diff --git a/.gitignore b/.gitignore
index 1628c189..285c0f51 100644
--- a/.gitignore
+++ b/.gitignore
@@ -12,4 +12,4 @@ __pycache__
 *.temp
 *tmp/
 *.cpython
-experiments/outputs
\ No newline at end of file
+experiments/outputs
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index cb0b55ea..ff053908 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,4 +1,4 @@
-exclude: 'cosypose|megapose6d'
+exclude: 'cosypose|megapose6d|happypose|experiments'
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 19055a87..3b4a49c6 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -9,4 +9,4 @@
     "python.linting.enabled": true,
     "python.linting.flake8Enabled": true,
     "python.linting.mypyEnabled": true,
-}
\ No newline at end of file
+}
diff --git a/README.md b/README.md
index 1238ec6d..ac7261f6 100644
--- a/README.md
+++ b/README.md
@@ -45,12 +45,12 @@ Create data dir /somewhere/convenient. The dataset to store are quite large.
 export MEGAPOSE_DATA_DIR=/somewhere/convenient
 cd $MEGAPOSE_DATA_DIR
 wget https://memmo-data.laas.fr/static/examples.tar.xz
-tar xf examples.tar.xz 
+tar xf examples.tar.xz
 ```
 
  ## 1. Download pre-trained MegaPose pose estimation models
 Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models:
-  
+
 ```
 python -m happypose.toolbox.utils.download --megapose_models
 ```
@@ -78,7 +78,7 @@ download [barbecue sauce](https://drive.google.com/drive/folders/10BIvhnrKGbNr8E
 
 <details>
 <summary>Cosypose</summary>
-  
+
 All data used (datasets, models, results, ...) are stored in a directory `local_data` at the root of the repository. Create it with `mkdir local_data` or use a symlink if you want the data to be stored at a different place. We provide the utility `cosypose/scripts/download.py` for downloading required data and models. All of the files can also be [downloaded manually](https://drive.google.com/drive/folders/1JmOYbu1oqN81Dlj2lh6NCAMrC8pEdAtD?usp=sharing).
 
 ## BOP Datasets
@@ -124,15 +124,15 @@ Notes:
   ```sh
   python -m happypose.pose_estimators.cosypose.cosypose.scripts.make_ycbv_compat_models
   ```
-  
+
 ## Models for minimal version
-    
+
 ```sh
  #ycbv
   python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-ycbv-pbr--970850
   python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-ycbv-pbr--724183
   python -m happypose.toolbox.utils.download --cosypose_model=refiner-bop-ycbv-pbr--604090
-  
+
  #tless
   python -m happypose.toolbox.utils.download --cosypose_model=detector-bop-tless-pbr--873074
   python -m happypose.toolbox.utils.download --cosypose_model=coarse-bop-tless-pbr--506801
@@ -148,11 +148,11 @@ The pre-trained models of the single-view pose estimator can be downloaded using
 # YCB-V Single-view refiner
 python -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-finetune--251020
 
-# YCB-V Single-view refiner trained on synthetic data only 
-# Only download this if you are interested in retraining the above model 
+# YCB-V Single-view refiner trained on synthetic data only
+# Only download this if you are interested in retraining the above model
 python -m happypose.toolbox.utils.download --cosypose_model=ycbv-refiner-syntonly--596719
 
-# T-LESS coarse and refiner models 
+# T-LESS coarse and refiner models
 python -m happypose.toolbox.utils.download --cosypose_model=tless-coarse--10219
 python -m happypose.toolbox.utils.download --cosypose_model=tless-refiner--585928
 ```
@@ -182,13 +182,13 @@ Notes:
 - The Pix2pose detections were extracted using [pix2pose's](https://github.com/kirumang/Pix2Pose) code. We used the detection model from their paper, see [here](https://github.com/kirumang/Pix2Pose#download-pre-trained-weights). For the ViVo detections, their code was slightly modified. The code used to extract detections can be found [here](https://github.com/ylabbe/pix2pose_cosypose).
