aeb2a93ebf0feaf0"},
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+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:80876338e19c951fdfed6198e70bc88f1c9758b94578d5a7c4c91a87af3cf31c"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a6a14b17d7e17fa0d207ac08642c8820f84f25ce17a442fd15e27ea18d67c59b"},
+    {file = "cffi-1.16.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6602bc8dc6f3a9e02b6c22c4fc1e47aa50f8f8e6d3f78a5e16ac33ef5fefa324"},
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+    {file = "cffi-1.16.0-cp38-cp38-win_amd64.whl", hash = "sha256:31d13b0f99e0836b7ff893d37af07366ebc90b678b6664c955b54561fc36ef36"},
+    {file = "cffi-1.16.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:582215a0e9adbe0e379761260553ba11c58943e4bbe9c36430c4ca6ac74b15ed"},
+    {file = "cffi-1.16.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:b29ebffcf550f9da55bec9e02ad430c992a87e5f512cd63388abb76f1036d8d2"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dc9b18bf40cc75f66f40a7379f6a9513244fe33c0e8aa72e2d56b0196a7ef872"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cb4a35b3642fc5c005a6755a5d17c6c8b6bcb6981baf81cea8bfbc8903e8ba8"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b86851a328eedc692acf81fb05444bdf1891747c25af7529e39ddafaf68a4f3f"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c0f31130ebc2d37cdd8e44605fb5fa7ad59049298b3f745c74fa74c62fbfcfc4"},
+    {file = "cffi-1.16.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f8e709127c6c77446a8c0a8c8bf3c8ee706a06cd44b1e827c3e6a2ee6b8c098"},
+    {file = "cffi-1.16.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:748dcd1e3d3d7cd5443ef03ce8685043294ad6bd7c02a38d1bd367cfd968e000"},
+    {file = "cffi-1.16.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8895613bcc094d4a1b2dbe179d88d7fb4a15cee43c052e8885783fac397d91fe"},
+    {file = "cffi-1.16.0-cp39-cp39-win32.whl", hash = "sha256:ed86a35631f7bfbb28e108dd96773b9d5a6ce4811cf6ea468bb6a359b256b1e4"},
+    {file = "cffi-1.16.0-cp39-cp39-win_amd64.whl", hash = "sha256:3686dffb02459559c74dd3d81748269ffb0eb027c39a6fc99502de37d501faa8"},
+    {file = "cffi-1.16.0.tar.gz", hash = "sha256:bcb3ef43e58665bbda2fb198698fcae6776483e0c4a631aa5647806c25e02cc0"},
+]
+
+[package.dependencies]
+pycparser = "*"
+
 [[package]]
 name = "cfgv"
 version = "3.4.0"
@@ -1803,6 +1867,26 @@ files = [
     {file = "mdurl-0.1.2.tar.gz", hash = "sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba"},
 ]
 
+[[package]]
+name = "meshcat"
+version = "0.3.2"
+description = "WebGL-based visualizer for 3D geometries and scenes"
+optional = false
+python-versions = "*"
+files = [
+    {file = "meshcat-0.3.2-py3-none-any.whl", hash = "sha256:cba0465d0e29658c48bb65d27f5c8e04ff0a1ac8ce916d65621146c06258a1c7"},
+    {file = "meshcat-0.3.2.tar.gz", hash = "sha256:2cfe17cde4fe85d072a3de018a9dabf5626f80c255fff2ce63b26a48d2484ad9"},
+]
+
+[package.dependencies]
+ipython = ">=5"
+numpy = ">=1.14.0"
+pillow = ">=7.0.0"
+pyngrok = ">=4.1.6"
+pyzmq = ">=17.0.0"
+tornado = ">=4.0.0"
+u-msgpack-python = ">=2.4.1"
+
 [[package]]
 name = "mypy-extensions"
 version = "1.0.0"
@@ -2049,6 +2133,20 @@ numpy = [
     {version = ">=1.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"aarch64\" and python_version >= \"3.8\" and python_version < \"3.10\" or python_version > \"3.9\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_system != \"Darwin\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_machine != \"arm64\" and python_version < \"3.10\""},
 ]
 
+[[package]]
+name = "outcome"
+version = "1.3.0.post0"
+description = "Capture the outcome of Python function calls."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "outcome-1.3.0.post0-py2.py3-none-any.whl", hash = "sha256:e771c5ce06d1415e356078d3bdd68523f284b4ce5419828922b6871e65eda82b"},
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+    {file = "pyzmq-25.1.2-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:a793ac733e3d895d96f865f1806f160696422554e46d30105807fdc9841b9f7d"},
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+    {file = "pyzmq-25.1.2-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:ef12e259e7bc317c7597d4f6ef59b97b913e162d83b421dd0db3d6410f17a244"},
+    {file = "pyzmq-25.1.2-pp38-pypy38_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:ea253b368eb41116011add00f8d5726762320b1bda892f744c91997b65754d73"},
+    {file = "pyzmq-25.1.2-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1b9b1f2ad6498445a941d9a4fee096d387fee436e45cc660e72e768d3d8ee611"},
+    {file = "pyzmq-25.1.2-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:8b14c75979ce932c53b79976a395cb2a8cd3aaf14aef75e8c2cb55a330b9b49d"},
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+    {file = "pyzmq-25.1.2-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a18fff090441a40ffda8a7f4f18f03dc56ae73f148f1832e109f9bffa85df15"},
+    {file = "pyzmq-25.1.2-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:99a6b36f95c98839ad98f8c553d8507644c880cf1e0a57fe5e3a3f3969040882"},
+    {file = "pyzmq-25.1.2-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4345c9a27f4310afbb9c01750e9461ff33d6fb74cd2456b107525bbeebcb5be3"},
+    {file = "pyzmq-25.1.2-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:3516e0b6224cf6e43e341d56da15fd33bdc37fa0c06af4f029f7d7dfceceabbc"},
+    {file = "pyzmq-25.1.2-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:146b9b1f29ead41255387fb07be56dc29639262c0f7344f570eecdcd8d683314"},
+    {file = "pyzmq-25.1.2.tar.gz", hash = "sha256:93f1aa311e8bb912e34f004cf186407a4e90eec4f0ecc0efd26056bf7eda0226"},
+]
+
+[package.dependencies]
+cffi = {version = "*", markers = "implementation_name == \"pypy\""}
+
 [[package]]
 name = "referencing"
 version = "0.32.0"
@@ -2999,6 +3239,23 @@ dev = ["flake8", "flit", "mypy", "pandas-stubs", "pre-commit", "pytest", "pytest
 docs = ["ipykernel", "nbconvert", "numpydoc", "pydata_sphinx_theme (==0.10.0rc2)", "pyyaml", "sphinx-copybutton", "sphinx-design", "sphinx-issues"]
 stats = ["scipy (>=1.3)", "statsmodels (>=0.10)"]
 
+[[package]]
+name = "selenium"
+version = "4.16.0"
+description = ""
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "selenium-4.16.0-py3-none-any.whl", hash = "sha256:aec71f4e6ed6cb3ec25c9c1b5ed56ae31b6da0a7f17474c7566d303f84e6219f"},
+    {file = "selenium-4.16.0.tar.gz", hash = "sha256:b2e987a445306151f7be0e6dfe2aa72a479c2ac6a91b9d5ef2d6dd4e49ad0435"},
+]
+
+[package.dependencies]
+certifi = ">=2021.10.8"
+trio = ">=0.17,<1.0"
+trio-websocket = ">=0.9,<1.0"
+urllib3 = {version = ">=1.26,<3", extras = ["socks"]}
+
 [[package]]
 name = "setuptools"
 version = "69.0.2"
@@ -3155,6 +3412,17 @@ files = [
     {file = "snowballstemmer-2.2.0.tar.gz", hash = "sha256:09b16deb8547d3412ad7b590689584cd0fe25ec8db3be37788be3810cbf19cb1"},
 ]
 
+[[package]]
+name = "sortedcontainers"
+version = "2.4.0"
+description = "Sorted Containers -- Sorted List, Sorted Dict, Sorted Set"
+optional = false
+python-versions = "*"
+files = [
+    {file = "sortedcontainers-2.4.0-py2.py3-none-any.whl", hash = "sha256:a163dcaede0f1c021485e957a39245190e74249897e2ae4b2aa38595db237ee0"},
+    {file = "sortedcontainers-2.4.0.tar.gz", hash = "sha256:25caa5a06cc30b6b83d11423433f65d1f9d76c4c6a0c90e3379eaa43b9bfdb88"},
+]
+
 [[package]]
 name = "soupsieve"
 version = "2.5"
@@ -3589,6 +3857,42 @@ easy = ["chardet", "colorlog", "embreex", "jsonschema", "lxml", "mapbox-earcut",
 recommends = ["glooey", "meshio", "sympy"]
 test = ["autopep8 (<2)", "coveralls", "ezdxf", "pyinstrument", "pymeshlab", "pytest", "pytest-cov", "ruff"]
 
