diff --git a/.github/workflows/test.yml b/.github/workflows/conda-test.yml
similarity index 100%
rename from .github/workflows/test.yml
rename to .github/workflows/conda-test.yml
diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml
new file mode 100644
index 00000000..eae11f56
--- /dev/null
+++ b/.github/workflows/poetry-test.yml
@@ -0,0 +1,45 @@
+name: Tests & Coverage
+
+on: [ push, pull_request ]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.9", "3.10"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: Install EGL mesa - required for Panda3D renderer
+        run: sudo apt-get update && sudo apt-get install -qqy libegl1-mesa libegl1-mesa-dev
+
+      - name: Setup poetry
+        run: pipx install poetry
+
+      - uses: actions/setup-python@v4
+        with:
+          python-version: matrix.python-version
+          cache: poetry
+
+      - name: Install happypose
+        run: poetry install --with dev --all-extras
+
+      - name: Download pre-trained models required for tests
+        run: |
+          mkdir local_data
+          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
+
+          python -m happypose.toolbox.utils.download --megapose_models
+
+          cd tests/data
+          git clone https://github.com/petrikvladimir/happypose_test_data.git crackers_example
+
+      - name: Run tests
+        run: |
+          coverage run --source=happypose -m unittest
+          coverage xml
diff --git a/happypose/pose_estimators/cosypose/pyproject.toml b/happypose/pose_estimators/cosypose/pyproject.toml
new file mode 100644
index 00000000..233c8fb5
--- /dev/null
+++ b/happypose/pose_estimators/cosypose/pyproject.toml
@@ -0,0 +1,6 @@
+[build-system]
+requires = [
+    "setuptools>=42",
+    "pybind11>=2.10.0",
+]
+build-backend = "setuptools.build_meta"
diff --git a/happypose/pose_estimators/cosypose/setup.py b/happypose/pose_estimators/cosypose/setup.py
index e6af371d..d424a388 100644
--- a/happypose/pose_estimators/cosypose/setup.py
+++ b/happypose/pose_estimators/cosypose/setup.py
@@ -1,27 +1,16 @@
-import os
-from os import path
+from pybind11.setup_helpers import Pybind11Extension, build_ext
+from setuptools import setup
 
-from setuptools import find_packages, setup
-from torch.utils.cpp_extension import BuildExtension, CppExtension
-
-here = path.abspath(path.dirname(__file__))
-
-# Use correct conda compiler used to build pytorch
-if "GXX" in os.environ:
-    os.environ["CXX"] = os.environ.get("GXX", "")
+ext_modules = [
+    Pybind11Extension("cosypose_cext", ["cosypose/csrc/cosypose_cext.cpp"]),
+]
 
 setup(
     name="cosypose",
     version="1.0.0",
     description="CosyPose",
-    packages=find_packages(),
-    ext_modules=[
-        CppExtension(
-            name="cosypose_cext",
-            sources=["cosypose/csrc/cosypose_cext.cpp"],
-            extra_compile_args=["-O3"],
-            verbose=True,
-        )
-    ],
-    cmdclass={"build_ext": BuildExtension},
+    ext_modules=ext_modules,
+    cmdclass={"build_ext": build_ext},
+    zip_safe=False,
+    python_requires=">=3.9",
 )
diff --git a/poetry.lock b/poetry.lock
index b0eb77a4..4f75b5dd 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -95,15 +95,18 @@ tests-no-zope = ["cloudpickle", "hypothesis", "mypy (>=1.1.1)", "pympler", "pyte
 
 [[package]]
 name = "babel"
-version = "2.12.1"
+version = "2.13.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "Babel-2.12.1-py3-none-any.whl", hash = "sha256:b4246fb7677d3b98f501a39d43396d3cafdc8eadb045f4a31be01863f655c610"},
-    {file = "Babel-2.12.1.tar.gz", hash = "sha256:cc2d99999cd01d44420ae725a21c9e3711b3aadc7976d6147f622d8581963455"},
+    {file = "Babel-2.13.0-py3-none-any.whl", hash = "sha256:fbfcae1575ff78e26c7449136f1abbefc3c13ce542eeb13d43d50d8b047216ec"},
+    {file = "Babel-2.13.0.tar.gz", hash = "sha256:04c3e2d28d2b7681644508f836be388ae49e0cfe91465095340395b60d00f210"},
 ]
 