 
 </details>
-  
+
 <details>
 <summary>Megapose</summary>
 
  ## 1. Download pre-trained pose estimation models
 Download pose estimation models to $MEGAPOSE_DATA_DIR/megapose-models:
-  
+
 ```
 python -m happypose.toolbox.utils.download --megapose_models
 ```
diff --git a/configs/code_snapshot/dsgen_deps.yaml b/configs/code_snapshot/dsgen_deps.yaml
index 3afefd27..0133309b 100644
--- a/configs/code_snapshot/dsgen_deps.yaml
+++ b/configs/code_snapshot/dsgen_deps.yaml
@@ -5,4 +5,3 @@ python_packages_dir:
   - ${oc.env:PROJECTS_DIR}/happypose
   - ${oc.env:PROJECTS_DIR}/blenderproc
   - ${oc.env:PROJECTS_DIR}/bop_toolkit_lib
-
diff --git a/configs/dsgen/default.yaml b/configs/dsgen/default.yaml
index 67ae4486..568ba619 100644
--- a/configs/dsgen/default.yaml
+++ b/configs/dsgen/default.yaml
@@ -1,2 +1,2 @@
 defaults:
-  - base_dsgen
\ No newline at end of file
+  - base_dsgen
diff --git a/configs/dsgen/fastrun.yaml b/configs/dsgen/fastrun.yaml
index ac7c7367..67430e19 100644
--- a/configs/dsgen/fastrun.yaml
+++ b/configs/dsgen/fastrun.yaml
@@ -2,4 +2,4 @@ defaults:
   - default
 few: True
 verbose: True
-debug: True
\ No newline at end of file
+debug: True
diff --git a/configs/dsgen/gso_1M.yaml b/configs/dsgen/gso_1M.yaml
index a34ffc20..3afef1cd 100644
--- a/configs/dsgen/gso_1M.yaml
+++ b/configs/dsgen/gso_1M.yaml
@@ -1,3 +1,3 @@
 defaults:
   - default
-dataset_id: gso_1M
\ No newline at end of file
+dataset_id: gso_1M
diff --git a/configs/job_env/jz_yann.yaml b/configs/job_env/jz_yann.yaml
index ca799a1c..7a328d08 100644
--- a/configs/job_env/jz_yann.yaml
+++ b/configs/job_env/jz_yann.yaml
@@ -5,4 +5,4 @@ env:
   HP_DATA_DIR: $WORK/data/happypose
   MEGAPOSE_DATA_DIR: $WORK/data/megapose
   BLENDER_INSTALL_DIR: $WORK/blender/blender-2.93.0-linux-x64
-  BLENDERPROC_DIR: $WORK/projects/blenderproc
\ No newline at end of file
+  BLENDERPROC_DIR: $WORK/projects/blenderproc
diff --git a/configs/job_env/lda.yaml b/configs/job_env/lda.yaml
index 2c39a227..66706f34 100644
--- a/configs/job_env/lda.yaml
+++ b/configs/job_env/lda.yaml
@@ -5,4 +5,4 @@ env:
   HP_DATA_DIR: /home/ylabbe/data/happypose
   MEGAPOSE_DATA_DIR: /home/ylabbe/data/megapose-private
   BLENDER_INSTALL_DIR: $HOME/blenderproc/blender-2.93.88-linux-x64
-  BLENDER_PROC_DIR: /home/ylabbe/projects/blenderproc
\ No newline at end of file
+  BLENDER_PROC_DIR: /home/ylabbe/projects/blenderproc
diff --git a/configs/local_job/single_gpu.yaml b/configs/local_job/single_gpu.yaml
index 6386e9e0..b67a42f1 100644
--- a/configs/local_job/single_gpu.yaml
+++ b/configs/local_job/single_gpu.yaml
@@ -2,4 +2,4 @@ defaults:
   - base_local_job
 nodes: 1
 tasks_per_node: 1
-gpus_per_node: 1
\ No newline at end of file
+gpus_per_node: 1
diff --git a/configs/local_node/lda.yaml b/configs/local_node/lda.yaml
index 34d0eaf6..0b04d3a2 100644
--- a/configs/local_node/lda.yaml
+++ b/configs/local_node/lda.yaml
@@ -3,4 +3,4 @@ defaults:
 gpus_per_node: 1
 mem_per_gpu: '8GB'
 cpus_per_gpu: 12
-mem_per_cpu: '2.7GB'
\ No newline at end of file
+mem_per_cpu: '2.7GB'
diff --git a/configs/run_ds_postproc/default.yaml b/configs/run_ds_postproc/default.yaml
index 3b6910b3..aa419664 100644
--- a/configs/run_ds_postproc/default.yaml
+++ b/configs/run_ds_postproc/default.yaml
@@ -16,8 +16,8 @@ runner:
     cpus_per_task: 1
 
 hydra:
-  run: 
+  run:
     dir: ${oc.env:HP_DATA_DIR}/hydra_outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
 
 n_jobs: 128
-ds_dir: ${oc.env:HP_DATA_DIR}/blender_pbr_datasets/gso_1M
\ No newline at end of file
+ds_dir: ${oc.env:HP_DATA_DIR}/blender_pbr_datasets/gso_1M
diff --git a/configs/run_dsgen/default.yaml b/configs/run_dsgen/default.yaml
index ce8ee19d..19d65cdc 100644
--- a/configs/run_dsgen/default.yaml
+++ b/configs/run_dsgen/default.yaml
@@ -20,5 +20,5 @@ runner:
     cpus_per_task: 1
 
 hydra:
-  run: 
-    dir: ${oc.env:HP_DATA_DIR}/hydra_outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
\ No newline at end of file
+  run:
+    dir: ${oc.env:HP_DATA_DIR}/hydra_outputs/${now:%Y-%m-%d}/${now:%H-%M-%S}
diff --git a/configs/run_dsgen/fastrun.yaml b/configs/run_dsgen/fastrun.yaml
index 3e0d22ce..1aa887d2 100644
--- a/configs/run_dsgen/fastrun.yaml
+++ b/configs/run_dsgen/fastrun.yaml
@@ -2,8 +2,8 @@
 start_chunk: 0
 n_jobs: 4
 n_chunks: 4
-ds: 
+ds:
   debug: True
   verbose: True
   overwrite: True
-  few: True
\ No newline at end of file
+  few: True
diff --git a/configs/run_dsgen/gso_1M.yaml b/configs/run_dsgen/gso_1M.yaml
index 3a5fe8b7..4ff2e19e 100644
--- a/configs/run_dsgen/gso_1M.yaml
+++ b/configs/run_dsgen/gso_1M.yaml
@@ -3,4 +3,4 @@ defaults:
   - override /dsgen@ds: gso_1M
 
 n_jobs: 128
-n_chunks: 25000
\ No newline at end of file
+n_chunks: 25000
diff --git a/configs/run_dsgen/shapenet_1M.yaml b/configs/run_dsgen/shapenet_1M.yaml
index 435351da..546e1872 100644
--- a/configs/run_dsgen/shapenet_1M.yaml
+++ b/configs/run_dsgen/shapenet_1M.yaml
@@ -3,4 +3,4 @@ defaults:
   - override /dsgen@ds: shapenet_1M
 
 n_jobs: 350
-n_chunks: 50000
\ No newline at end of file
+n_chunks: 50000
diff --git a/configs/runner/yann_sgpu.yaml b/configs/runner/yann_sgpu.yaml
index 26786b8f..a92b0adf 100644
--- a/configs/runner/yann_sgpu.yaml
+++ b/configs/runner/yann_sgpu.yaml
@@ -7,9 +7,9 @@ defaults:
     - yann
     - single_gpu
     - jz
-  - /job_env: 
+  - /job_env:
     - happypose
     - lda
   - _self_
 
-log_dir: ${oc.env:HP_DATA_DIR}/submitit_logs
\ No newline at end of file
+log_dir: ${oc.env:HP_DATA_DIR}/submitit_logs
diff --git a/configs/slurm_job/jz.yaml b/configs/slurm_job/jz.yaml
index 83cebb06..697f9ff8 100644
--- a/configs/slurm_job/jz.yaml
+++ b/configs/slurm_job/jz.yaml
@@ -4,4 +4,4 @@ defaults:
 qos: 'qos_gpu-t3'
 time: '20:00:00'
 additional_parameters:
-  hint: nomultithread
\ No newline at end of file
+  hint: nomultithread
diff --git a/configs/slurm_job/single_gpu.yaml b/configs/slurm_job/single_gpu.yaml
index 007c9d06..8e82d1a2 100644
--- a/configs/slurm_job/single_gpu.yaml
+++ b/configs/slurm_job/single_gpu.yaml
@@ -3,4 +3,4 @@ defaults:
 
 nodes: 1
 tasks_per_node: 1
-gpus_per_node: 1
\ No newline at end of file
+gpus_per_node: 1
diff --git a/configs/slurm_job/yann.yaml b/configs/slurm_job/yann.yaml
index 79cac88e..68387641 100644
--- a/configs/slurm_job/yann.yaml
+++ b/configs/slurm_job/yann.yaml
@@ -1,4 +1,4 @@
 defaults:
   - base_slurm_job
 
-account: 'vuw@v100'
\ No newline at end of file
+account: 'vuw@v100'
diff --git a/configs/slurm_queue/gpu_p2.yaml b/configs/slurm_queue/gpu_p2.yaml
index 47796384..b9fa99c6 100644
--- a/configs/slurm_queue/gpu_p2.yaml
+++ b/configs/slurm_queue/gpu_p2.yaml
@@ -4,4 +4,4 @@ partition: "gpu_p2"
 gpus_per_node: 8
 cpus_per_gpu: 3
 mem_per_gpu: '32GB'
-mem_per_cpu: ???