+[[package]]
+name = "trio"
+version = "0.23.1"
+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"},
+]
+
+[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\""}
+idna = "*"
+outcome = "*"
+sniffio = ">=1.3.0"
+sortedcontainers = "*"
+
+[[package]]
+name = "trio-websocket"
+version = "0.11.1"
+description = "WebSocket library for Trio"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "trio-websocket-0.11.1.tar.gz", hash = "sha256:18c11793647703c158b1f6e62de638acada927344d534e3c7628eedcb746839f"},
+    {file = "trio_websocket-0.11.1-py3-none-any.whl", hash = "sha256:520d046b0d030cf970b8b2b2e00c4c2245b3807853ecd44214acd33d74581638"},
+]
+
+[package.dependencies]
+exceptiongroup = {version = "*", markers = "python_version < \"3.11\""}
+trio = ">=0.11"
+wsproto = ">=0.14"
+
 [[package]]
 name = "typing-extensions"
 version = "4.8.0"
@@ -3611,6 +3915,17 @@ files = [
     {file = "tzdata-2023.3.tar.gz", hash = "sha256:11ef1e08e54acb0d4f95bdb1be05da659673de4acbd21bf9c69e94cc5e907a3a"},
 ]
 
+[[package]]
+name = "u-msgpack-python"
+version = "2.8.0"
+description = "A portable, lightweight MessagePack serializer and deserializer written in pure Python."
+optional = false
+python-versions = "*"
+files = [
+    {file = "u-msgpack-python-2.8.0.tar.gz", hash = "sha256:b801a83d6ed75e6df41e44518b4f2a9c221dc2da4bcd5380e3a0feda520bc61a"},
+    {file = "u_msgpack_python-2.8.0-py2.py3-none-any.whl", hash = "sha256:1d853d33e78b72c4228a2025b4db28cda81214076e5b0422ed0ae1b1b2bb586a"},
+]
+
 [[package]]
 name = "urllib3"
 version = "2.1.0"
@@ -3622,6 +3937,9 @@ files = [
     {file = "urllib3-2.1.0.tar.gz", hash = "sha256:df7aa8afb0148fa78488e7899b2c59b5f4ffcfa82e6c54ccb9dd37c1d7b52d54"},
 ]
 
+[package.dependencies]
+pysocks = {version = ">=1.5.6,<1.5.7 || >1.5.7,<2.0", optional = true, markers = "extra == \"socks\""}
+
 [package.extras]
 brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
 socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
@@ -3747,6 +4065,20 @@ MarkupSafe = ">=2.1.1"
 [package.extras]
 watchdog = ["watchdog (>=2.3)"]
 
+[[package]]
+name = "wsproto"
+version = "1.2.0"
+description = "WebSockets state-machine based protocol implementation"
+optional = false
+python-versions = ">=3.7.0"
+files = [
+    {file = "wsproto-1.2.0-py3-none-any.whl", hash = "sha256:b9acddd652b585d75b20477888c56642fdade28bdfd3579aa24a4d2c037dd736"},
+    {file = "wsproto-1.2.0.tar.gz", hash = "sha256:ad565f26ecb92588a3e43bc3d96164de84cd9902482b130d0ddbaa9664a85065"},
+]
+
+[package.dependencies]
+h11 = ">=0.9.0,<1"
+
 [[package]]
 name = "xyzservices"
 version = "2023.10.1"
@@ -3782,4 +4114,4 @@ multiview = ["cosypose"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "8cb4ff3479341777fa045a9a764ba53d27f006689f01d3c8add623771e414430"
+content-hash = "3f37618141897480797929eccf73bace4f4fb736f3ab13fc7bfa315340c75c06"
diff --git a/pyproject.toml b/pyproject.toml
index 434aa494..3b3281d4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,6 +33,7 @@ httpx = "^0.25.0"
 imageio = "^2.31.4"
 ipython = "^8.12.2"
 joblib = "^1.3.2"
+meshcat = "^0.3.2"
 omegaconf = "^2.3.0"
 open3d = "^0.17.0"
 opencv-contrib-python = "^4.8.0.76"
@@ -50,6 +51,7 @@ scikit-image = "^0.22.0"
 scikit-learn = "^1.3.1"
 scipy = "^1.11.2"
 seaborn = "^0.12.2"
+selenium = "^4.16.0"
 simplejson = "^3.19.1"
 torch = [
   {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "1.11.0+cpu"},

From 373c8e009987d3c40d9a74c7aa8a0139eb597073 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sat, 9 Dec 2023 17:24:42 +0100
Subject: [PATCH 3/8] update to pytorch < 2

---
 poetry.lock    | 210 +++++++++++++++++++++++++++++++++++--------------
 pyproject.toml |   8 +-
 2 files changed, 153 insertions(+), 65 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 39c93607..35d2003e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2032,6 +2032,67 @@ files = [
     {file = "numpy-1.26.2.tar.gz", hash = "sha256:f65738447676ab5777f11e6bbbdb8ce11b785e105f690bc45966574816b6d3ea"},
 ]
 
+[[package]]
+name = "nvidia-cublas-cu11"
+version = "11.10.3.66"
+description = "CUBLAS native runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
+    {file = "nvidia_cublas_cu11-11.10.3.66-py3-none-manylinux1_x86_64.whl", hash = "sha256:d32e4d75f94ddfb93ea0a5dda08389bcc65d8916a25cb9f37ac89edaeed3bded"},
+    {file = "nvidia_cublas_cu11-11.10.3.66-py3-none-win_amd64.whl", hash = "sha256:8ac17ba6ade3ed56ab898a036f9ae0756f1e81052a317bf98f8c6d18dc3ae49e"},
+]
+
+[package.dependencies]
+setuptools = "*"
+wheel = "*"
+
+[[package]]
+name = "nvidia-cuda-nvrtc-cu11"
+version = "11.7.99"
+description = "NVRTC native runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
+    {file = "nvidia_cuda_nvrtc_cu11-11.7.99-2-py3-none-manylinux1_x86_64.whl", hash = "sha256:9f1562822ea264b7e34ed5930567e89242d266448e936b85bc97a3370feabb03"},
+    {file = "nvidia_cuda_nvrtc_cu11-11.7.99-py3-none-manylinux1_x86_64.whl", hash = "sha256:f7d9610d9b7c331fa0da2d1b2858a4a8315e6d49765091d28711c8946e7425e7"},
+    {file = "nvidia_cuda_nvrtc_cu11-11.7.99-py3-none-win_amd64.whl", hash = "sha256:f2effeb1309bdd1b3854fc9b17eaf997808f8b25968ce0c7070945c4265d64a3"},
+]
+
+[package.dependencies]
+setuptools = "*"
+wheel = "*"
+
+[[package]]
+name = "nvidia-cuda-runtime-cu11"
+version = "11.7.99"
+description = "CUDA Runtime native Libraries"
+optional = true
+python-versions = ">=3"
+files = [
+    {file = "nvidia_cuda_runtime_cu11-11.7.99-py3-none-manylinux1_x86_64.whl", hash = "sha256:cc768314ae58d2641f07eac350f40f99dcb35719c4faff4bc458a7cd2b119e31"},
+    {file = "nvidia_cuda_runtime_cu11-11.7.99-py3-none-win_amd64.whl", hash = "sha256:bc77fa59a7679310df9d5c70ab13c4e34c64ae2124dd1efd7e5474b71be125c7"},
+]
+
+[package.dependencies]
+setuptools = "*"
+wheel = "*"
+
+[[package]]
+name = "nvidia-cudnn-cu11"
+version = "8.5.0.96"
+description = "cuDNN runtime libraries"
+optional = true
+python-versions = ">=3"
+files = [
+    {file = "nvidia_cudnn_cu11-8.5.0.96-2-py3-none-manylinux1_x86_64.whl", hash = "sha256:402f40adfc6f418f9dae9ab402e773cfed9beae52333f6d86ae3107a1b9527e7"},
+    {file = "nvidia_cudnn_cu11-8.5.0.96-py3-none-manylinux1_x86_64.whl", hash = "sha256:71f8111eb830879ff2836db3cccf03bbd735df9b0d17cd93761732ac50a8a108"},
+]
+
+[package.dependencies]
+setuptools = "*"
+wheel = "*"
+
 [[package]]
 name = "omegaconf"
 version = "2.3.0"
@@ -3647,55 +3708,68 @@ files = [
 