+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+
 [[package]]
 name = "backcall"
 version = "0.2.0"
@@ -163,13 +166,13 @@ uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "bokeh"
-version = "3.2.2"
+version = "3.3.0"
 description = "Interactive plots and applications in the browser from Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "bokeh-3.2.2-py3-none-any.whl", hash = "sha256:e31670a013e1ff15c3d4d04f587c8162c4cc9fe1af507fd741d295e6c4e1225b"},
-    {file = "bokeh-3.2.2.tar.gz", hash = "sha256:b2959b8524d69ec4e7886bc36407445f0a92e1f19530d3bfc4045236a1b7a6ff"},
+    {file = "bokeh-3.3.0-py3-none-any.whl", hash = "sha256:65e36824c99fd46530c559263c6d14eabed6945370cd3beffc2eeedb62d6db6d"},
+    {file = "bokeh-3.3.0.tar.gz", hash = "sha256:cdbe268f842c139ba8fa0fb43c0c55c172c8215ec5a69a2629482c63c9d4039c"},
 ]
 
 [package.dependencies]
@@ -183,6 +186,24 @@ PyYAML = ">=3.10"
 tornado = ">=5.1"
 xyzservices = ">=2021.09.1"
 
+[[package]]
+name = "bop_toolkit_lib"
+version = "1.0"
+description = ""
+optional = false
+python-versions = "*"
+files = []
+develop = false
+
+[package.dependencies]
+PyOpenGL = "3.1.0"
+pytz = "*"
+vispy = ">=0.6.5"
+
+[package.source]
+type = "directory"
+url = "deps/bop_toolkit_challenge"
+
 [[package]]
 name = "braceexpand"
 version = "0.1.7"
@@ -218,86 +239,101 @@ files = [
 
 [[package]]
 name = "charset-normalizer"
-version = "3.2.0"
+version = "3.3.0"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 optional = false
 python-versions = ">=3.7.0"
 files = [
-    {file = "charset-normalizer-3.2.0.tar.gz", hash = "sha256:3bb3d25a8e6c0aedd251753a79ae98a093c7e7b471faa3aa9a93a81431987ace"},
-    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0b87549028f680ca955556e3bd57013ab47474c3124dc069faa0b6545b6c9710"},
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-    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a103b3a7069b62f5d4890ae1b8f0597618f628b286b03d4bc9195230b154bfa9"},
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 [[package]]
@@ -624,65 +660,78 @@ mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.4.1)", "types-Pill
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
 
+[[package]]
+name = "cosypose"
+version = "1.0.0"
+description = "CosyPose"
+optional = false
+python-versions = ">=3.9"
+files = []
+develop = false
+
+[package.source]
+type = "directory"
+url = "happypose/pose_estimators/cosypose"
+
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 ]
 
 [package.dependencies]
@@ -693,24 +742,28 @@ toml = ["tomli"]
 
 [[package]]
 name = "cycler"
-version = "0.11.0"
+version = "0.12.1"
 description = "Composable style cycles"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 files = [
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+    {file = "cycler-0.12.1.tar.gz", hash = "sha256:88bb128f02ba341da8ef447245a9e138fae777f6a23943da4540077d3601eb1c"},
 ]
 
+[package.extras]
+docs = ["ipython", "matplotlib", "numpydoc", "sphinx"]
+tests = ["pytest", "pytest-cov", "pytest-xdist"]
+
 [[package]]
 name = "dash"
-version = "2.13.0"
+version = "2.14.0"
 description = "A Python framework for building reactive web-apps. Developed by Plotly."
 optional = false
 python-versions = ">=3.6"
 files = [
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 ]
 
 [package.dependencies]
@@ -719,6 +772,7 @@ dash-core-components = "2.0.0"
 dash-html-components = "2.0.0"
 dash-table = "5.0.0"
 Flask = ">=1.0.4,<2.3.0"
+importlib-metadata = {version = "*", markers = "python_version >= \"3.7\""}
 nest-asyncio = "*"
 plotly = ">=5.0.0"
 requests = "*"
@@ -729,7 +783,7 @@ Werkzeug = "<2.3.0"
 