\ No newline at end of file
+mem_per_cpu: ???
diff --git a/configs/slurm_queue/v100.yaml b/configs/slurm_queue/v100.yaml
index 2993db9c..06d0d8f9 100644
--- a/configs/slurm_queue/v100.yaml
+++ b/configs/slurm_queue/v100.yaml
@@ -4,4 +4,4 @@ partition: "gpu_p13"
 gpus_per_node: 4
 cpus_per_gpu: 10
 mem_per_gpu: '32GB'
-mem_per_cpu: '10GB'
\ No newline at end of file
+mem_per_cpu: '10GB'
diff --git a/configs/snapshot_ignore.txt b/configs/snapshot_ignore.txt
index 834b22c3..b3131c8b 100644
--- a/configs/snapshot_ignore.txt
+++ b/configs/snapshot_ignore.txt
@@ -23,4 +23,4 @@ blenderproc/scripts/
 blenderproc/images/
 my-notebooks/*.json
 colors.json
-*.ttf
\ No newline at end of file
+*.ttf
diff --git a/environment.yml b/environment.yml
index dd8fec7f..7f509a86 100644
--- a/environment.yml
+++ b/environment.yml
@@ -55,7 +55,7 @@ dependencies:
       - selenium
       - omegaconf
       - simplejson
-      - line_profiler 
+      - line_profiler
       - opencv-python
       - torchnet
       - tqdm
@@ -63,24 +63,24 @@ dependencies:
       - transforms3d
       - panda3d
       - joblib
-      - xarray 
+      - xarray
       - pandas
       - matplotlib
       - bokeh
-      - plyfile 
-      - trimesh 
-      - ipdb 
+      - plyfile
+      - trimesh
+      - ipdb
       - panda3d-gltf
       - colorama
       - pyyaml
       - ipykernel
       - scipy
       - pypng
-      - h5py 
+      - h5py
       - seaborn
-      - kornia 
-      - pyarrow 
-      - dt_apriltags 
+      - kornia
+      - pyarrow
+      - dt_apriltags
       - open3d
       - structlog
       - imageio
@@ -88,6 +88,6 @@ dependencies:
       - pyyaml
       - psutil
       - webdataset
-      - opencv-contrib-python 
-      - roma 
-      - torchgeometry
\ No newline at end of file
+      - opencv-contrib-python
+      - roma
+      - torchgeometry
diff --git a/pyproject.toml b/pyproject.toml
index e62c5774..487b0b0a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -29,7 +29,6 @@ pin = "^2.6.17"
 pybullet = {optional = true, version = "^3.2.5"}
 python = "^3.8"
 
-
 [tool.poetry.extras]
 render = ["panda3d", "pybullet"]
 
diff --git a/rclone.conf b/rclone.conf
index b914a7bd..5fd5c5f7 100644
--- a/rclone.conf
+++ b/rclone.conf
@@ -1,4 +1,3 @@
 [happypose]
 type = http
 url = https://www.paris.inria.fr/archive_ylabbeprojectsdata/
-