 [[package]]
 name = "torch"
-version = "1.11.0"
+version = "1.13.1"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = true
 python-versions = ">=3.7.0"
 files = [
-    {file = "torch-1.11.0-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:62052b50fffc29ca7afc0c04ef8206b6f1ca9d10629cb543077e12967e8d0398"},
-    {file = "torch-1.11.0-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:866bfba29ac98dec35d893d8e17eaec149d0ac7a53be7baae5c98069897db667"},
-    {file = "torch-1.11.0-cp310-cp310-win_amd64.whl", hash = "sha256:951640fb8db308a59d9b510e7d1ad910aff92913323bbe4bc75435347ddd346d"},
-    {file = "torch-1.11.0-cp310-none-macosx_10_9_x86_64.whl", hash = "sha256:5d77b5ece78fdafa5c7f42995ff9474399d22571cd6b2de21a5d666306a2ff8c"},
-    {file = "torch-1.11.0-cp310-none-macosx_11_0_arm64.whl", hash = "sha256:b5a38682769b544c875ecc34bcb81fbad5c922139b61319aacffcfd8a32f528c"},
-    {file = "torch-1.11.0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:f82d77695a60626f2b7382d85bc566de8a6b3e50d32080755abc040db802e419"},
-    {file = "torch-1.11.0-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:b96654d42566080a134e784705f33f8536b3b95b5dcde357ed7879b1692a5f78"},
-    {file = "torch-1.11.0-cp37-cp37m-win_amd64.whl", hash = "sha256:8ee7c2e8d7f7020d5bfbc1bb91b9591044c26bbd0cee5e4f694cfd7ed8649260"},
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-    {file = "torch-1.11.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:4322aa29f50da7f404db06cdf30896ea67b09f673af4a985afc7162bc897864d"},
-    {file = "torch-1.11.0-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:e4d2e0ddd652f30e94cff750220324ec45705d4ecc69658f773b3cb1c7a28dd0"},
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-    {file = "torch-1.11.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:58c7814502b1c129a650d7092033bbb0bbd64faf1a7941631aaa1aeaddc37570"},
-    {file = "torch-1.11.0-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:831cf588f01dda9409e75576741d2823453990dee2983d670f2584b37a01adf7"},
-    {file = "torch-1.11.0-cp39-cp39-win_amd64.whl", hash = "sha256:44a1d02fd20f827f0f36dc26fdcfc45e793806a6ad52769a22260655a77a4369"},
-    {file = "torch-1.11.0-cp39-none-macosx_10_9_x86_64.whl", hash = "sha256:50fd9bf85c578c871c28f1cb0ace9dfc6024401c7f399b174fb0f370899f4454"},
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+    {file = "torch-1.13.1-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:fd12043868a34a8da7d490bf6db66991108b00ffbeecb034228bfcbbd4197143"},
+    {file = "torch-1.13.1-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:d9fe785d375f2e26a5d5eba5de91f89e6a3be5d11efb497e76705fdf93fa3c2e"},
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 ]
 
 [package.dependencies]
+nvidia-cublas-cu11 = {version = "11.10.3.66", markers = "platform_system == \"Linux\""}
+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\""}
 typing-extensions = "*"
 
+[package.extras]
+opt-einsum = ["opt-einsum (>=3.3)"]
+
 [[package]]
 name = "torch"
-version = "1.11.0+cpu"
+version = "1.13.1+cpu"
 description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
 optional = true
 python-versions = ">=3.7.0"
 files = [
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+    {file = "torch-1.13.1+cpu-cp38-cp38-win_amd64.whl", hash = "sha256:43394e66487543c112044194e9bdecc6f48c869d692a9d0c755b95d642b29535"},
+    {file = "torch-1.13.1+cpu-cp39-cp39-linux_x86_64.whl", hash = "sha256:71636a5c21927236f4974d2355fb3f66a0b707c28219b0135ff65ed0f0e61287"},
+    {file = "torch-1.13.1+cpu-cp39-cp39-win_amd64.whl", hash = "sha256:988ee77c0975b4c3f570dfc62277b1e300bbbe7cc000ce2720e2e8c730fb9ce5"},
 ]
 
 [package.dependencies]
 typing-extensions = "*"
 
+[package.extras]
+opt-einsum = ["opt-einsum (>=3.3)"]
+
 [package.source]
 type = "legacy"
 url = "https://download.pytorch.org/whl/cpu"
@@ -3703,37 +3777,37 @@ reference = "torch_cpu"
 
 [[package]]
 name = "torchvision"
-version = "0.12.0"
+version = "0.14.1"
 description = "image and video datasets and models for torch deep learning"
 optional = true
 python-versions = ">=3.7"
 files = [
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+    {file = "torchvision-0.14.1-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:a541e49fc3c4e90e49e6988428ab047415ed52ea97d0c0bfd147d8bacb8f4df8"},
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+    {file = "torchvision-0.14.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c5e744f56e5f5b452deb5fc0f3f2ba4d2f00612d14d8da0dbefea8f09ac7690b"},
+    {file = "torchvision-0.14.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:758b20d079e810b4740bd60d1eb16e49da830e3360f9be379eb177ee221fa5d4"},
+    {file = "torchvision-0.14.1-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:83045507ef8d3c015d4df6be79491375b2f901352cfca6e72b4723e9c4f9a55d"},
+    {file = "torchvision-0.14.1-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:eaed58cf454323ed9222d4e0dd5fb897064f454b400696e03a5200e65d3a1e76"},
+    {file = "torchvision-0.14.1-cp39-cp39-win_amd64.whl", hash = "sha256:b337e1245ca4353623dd563c03cd8f020c2496a7c5d12bba4d2e381999c766e0"},
 ]
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
 requests = "*"
-torch = "*"
+torch = "1.13.1"
 typing-extensions = "*"
 
 [package.extras]
@@ -3741,26 +3815,26 @@ scipy = ["scipy"]
 
 [[package]]
 name = "torchvision"
-version = "0.12.0+cpu"
+version = "0.14.1+cpu"
 description = "image and video datasets and models for torch deep learning"
 optional = true
 python-versions = ">=3.7"
 files = [
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+    {file = "torchvision-0.14.1+cpu-cp310-cp310-linux_x86_64.whl", hash = "sha256:a49c36369b48720304cda4085bba4a05b42ff295400feae89e0ee8683051f923"},
+    {file = "torchvision-0.14.1+cpu-cp310-cp310-win_amd64.whl", hash = "sha256:9191ce52974a6be4f2f75a23d9c96371ac3025448dfd48ee0d2a553316944c4c"},
+    {file = "torchvision-0.14.1+cpu-cp37-cp37m-linux_x86_64.whl", hash = "sha256:6b40d371b80f16809ad5ced2fd8fd327c7a403a079eaa654c9da50bfaef73f78"},
+    {file = "torchvision-0.14.1+cpu-cp37-cp37m-win_amd64.whl", hash = "sha256:2b58261a4270b173d43ff23344589f3a3a4087d33818bc991ff86e3df4a83d24"},
+    {file = "torchvision-0.14.1+cpu-cp38-cp38-linux_x86_64.whl", hash = "sha256:46ff03ec16b49a6031714e98b1321a18ce789d8440a5073981e83b470a0484d1"},
+    {file = "torchvision-0.14.1+cpu-cp38-cp38-win_amd64.whl", hash = "sha256:bbc7c59733beb0236e5b489d34ba7d080d8c483be9e84bd6f5020c7d038ac751"},
+    {file = "torchvision-0.14.1+cpu-cp39-cp39-linux_x86_64.whl", hash = "sha256:5d2b67028e2782e60fd667a8e95f071bf612282411cba7ae88720213c58a651a"},
+    {file = "torchvision-0.14.1+cpu-cp39-cp39-win_amd64.whl", hash = "sha256:cc1466848e58873135afdda4f1c6432a5fd4bf4fb2a00886e9fb496a3004674b"},
 ]
 
 [package.dependencies]
 numpy = "*"
 pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
 requests = "*"
-torch = "1.11.0"
+torch = "1.13.1"
 typing-extensions = "*"
 
 [package.extras]
@@ -4065,6 +4139,20 @@ 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"
@@ -4114,4 +4202,4 @@ multiview = ["cosypose"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "3f37618141897480797929eccf73bace4f4fb736f3ab13fc7bfa315340c75c06"
+content-hash = "63f47fe8eb04204b0405828b4cf16d84bdc686f285e2587bca330a83beefa6e6"
diff --git a/pyproject.toml b/pyproject.toml
index 3b3281d4..b83ab5c7 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 = "1.11.0+cpu"},
-  {markers = "extra=='gpu'", optional = true, version = "1.11.0"}
+  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "1.13.1+cpu"},
+  {markers = "extra=='gpu'", optional = true, version = "1.13.1"}
 ]
 torchvision = [
-  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.12.0+cpu"},
-  {markers = "extra=='gpu'", optional = true, version = "0.12.0"}
+  {markers = "extra=='cpu'", optional = true, source = "torch_cpu", version = "0.14.1+cpu"},
+  {markers = "extra=='gpu'", optional = true, version = "0.14.1"}
 ]
 tqdm = "^4.66.1"
 transforms3d = "^0.4.1"

From 5a80416c841479c8896c914eda50040ed6df33d1 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sun, 10 Dec 2023 00:48:42 +0100
Subject: [PATCH 4/8] aws: use extern pin

---
 poetry.lock    | 340 ++-----------------------------------------------
 pyproject.toml |   1 -
 2 files changed, 12 insertions(+), 329 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 35d2003e..4f526a55 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -443,196 +443,6 @@ files = [
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
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-name = "cmeel"
-version = "0.53.0"
-description = "Create Wheel from CMake projects"
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-]
-
-[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,<0.42.0)"]
-
-[[package]]
-name = "cmeel-assimp"
-version = "5.3.1"
-description = "cmeel distribution for assimp, Open-Asset-Importer-Library Repository"
-optional = false
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-
-[package.dependencies]
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-    {file = "pin-2.6.21-1-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:e641e15086c14e5803d76c1698b99973ff2239b90e58bfa7bbfc094a21f15858"},
-    {file = "pin-2.6.21-1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:389b68b307e55e97f45ca0972e86731b4b71af39e8ba0c71c4fe878dca8a5d8d"},
-    {file = "pin-2.6.21.tar.gz", hash = "sha256:a3b06eb1ab54695431185699b9d068e388f2d7d958ec02f3910111f0da6f1fc2"},
-]
-
-[package.dependencies]
-cmeel = "*"
-cmeel-boost = ">=1.83.0,<1.84.0"
-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 = "platformdirs"
 version = "4.1.0"
@@ -2562,13 +2246,13 @@ numpy = ">=1.17"
 
 [[package]]
 name = "pre-commit"
-version = "3.5.0"
+version = "3.6.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
-    {file = "pre_commit-3.5.0-py2.py3-none-any.whl", hash = "sha256:841dc9aef25daba9a0238cd27984041fa0467b4199fc4852e27950664919f660"},
-    {file = "pre_commit-3.5.0.tar.gz", hash = "sha256:5804465c675b659b0862f07907f96295d490822a450c4c40e747d0b1c6ebcb32"},
+    {file = "pre_commit-3.6.0-py2.py3-none-any.whl", hash = "sha256:c255039ef399049a5544b6ce13d135caba8f2c28c3b4033277a788f434308376"},
+    {file = "pre_commit-3.6.0.tar.gz", hash = "sha256:d30bad9abf165f7785c15a21a1f46da7d0677cb00ee7ff4c579fd38922efe15d"},
 ]
 
 [package.dependencies]
@@ -3680,13 +3364,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2023.9.26"
+version = "2023.12.9"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "tifffile-2023.9.26-py3-none-any.whl", hash = "sha256:1de47fa945fddaade256e25ad4f375ae65547f3c1354063aded881c32a64cf89"},
-    {file = "tifffile-2023.9.26.tar.gz", hash = "sha256:67e355e4595aab397f8405d04afe1b4ae7c6f62a44e22d933fee1a571a48c7ae"},
+    {file = "tifffile-2023.12.9-py3-none-any.whl", hash = "sha256:9b066e4b1a900891ea42ffd33dab8ba34c537935618b9893ddef42d7d422692f"},
+    {file = "tifffile-2023.12.9.tar.gz", hash = "sha256:9dd1da91180a6453018a241ff219e1905f169384355cd89c9ef4034c1b46cdb8"},
 ]
 
 [package.dependencies]
@@ -4202,4 +3886,4 @@ multiview = ["cosypose"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "63f47fe8eb04204b0405828b4cf16d84bdc686f285e2587bca330a83beefa6e6"
+content-hash = "68af3576e697fc309df5b1f9cd06299320ede3bed2461dccafc0b72af690a205"
diff --git a/pyproject.toml b/pyproject.toml
index b83ab5c7..66c8adbb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,7 +39,6 @@ open3d = "^0.17.0"
 opencv-contrib-python = "^4.8.0.76"
 opencv-python = "^4.8.0.76"
 panda3d = "=1.10.13"
-pin = "^2.6.20"
 plyfile = "^1.0.1"
 pybind11 = "^2.10.4"
 pybullet = "^3.2.5"

From f261aa1c1618d19b7e201994d9cf36164988fff6 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sun, 10 Dec 2023 12:21:56 +0100
Subject: [PATCH 5/8] Revert "aws: use extern pin"

This reverts commit 5a80416c841479c8896c914eda50040ed6df33d1.
---
 poetry.lock    | 340 +++++++++++++++++++++++++++++++++++++++++++++++--
 pyproject.toml |   1 +
 2 files changed, 329 insertions(+), 12 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 4f526a55..35d2003e 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -443,6 +443,196 @@ files = [
 [package.dependencies]
 colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
+[[package]]
+name = "cmeel"
+version = "0.53.0"
+description = "Create Wheel from CMake projects"
+optional = false
+python-versions = ">=3.8,<4.0"
+files = [
+    {file = "cmeel-0.53.0-py3-none-any.whl", hash = "sha256:0667737bb8b61044ff25396c1450520c3d3cc52dcbd603c41682f589d0b3d8b7"},
+    {file = "cmeel-0.53.0.tar.gz", hash = "sha256:db62977716a97a3971c5ceede57a656a33091a4c8ca31531c8a04e63806625c1"},
+]
+
+[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,<0.42.0)"]
+
+[[package]]
+name = "cmeel-assimp"
+version = "5.3.1"
+description = "cmeel distribution for assimp, Open-Asset-Importer-Library Repository"
+optional = false
+python-versions = ">= 3.8"
+files = [
+    {file = "cmeel_assimp-5.3.1-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:05ea5f78b4a9ea87fc5b102872962625c5e2b27bc3c30277efc3916905c477f6"},
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+    {file = "cmeel_assimp-5.3.1.tar.gz", hash = "sha256:b2da7360f5e865b92da53f3392582738de1ca25d5f4d7cbf953249c14c20a530"},
+]
+
+[package.dependencies]
+cmeel = "*"
+
+[[package]]
+name = "cmeel-boost"
+version = "1.83.0"
+description = "cmeel distribution for boost, which provides free peer-reviewed portable C++ source libraries."
+optional = false
+python-versions = ">= 3.8"
+files = [
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+
+[package.dependencies]
+cmeel = "*"
+numpy = {version = ">=1.26.0,<1.27.0", markers = "python_version >= \"3.9\""}
+
+[[package]]
+name = "cmeel-console-bridge"
+version = "1.0.2.2"
+description = "cmeel distribution for console-bridge, A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages."
+optional = false
+python-versions = ">= 3.7"
+files = [
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+
+[package.dependencies]
+cmeel = "*"
+
+[[package]]
+name = "cmeel-octomap"
+version = "1.9.8.2"
+description = "cmeel distribution for OctoMap, An Efficient Probabilistic 3D Mapping Framework Based on Octrees"
+optional = false
+python-versions = ">= 3.7"
+files = [
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 name = "hsluv"
 version = "5.0.4"
@@ -2110,13 +2385,13 @@ testing = ["docopt", "pytest (<6.0.0)"]
 
 [[package]]
 name = "pathspec"
-version = "0.12.0"
+version = "0.11.2"
 description = "Utility library for gitignore style pattern matching of file paths."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.7"
 files = [
-    {file = "pathspec-0.12.0-py3-none-any.whl", hash = "sha256:f1f8a7eab698c357945c85ed79715e014612b8584faebe209dca4558e2b09513"},
-    {file = "pathspec-0.12.0.tar.gz", hash = "sha256:c57e16065a97b7beb175f13c84d27cb05f7b7315741c2fbd5de541042f4ea6e1"},
+    {file = "pathspec-0.11.2-py3-none-any.whl", hash = "sha256:1d6ed233af05e679efb96b1851550ea95bbb64b7c490b0f5aa52996c11e92a20"},
+    {file = "pathspec-0.11.2.tar.gz", hash = "sha256:e0d8d0ac2f12da61956eb2306b69f9469b42f4deb0f3cb6ed47b9cce9996ced3"},
 ]
 
 [[package]]
@@ -2200,6 +2475,47 @@ files = [
 docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
 
+[[package]]
+name = "pin"
+version = "2.6.21"
+description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pin-2.6.21-1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e671bbdefef2397c10ccc388a1324c81b6a5d6868c5c68360925214429aa93c1"},
+    {file = "pin-2.6.21-1-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:71d80895b415c7ca0b30e77499edef3d92d51b13a1a46c4f6808cc5e4baec337"},
+    {file = "pin-2.6.21-1-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:3e7471cb4caa5db146e84e9328bb64117e7aecb8da7da42e1f259f8202ee48fd"},
+    {file = "pin-2.6.21-1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:bab941082e6670b05034d5600811e0a54cba2b3cc7568befadae5262cc6f6f92"},
+    {file = "pin-2.6.21-1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:25729d5c04840be10fca3cc096db105fa9250a8e244ff28c41ea5aed82689275"},
+    {file = "pin-2.6.21-1-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:b5e2aa988c2a1de3f82043d36e2b54e5960da47b16e5fd5daee6815d7ed07e18"},
+    {file = "pin-2.6.21-1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:6c2cd3f8897e3f11a0327358b80cb4cf986b68ca45c06ce7cd39423899ae6fba"},
+    {file = "pin-2.6.21-1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:218daebcdf4f314639ef542bc08d2fb05d451fde16510fd5a9576623030dbea4"},
+    {file = "pin-2.6.21-1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:9a424257938d419056e3937d3b1a2c7d291f0de8b8d38c7d241962a859f36e9b"},
+    {file = "pin-2.6.21-1-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:ea206d1f48d38abcbf774ebe8b0fdd35a35c5ee3ab7237f0b6da3ed268939ccb"},
+    {file = "pin-2.6.21-1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:e99c30ce16dff93a81ea3b2fdb200085976f0310e948e38d61713fd3940dc044"},
+    {file = "pin-2.6.21-1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:86f4654ae9f3d28a17c251eda06b1d786dbe4a49b5676dc94232325e20f52de3"},
+    {file = "pin-2.6.21-1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2ef4af1321718b80c4984e594f1d82a724282d21a916750513949e56801e1517"},
+    {file = "pin-2.6.21-1-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:ca535e9a80ec44f138b5a28561f41675e302e009897e7dd54fcc05eda641ba50"},
+    {file = "pin-2.6.21-1-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:6f703536dc116745a40fb9ac96fee992c71b8e8a151f927854bd272ee1647d73"},
+    {file = "pin-2.6.21-1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:dc3078acb388392b376b539d3207a620dc9b5854586f9faf60a34230b4917695"},
+    {file = "pin-2.6.21-1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6706d0dc5385846c6c611ff6604237fcd8c41b0efef54dea2afba234fe009220"},
+    {file = "pin-2.6.21-1-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:3c85d78ecc066690e97e3449702bf856f8e7de1a3a88001c888cc2029df23a8d"},
+    {file = "pin-2.6.21-1-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:e641e15086c14e5803d76c1698b99973ff2239b90e58bfa7bbfc094a21f15858"},
+    {file = "pin-2.6.21-1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:389b68b307e55e97f45ca0972e86731b4b71af39e8ba0c71c4fe878dca8a5d8d"},
+    {file = "pin-2.6.21.tar.gz", hash = "sha256:a3b06eb1ab54695431185699b9d068e388f2d7d958ec02f3910111f0da6f1fc2"},
+]
+
+[package.dependencies]
+cmeel = "*"
+cmeel-boost = ">=1.83.0,<1.84.0"
+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 = "platformdirs"
 version = "4.1.0"
@@ -2246,13 +2562,13 @@ 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 = [
-    {file = "pre_commit-3.6.0-py2.py3-none-any.whl", hash = "sha256:c255039ef399049a5544b6ce13d135caba8f2c28c3b4033277a788f434308376"},
-    {file = "pre_commit-3.6.0.tar.gz", hash = "sha256:d30bad9abf165f7785c15a21a1f46da7d0677cb00ee7ff4c579fd38922efe15d"},
+    {file = "pre_commit-3.5.0-py2.py3-none-any.whl", hash = "sha256:841dc9aef25daba9a0238cd27984041fa0467b4199fc4852e27950664919f660"},
+    {file = "pre_commit-3.5.0.tar.gz", hash = "sha256:5804465c675b659b0862f07907f96295d490822a450c4c40e747d0b1c6ebcb32"},
 ]
 
 [package.dependencies]
@@ -3364,13 +3680,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2023.12.9"
+version = "2023.9.26"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 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-2023.9.26-py3-none-any.whl", hash = "sha256:1de47fa945fddaade256e25ad4f375ae65547f3c1354063aded881c32a64cf89"},
+    {file = "tifffile-2023.9.26.tar.gz", hash = "sha256:67e355e4595aab397f8405d04afe1b4ae7c6f62a44e22d933fee1a571a48c7ae"},
 ]
 
 [package.dependencies]
@@ -3886,4 +4202,4 @@ multiview = ["cosypose"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "68af3576e697fc309df5b1f9cd06299320ede3bed2461dccafc0b72af690a205"
+content-hash = "63f47fe8eb04204b0405828b4cf16d84bdc686f285e2587bca330a83beefa6e6"
diff --git a/pyproject.toml b/pyproject.toml
index 66c8adbb..b83ab5c7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -39,6 +39,7 @@ open3d = "^0.17.0"
 opencv-contrib-python = "^4.8.0.76"
 opencv-python = "^4.8.0.76"
 panda3d = "=1.10.13"
+pin = "^2.6.20"
 plyfile = "^1.0.1"
 pybind11 = "^2.10.4"
 pybullet = "^3.2.5"

From 294455c40c8a32c21fe71d30069172141b1100f7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Sun, 10 Dec 2023 12:22:45 +0100
Subject: [PATCH 6/8] aws: use extern opencv

---
 poetry.lock    | 78 ++++++++++----------------------------------------
 pyproject.toml |  2 --
 2 files changed, 15 insertions(+), 65 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index 35d2003e..ef8ce51a 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2146,54 +2146,6 @@ nbformat = "5.7.0"
 numpy = ">=1.18.0"
 werkzeug = ">=2.2.3"
 
-[[package]]
-name = "opencv-contrib-python"
-version = "4.8.1.78"
-description = "Wrapper package for OpenCV python bindings."
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "opencv-contrib-python-4.8.1.78.tar.gz", hash = "sha256:81804332299d656905d4f404fcec5f400d692c652d7a47926b7a441272ce795b"},
-    {file = "opencv_contrib_python-4.8.1.78-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:8d97192471c7d42532103ecebf8ad9d9534b7cd655ffadbccacb9ff3d4d49b40"},
-    {file = "opencv_contrib_python-4.8.1.78-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:8d6feb39d4af2cd1e8919110229bfedd13d4798a089bbe88fbd1a001b664d552"},
-    {file = "opencv_contrib_python-4.8.1.78-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6cad1720ac701cb3742f48f95bef5cfa288b916b6ac5700f63d5809e3ad5999e"},
-    {file = "opencv_contrib_python-4.8.1.78-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3fb62bc5967a79bce7c576ef94dea0b9172e52bab91630103e042cb5f29a148a"},
-    {file = "opencv_contrib_python-4.8.1.78-cp37-abi3-win32.whl", hash = "sha256:f8737cf3055a6156c66c75432ed28ee3c1d52532b17d91ed73d508ae351b3e66"},
-    {file = "opencv_contrib_python-4.8.1.78-cp37-abi3-win_amd64.whl", hash = "sha256:377936b02dcf82dc70261101381a8ad82b03d1298f185886be298d74fe35c328"},
-]
-
-[package.dependencies]
-numpy = [
-    {version = ">=1.21.0", markers = "python_version == \"3.9\" and platform_system == \"Darwin\" and platform_machine == \"arm64\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
-    {version = ">=1.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"aarch64\" and python_version >= \"3.8\" and python_version < \"3.10\" or python_version > \"3.9\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_system != \"Darwin\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_machine != \"arm64\" and python_version < \"3.10\""},
-]
-
-[[package]]
-name = "opencv-python"
-version = "4.8.1.78"
-description = "Wrapper package for OpenCV python bindings."
-optional = false
-python-versions = ">=3.6"
-files = [
-    {file = "opencv-python-4.8.1.78.tar.gz", hash = "sha256:cc7adbbcd1112877a39274106cb2752e04984bc01a031162952e97450d6117f6"},
-    {file = "opencv_python-4.8.1.78-cp37-abi3-macosx_10_16_x86_64.whl", hash = "sha256:91d5f6f5209dc2635d496f6b8ca6573ecdad051a09e6b5de4c399b8e673c60da"},
-    {file = "opencv_python-4.8.1.78-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:bc31f47e05447da8b3089faa0a07ffe80e114c91ce0b171e6424f9badbd1c5cd"},
-    {file = "opencv_python-4.8.1.78-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9814beca408d3a0eca1bae7e3e5be68b07c17ecceb392b94170881216e09b319"},
-    {file = "opencv_python-4.8.1.78-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4c406bdb41eb21ea51b4e90dfbc989c002786c3f601c236a99c59a54670a394"},
-    {file = "opencv_python-4.8.1.78-cp37-abi3-win32.whl", hash = "sha256:a7aac3900fbacf55b551e7b53626c3dad4c71ce85643645c43e91fcb19045e47"},
-    {file = "opencv_python-4.8.1.78-cp37-abi3-win_amd64.whl", hash = "sha256:b983197f97cfa6fcb74e1da1802c7497a6f94ed561aba6980f1f33123f904956"},
-]
-
-[package.dependencies]
-numpy = [
-    {version = ">=1.21.0", markers = "python_version == \"3.9\" and platform_system == \"Darwin\" and platform_machine == \"arm64\""},
-    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
-    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
-    {version = ">=1.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"aarch64\" and python_version >= \"3.8\" and python_version < \"3.10\" or python_version > \"3.9\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_system != \"Darwin\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_machine != \"arm64\" and python_version < \"3.10\""},
-]
-
 [[package]]
 name = "outcome"
 version = "1.3.0.post0"
@@ -2385,13 +2337,13 @@ testing = ["docopt", "pytest (<6.0.0)"]
 
 [[package]]
 name = "pathspec"
-version = "0.11.2"
+version = "0.12.0"
 description = "Utility library for gitignore style pattern matching of file paths."
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "pathspec-0.11.2-py3-none-any.whl", hash = "sha256:1d6ed233af05e679efb96b1851550ea95bbb64b7c490b0f5aa52996c11e92a20"},
-    {file = "pathspec-0.11.2.tar.gz", hash = "sha256:e0d8d0ac2f12da61956eb2306b69f9469b42f4deb0f3cb6ed47b9cce9996ced3"},
+    {file = "pathspec-0.12.0-py3-none-any.whl", hash = "sha256:f1f8a7eab698c357945c85ed79715e014612b8584faebe209dca4558e2b09513"},
+    {file = "pathspec-0.12.0.tar.gz", hash = "sha256:c57e16065a97b7beb175f13c84d27cb05f7b7315741c2fbd5de541042f4ea6e1"},
 ]
 
 [[package]]
@@ -2562,13 +2514,13 @@ numpy = ">=1.17"
 
 [[package]]
 name = "pre-commit"
-version = "3.5.0"
+version = "3.6.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
-    {file = "pre_commit-3.5.0-py2.py3-none-any.whl", hash = "sha256:841dc9aef25daba9a0238cd27984041fa0467b4199fc4852e27950664919f660"},
-    {file = "pre_commit-3.5.0.tar.gz", hash = "sha256:5804465c675b659b0862f07907f96295d490822a450c4c40e747d0b1c6ebcb32"},
+    {file = "pre_commit-3.6.0-py2.py3-none-any.whl", hash = "sha256:c255039ef399049a5544b6ce13d135caba8f2c28c3b4033277a788f434308376"},
+    {file = "pre_commit-3.6.0.tar.gz", hash = "sha256:d30bad9abf165f7785c15a21a1f46da7d0677cb00ee7ff4c579fd38922efe15d"},
 ]
 
 [package.dependencies]
@@ -3680,13 +3632,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2023.9.26"
+version = "2023.12.9"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "tifffile-2023.9.26-py3-none-any.whl", hash = "sha256:1de47fa945fddaade256e25ad4f375ae65547f3c1354063aded881c32a64cf89"},
-    {file = "tifffile-2023.9.26.tar.gz", hash = "sha256:67e355e4595aab397f8405d04afe1b4ae7c6f62a44e22d933fee1a571a48c7ae"},
+    {file = "tifffile-2023.12.9-py3-none-any.whl", hash = "sha256:9b066e4b1a900891ea42ffd33dab8ba34c537935618b9893ddef42d7d422692f"},
+    {file = "tifffile-2023.12.9.tar.gz", hash = "sha256:9dd1da91180a6453018a241ff219e1905f169384355cd89c9ef4034c1b46cdb8"},
 ]
 
 [package.dependencies]
@@ -3969,13 +3921,13 @@ wsproto = ">=0.14"
 
 [[package]]
 name = "typing-extensions"
-version = "4.8.0"
+version = "4.9.0"
 description = "Backported and Experimental Type Hints for Python 3.8+"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "typing_extensions-4.8.0-py3-none-any.whl", hash = "sha256:8f92fc8806f9a6b641eaa5318da32b44d401efaac0f6678c9bc448ba3605faa0"},
-    {file = "typing_extensions-4.8.0.tar.gz", hash = "sha256:df8e4339e9cb77357558cbdbceca33c303714cf861d1eef15e1070055ae8b7ef"},
+    {file = "typing_extensions-4.9.0-py3-none-any.whl", hash = "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"},
+    {file = "typing_extensions-4.9.0.tar.gz", hash = "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783"},
 ]
 
 [[package]]
@@ -4202,4 +4154,4 @@ multiview = ["cosypose"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "63f47fe8eb04204b0405828b4cf16d84bdc686f285e2587bca330a83beefa6e6"
+content-hash = "703b6745929b484af4929b6588e414f050c699b219391d6f8664807c715cc46e"
diff --git a/pyproject.toml b/pyproject.toml
index b83ab5c7..2e32daf8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,8 +36,6 @@ joblib = "^1.3.2"
 meshcat = "^0.3.2"
 omegaconf = "^2.3.0"
 open3d = "^0.17.0"
-opencv-contrib-python = "^4.8.0.76"
-opencv-python = "^4.8.0.76"
 panda3d = "=1.10.13"
 pin = "^2.6.20"
 plyfile = "^1.0.1"

From 665d68a530fb58a556880d8fc1b47b0124debdac Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 13 Dec 2023 15:46:42 +0100
Subject: [PATCH 7/8] opencv & pinocchio: either PyPI or Conda, but not both

---
 .github/workflows/pip-test.yml    |   2 +-
 .github/workflows/poetry-test.yml |   2 +-
 README.md                         |   2 +-
 environment.yml                   |   2 +
 poetry.lock                       | 253 +++++++++++++++++-------------
 pyproject.toml                    |   5 +-
 6 files changed, 152 insertions(+), 114 deletions(-)

diff --git a/.github/workflows/pip-test.yml b/.github/workflows/pip-test.yml
index 106b1f60..2069b7e6 100644
--- a/.github/workflows/pip-test.yml
+++ b/.github/workflows/pip-test.yml
@@ -30,7 +30,7 @@ jobs:
         run: pip install -U pip
 
       - name: Install happypose
-        run: pip install ".[cpu,evaluation]" --extra-index-url https://download.pytorch.org/whl/cpu
+        run: pip install ".[cpu,evaluation,pypi]" --extra-index-url https://download.pytorch.org/whl/cpu
 
       - name: Download pre-trained models required for tests
         run: |
diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml
index a8f4d558..705d19f9 100644
--- a/.github/workflows/poetry-test.yml
+++ b/.github/workflows/poetry-test.yml
@@ -31,7 +31,7 @@ jobs:
           cache: poetry
 
       - name: Install happypose
-        run: poetry install --with dev -E cpu -E evaluation
+        run: poetry install --with dev -E cpu -E evaluation -E pypi
 
       - name: Download pre-trained models required for tests
         run: |
diff --git a/README.md b/README.md
index 8dcb63e5..1a062494 100644
--- a/README.md
+++ b/README.md
@@ -39,7 +39,7 @@ git clone --branch dev --recurse-submodules https://github.com/agimus-project/ha
 cd happypose
 python -m venv .venv
 source .venv/bin/activate
-pip install .[cpu] --extra-index-url https://download.pytorch.org/whl/cpu
+pip install .[pypi,cpu] --extra-index-url https://download.pytorch.org/whl/cpu
 ```
 
 ### Install extras:
diff --git a/environment.yml b/environment.yml
index f91956e5..f3aff00d 100644
--- a/environment.yml
+++ b/environment.yml
@@ -13,3 +13,5 @@ dependencies:
   - torchvision==0.12.0
   - geckodriver
   - firefox
+  - opencv
+  - pinocchio
diff --git a/poetry.lock b/poetry.lock
index ef8ce51a..f1b83179 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand.
 
 [[package]]
 name = "addict"
@@ -24,17 +24,17 @@ files = [
 
 [[package]]
 name = "ansi2html"
-version = "1.8.0"
-description = ""
+version = "1.9.1"
+description = "Convert text with ANSI color codes to HTML or to LaTeX"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 files = [
-    {file = "ansi2html-1.8.0-py3-none-any.whl", hash = "sha256:ef9cc9682539dbe524fbf8edad9c9462a308e04bce1170c32daa8fdfd0001785"},
-    {file = "ansi2html-1.8.0.tar.gz", hash = "sha256:38b82a298482a1fa2613f0f9c9beb3db72a8f832eeac58eb2e47bf32cd37f6d5"},
+    {file = "ansi2html-1.9.1-py3-none-any.whl", hash = "sha256:29ccdb1e83520d648ebdc9c9544059ea4d424ecc33d3ef723657f7f5a9ae5225"},
+    {file = "ansi2html-1.9.1.tar.gz", hash = "sha256:5c6837a13ecc1903aab7a545353312049dfedfe5105362ad3a8d9d207871ec71"},
 ]
 
 [package.extras]
-docs = ["Sphinx", "setuptools-scm", "sphinx-rtd-theme"]
+docs = ["mkdocs", "mkdocs-material", "mkdocs-material-extensions", "mkdocstrings", "mkdocstrings-python", "pymdown-extensions"]
 test = ["pytest", "pytest-cov"]
 
 [[package]]
@@ -106,13 +106,13 @@ tests-no-zope = ["cloudpickle", "hypothesis", "mypy (>=1.1.1)", "pympler", "pyte
 
 [[package]]
 name = "babel"
-version = "2.13.1"
+version = "2.14.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "Babel-2.13.1-py3-none-any.whl", hash = "sha256:7077a4984b02b6727ac10f1f7294484f737443d7e2e66c5e4380e41a3ae0b4ed"},
-    {file = "Babel-2.13.1.tar.gz", hash = "sha256:33e0952d7dd6374af8dbf6768cc4ddf3ccfefc244f9986d4074704f2fbd18900"},
+    {file = "Babel-2.14.0-py3-none-any.whl", hash = "sha256:efb1a25b7118e67ce3a259bed20545c29cb68be8ad2c784c83689981b7a57287"},
+    {file = "Babel-2.14.0.tar.gz", hash = "sha256:6919867db036398ba21eb5c7a0f6b28ab8cbc3ae7a73a44ebe34ae74a4e7d363"},
 ]
 
 [package.extras]
@@ -138,29 +138,33 @@ lxml = ["lxml"]
 
 [[package]]
 name = "black"
-version = "23.11.0"
+version = "23.12.0"
 description = "The uncompromising code formatter."
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "black-23.11.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:412f56bab20ac85927f3a959230331de5614aecda1ede14b373083f62ec24e6f"},
-    {file = "black-23.11.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d136ef5b418c81660ad847efe0e55c58c8208b77a57a28a503a5f345ccf01394"},
-    {file = "black-23.11.0-cp310-cp310-win_amd64.whl", hash = "sha256:6c1cac07e64433f646a9a838cdc00c9768b3c362805afc3fce341af0e6a9ae9f"},
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+    {file = "black-23.12.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:c71048345bdbced456cddf1622832276d98a710196b842407840ae8055ade6ee"},
+    {file = "black-23.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:81a832b6e00eef2c13b3239d514ea3b7d5cc3eaa03d0474eedcbbda59441ba5d"},
+    {file = "black-23.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:6a82a711d13e61840fb11a6dfecc7287f2424f1ca34765e70c909a35ffa7fb95"},
+    {file = "black-23.12.0-py3-none-any.whl", hash = "sha256:a7c07db8200b5315dc07e331dda4d889a56f6bf4db6a9c2a526fa3166a81614f"},
+    {file = "black-23.12.0.tar.gz", hash = "sha256:330a327b422aca0634ecd115985c1c7fd7bdb5b5a2ef8aa9888a82e2ebe9437a"},
 ]
 
 [package.dependencies]
@@ -174,7 +178,7 @@ typing-extensions = {version = ">=4.0.1", markers = "python_version < \"3.11\""}
 
 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)"]
+d = ["aiohttp (>=3.7.4)", "aiohttp (>=3.7.4,!=3.9.0)"]
 jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
 uvloop = ["uvloop (>=0.15.2)"]
 
@@ -445,26 +449,26 @@ colorama = {version = "*", markers = "platform_system == \"Windows\""}
 
 [[package]]
 name = "cmeel"
-version = "0.53.0"
+version = "0.53.2"
 description = "Create Wheel from CMake projects"
-optional = false
+optional = true
 python-versions = ">=3.8,<4.0"
 files = [
-    {file = "cmeel-0.53.0-py3-none-any.whl", hash = "sha256:0667737bb8b61044ff25396c1450520c3d3cc52dcbd603c41682f589d0b3d8b7"},
-    {file = "cmeel-0.53.0.tar.gz", hash = "sha256:db62977716a97a3971c5ceede57a656a33091a4c8ca31531c8a04e63806625c1"},
+    {file = "cmeel-0.53.2-py3-none-any.whl", hash = "sha256:7f1d5bc4f00dc4caf2be53ec1a8a3a375a869e50e189cef4745e32cfb4e5381d"},
+    {file = "cmeel-0.53.2.tar.gz", hash = "sha256:9f3559a602154fdb690a0a00772e1755819619d15799a6a0670ffcce8c664254"},
 ]
 
 [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,<0.42.0)"]
+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)"]
 
 [[package]]
 name = "cmeel-assimp"
 version = "5.3.1"
 description = "cmeel distribution for assimp, Open-Asset-Importer-Library Repository"
-optional = false
+optional = true
 python-versions = ">= 3.8"
 files = [
     {file = "cmeel_assimp-5.3.1-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:05ea5f78b4a9ea87fc5b102872962625c5e2b27bc3c30277efc3916905c477f6"},
@@ -482,7 +486,7 @@ cmeel = "*"
 name = "cmeel-boost"
 version = "1.83.0"
 description = "cmeel distribution for boost, which provides free peer-reviewed portable C++ source libraries."
-optional = false
+optional = true
 python-versions = ">= 3.8"
 files = [
     {file = "cmeel_boost-1.83.0-0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:b26e6b9dd0ad459542e1d0249863847e756fb6ed88529c6f6a0d563183115e8d"},
@@ -529,7 +533,7 @@ numpy = {version = ">=1.26.0,<1.27.0", markers = "python_version >= \"3.9\""}
 name = "cmeel-console-bridge"
 version = "1.0.2.2"
 description = "cmeel distribution for console-bridge, A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages."
-optional = false
+optional = true
 python-versions = ">= 3.7"
 files = [
     {file = "cmeel_console_bridge-1.0.2.2-0-py3-none-macosx_11_0_arm64.whl", hash = "sha256:16d97047ae4d732db0af48993b145bf11e6ef4d1579b29e3ed2f65ad4349d0f1"},
@@ -552,7 +556,7 @@ cmeel = "*"
 name = "cmeel-octomap"
 version = "1.9.8.2"
 description = "cmeel distribution for OctoMap, An Efficient Probabilistic 3D Mapping Framework Based on Octrees"
-optional = false
+optional = true
 python-versions = ">= 3.7"
 files = [
     {file = "cmeel_octomap-1.9.8.2-0-py3-none-macosx_11_0_arm64.whl", hash = "sha256:4d510a9d5766ef15af40e4e3943a5ee589ba0357cfe10b5a710e2f04b0b19f57"},
@@ -578,7 +582,7 @@ cmeel = "*"
 name = "cmeel-qhull"
 version = "8.0.2.1"
 description = "cmeel distribution for qhull: Convex hull, Delaunay triangulation, Voronoi diagrams, Halfspace intersection"
-optional = false
+optional = true
 python-versions = ">= 3.8"
 files = [
     {file = "cmeel_qhull-8.0.2.1-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:39f5183a6e026754c3c043239bac005bf1825240d72e1d8fdf090a0f3ea27307"},
@@ -596,7 +600,7 @@ cmeel = "*"
 name = "cmeel-tinyxml"
 version = "2.6.2.3"
 description = "cmeel distribution for TinyXML, an obsolete thing."
-optional = false
+optional = true
 python-versions = ">= 3.8"
 files = [
     {file = "cmeel_tinyxml-2.6.2.3-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:7fdf4df7abbb2a6bd48cddf2c103477110eb48caed92d4a4d8ac98c75ee53c89"},
@@ -614,7 +618,7 @@ cmeel = "*"
 name = "cmeel-urdfdom"
 version = "3.1.1.1"
 description = "cmeel distribution for urdfdom, URDF parser"
-optional = false
+optional = true
 python-versions = ">= 3.8"
 files = [
     {file = "cmeel_urdfdom-3.1.1.1-0-py3-none-macosx_12_0_arm64.whl", hash = "sha256:354a44dce4692d19af61487ced4ee279b06fcc34fad8184c404ce91c41c73b67"},
@@ -964,13 +968,13 @@ files = [
 
 [[package]]
 name = "distlib"
-version = "0.3.7"
+version = "0.3.8"
 description = "Distribution utilities"
 optional = false
 python-versions = "*"
 files = [
-    {file = "distlib-0.3.7-py2.py3-none-any.whl", hash = "sha256:2e24928bc811348f0feb63014e97aaae3037f2cf48712d51ae61df7fd6075057"},
-    {file = "distlib-0.3.7.tar.gz", hash = "sha256:9dafe54b34a028eafd95039d5e5d4851a13734540f1331060d31c9916e7147a8"},
+    {file = "distlib-0.3.8-py2.py3-none-any.whl", hash = "sha256:034db59a0b96f8ca18035f36290806a9a6e6bd9d1ff91e45a7f172eb17e51784"},
+    {file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"},
 ]
 
 [[package]]
@@ -986,39 +990,39 @@ files = [
 
 [[package]]
 name = "eigenpy"
-version = "3.1.4"
+version = "3.2.0"
 description = "Bindings between Numpy and Eigen using Boost.Python"
-optional = false
+optional = true
 python-versions = ">= 3.8"
 files = [
-    {file = "eigenpy-3.1.4-0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:6c32eaef7f47d589662839e9c8fb014d378e60cbe0918bb4421bc6055c76553e"},
-    {file = "eigenpy-3.1.4-0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ffb5b681c8b4253c87a1e8398f7e85f96fcf252257da860ce06b16cd89804818"},
-    {file = "eigenpy-3.1.4-0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:442225433adbf6e917a9e1b028f9300ac7bbe9b4b80194b475aa5659bf849c2f"},
-    {file = "eigenpy-3.1.4-0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:ceb6cecaa074e89a0e25aa9f3400d7be01e129e038d72bd763512f0ebd97b357"},
-    {file = "eigenpy-3.1.4-0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:559a88bc3d02ea4dd37db43fc0958dbe79b9ea0161f881f09c0e13f722148e17"},
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+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
+    {version = ">=1.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"aarch64\" and python_version >= \"3.8\" and python_version < \"3.10\" or python_version > \"3.9\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_system != \"Darwin\" and python_version < \"3.10\" or python_version >= \"3.9\" and platform_machine != \"arm64\" and python_version < \"3.10\""},
+]
+
 [[package]]
 name = "outcome"
 version = "1.3.0.post0"
@@ -2337,13 +2379,13 @@ testing = ["docopt", "pytest (<6.0.0)"]
 
 [[package]]
 name = "pathspec"
-version = "0.12.0"
+version = "0.12.1"
 description = "Utility library for gitignore style pattern matching of file paths."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "pathspec-0.12.0-py3-none-any.whl", hash = "sha256:f1f8a7eab698c357945c85ed79715e014612b8584faebe209dca4558e2b09513"},
-    {file = "pathspec-0.12.0.tar.gz", hash = "sha256:c57e16065a97b7beb175f13c84d27cb05f7b7315741c2fbd5de541042f4ea6e1"},
+    {file = "pathspec-0.12.1-py3-none-any.whl", hash = "sha256:a0d503e138a4c123b27490a4f7beda6a01c6f288df0e4a8b79c7eb0dc7b4cc08"},
+    {file = "pathspec-0.12.1.tar.gz", hash = "sha256:a482d51503a1ab33b1c67a6c3813a26953dbdc71c31dacaef9a838c4e29f5712"},
 ]
 
 [[package]]
@@ -2431,7 +2473,7 @@ tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "pa
 name = "pin"
 version = "2.6.21"
 description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pin-2.6.21-1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e671bbdefef2397c10ccc388a1324c81b6a5d6868c5c68360925214429aa93c1"},
@@ -2532,13 +2574,13 @@ virtualenv = ">=20.10.0"
 
 [[package]]
 name = "prompt-toolkit"
-version = "3.0.41"
+version = "3.0.43"
 description = "Library for building powerful interactive command lines in Python"
 optional = false
 python-versions = ">=3.7.0"
 files = [
-    {file = "prompt_toolkit-3.0.41-py3-none-any.whl", hash = "sha256:f36fe301fafb7470e86aaf90f036eef600a3210be4decf461a5b1ca8403d3cb2"},
-    {file = "prompt_toolkit-3.0.41.tar.gz", hash = "sha256:941367d97fc815548822aa26c2a269fdc4eb21e9ec05fc5d447cf09bad5d75f0"},
+    {file = "prompt_toolkit-3.0.43-py3-none-any.whl", hash = "sha256:a11a29cb3bf0a28a387fe5122cdb649816a957cd9261dcedf8c9f1fef33eacf6"},
+    {file = "prompt_toolkit-3.0.43.tar.gz", hash = "sha256:3527b7af26106cbc65a040bcc84839a3566ec1b051bb0bfe953631e704b0ff7d"},
 ]
 
 [package.dependencies]
@@ -2747,7 +2789,6 @@ files = [
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
     {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
-    {file = "PyYAML-6.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:326c013efe8048858a6d312ddd31d56e468118ad4cdeda36c719bf5bb6192290"},
     {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
     {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
     {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
@@ -2755,15 +2796,8 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"},
     {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
-    {file = "PyYAML-6.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:e7d73685e87afe9f3b36c799222440d6cf362062f78be1013661b00c5c6f678b"},
     {file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
-    {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
-    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
-    {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
-    {file = "PyYAML-6.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:0d3304d8c0adc42be59c5f8a4d9e3d7379e6955ad754aa9d6ab7a398b59dd1df"},
     {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
     {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
@@ -2780,7 +2814,6 @@ files = [
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0cd17c15d3bb3fa06978b4e8958dcdc6e0174ccea823003a106c7d4d7899ac5"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28c119d996beec18c05208a8bd78cbe4007878c6dd15091efb73a30e90539696"},
     {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
-    {file = "PyYAML-6.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:49a183be227561de579b4a36efbb21b3eab9651dd81b1858589f796549873dd6"},
     {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
     {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
     {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
@@ -2788,7 +2821,6 @@ files = [
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
     {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
-    {file = "PyYAML-6.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:04ac92ad1925b2cff1db0cfebffb6ffc43457495c9b3c39d3fcae417d7125dc5"},
     {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
     {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
     {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
@@ -2951,13 +2983,13 @@ six = ">=1.7.0"
 
 [[package]]
 name = "roma"
-version = "1.4.1"
+version = "1.4.2"
 description = "A lightweight library to deal with 3D rotations in PyTorch."
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "roma-1.4.1-py3-none-any.whl", hash = "sha256:cbee6090533d26dc5abd27f894b6eeb794f356c1aef9bcb27b62abb42a3e10a0"},
-    {file = "roma-1.4.1.tar.gz", hash = "sha256:76e3f580a63281ce0fdcc671da4e49a79b068ad59f3a5cf0fd2d6cba1d2a09f1"},
+    {file = "roma-1.4.2-py3-none-any.whl", hash = "sha256:4dc3c7fd32ddffa2a1fc70dfcbc56e44de98e16625d0633ed036a9d45afc7519"},
+    {file = "roma-1.4.2.tar.gz", hash = "sha256:1b5b673ba6c1c52627f0fba6b9dd78a854d91d082a8536328ae3475792150fb2"},
 ]
 
 [[package]]
@@ -4150,8 +4182,9 @@ cpu = ["torch", "torch", "torchvision", "torchvision"]
 evaluation = ["bop_toolkit_lib"]
 gpu = ["torch", "torch", "torchvision", "torchvision"]
 multiview = ["cosypose"]
+pypi = ["opencv-contrib-python", "opencv-python", "pin"]
 
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "703b6745929b484af4929b6588e414f050c699b219391d6f8664807c715cc46e"
+content-hash = "c29768a968a260a9f63d4d693564453771f637c8edc741f2db0bf9cda4a66755"
diff --git a/pyproject.toml b/pyproject.toml
index 2e32daf8..71ace4d9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -36,8 +36,10 @@ joblib = "^1.3.2"
 meshcat = "^0.3.2"
 omegaconf = "^2.3.0"
 open3d = "^0.17.0"
+opencv-contrib-python = { version = "^4.8.0.76", optional = true }
+opencv-python = { version = "^4.8.0.76", optional = true }
 panda3d = "=1.10.13"
-pin = "^2.6.20"
+pin = { version = "^2.6.20", optional = true }
 plyfile = "^1.0.1"
 pybind11 = "^2.10.4"
 pybullet = "^3.2.5"
@@ -69,6 +71,7 @@ cpu = ["torch", "torchvision"]
 evaluation = ["bop_toolkit_lib"]
 gpu = ["torch", "torchvision"]
 multiview = ["cosypose"]
+pypi = ["opencv-contrib-python", "opencv-python", "pin"]
 
 [tool.poetry.group.dev]
 optional = true

From ee98b6bfa3dd98e57329de41c8bb6ff79dee65df Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 13 Dec 2023 16:55:42 +0100
Subject: [PATCH 8/8] update README for PyPI

---
 README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/README.md b/README.md
index 1a062494..18569be3 100644
--- a/README.md
+++ b/README.md
@@ -45,8 +45,10 @@ pip install .[pypi,cpu] --extra-index-url https://download.pytorch.org/whl/cpu
 ### Install extras:
 
 - `cpu`: required to get pytorch CPU from PyPI (don't use this for GPU or with conda)
+- `gpu`: required to get pytorch GPU from PyPI (don't use this for CPU or with conda)
 - `evaluation`: installs bop_toolkit
 - `multiview`: installs cosypose c++ extension
+- `pypi`: install pinocchio & opncv from PyPI (don't use this with conda)
 
 ## Create data directory