 [package.extras]
 celery = ["celery[redis] (>=5.1.2)", "importlib-metadata (<5)", "redis (>=3.5.3)"]
-ci = ["black (==21.6b0)", "black (==22.3.0)", "dash-dangerously-set-inner-html", "dash-flow-example (==0.0.5)", "flake8 (==3.9.2)", "flaky (==3.7.0)", "flask-talisman (==1.0.0)", "isort (==4.3.21)", "jupyterlab (<4.0.0)", "mimesis", "mock (==4.0.3)", "numpy", "openpyxl", "orjson (==3.5.4)", "orjson (==3.6.7)", "pandas (==1.1.5)", "pandas (>=1.4.0)", "preconditions", "pyarrow", "pyarrow (<3)", "pylint (==2.13.5)", "pytest-mock", "pytest-rerunfailures", "pytest-sugar (==0.9.6)", "xlrd (<2)", "xlrd (>=2.0.1)"]
+ci = ["black (==21.6b0)", "black (==22.3.0)", "dash-dangerously-set-inner-html", "dash-flow-example (==0.0.5)", "flake8 (==3.9.2)", "flaky (==3.7.0)", "flask-talisman (==1.0.0)", "isort (==4.3.21)", "jupyterlab (<4.0.0)", "mimesis", "mock (==4.0.3)", "numpy (<=1.25.2)", "openpyxl", "orjson (==3.5.4)", "orjson (==3.6.7)", "pandas (==1.1.5)", "pandas (>=1.4.0)", "preconditions", "pyarrow", "pyarrow (<3)", "pylint (==2.13.5)", "pytest-mock", "pytest-rerunfailures", "pytest-sugar (==0.9.6)", "xlrd (<2)", "xlrd (>=2.0.1)"]
 compress = ["flask-compress"]
 dev = ["PyYAML (>=5.4.1)", "coloredlogs (>=15.0.1)", "fire (>=0.4.0)"]
 diskcache = ["diskcache (>=5.2.1)", "multiprocess (>=0.70.12)", "psutil (>=5.8.0)"]
@@ -859,27 +913,27 @@ test = ["pytest (>=6)"]
 
 [[package]]
 name = "executing"
-version = "1.2.0"
+version = "2.0.0"
 description = "Get the currently executing AST node of a frame, and other information"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.extras]
-tests = ["asttokens", "littleutils", "pytest", "rich"]
+tests = ["asttokens (>=2.1.0)", "coverage", "coverage-enable-subprocess", "ipython", "littleutils", "pytest", "rich"]
 
 [[package]]
 name = "fastjsonschema"
-version = "2.18.0"
+version = "2.18.1"
 description = "Fastest Python implementation of JSON schema"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [package.extras]
@@ -925,45 +979,53 @@ dotenv = ["python-dotenv"]
 
 [[package]]
 name = "fonttools"
-version = "4.42.1"
+version = "4.43.1"
 description = "Tools to manipulate font files"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1042,15 +1097,26 @@ eigenpy = ">=3.1,<4"
 [package.extras]
 build = ["eigenpy[build] (>=3.1,<4)"]
 
+[[package]]
+name = "hsluv"
+version = "5.0.4"
+description = "Human-friendly HSL"
+optional = false
+python-versions = ">=3.7"
+files = [
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+    {file = "hsluv-5.0.4.tar.gz", hash = "sha256:2281f946427a882010042844a38c7bbe9e0d0aaf9d46babe46366ed6f169b72e"},
+]
+
 [[package]]
 name = "identify"
-version = "2.5.29"
+version = "2.5.30"
 description = "File identification library for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -1069,13 +1135,13 @@ files = [
 
 [[package]]
 name = "imageio"
-version = "2.31.4"
+version = "2.31.5"
 description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
 optional = false
 python-versions = ">=3.8"
 files = [
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+    {file = "imageio-2.31.5.tar.gz", hash = "sha256:d8e53f9cd4054880276a3dac0a28c85ba7874084856a55a0294a8ae6ed7f3a8e"},
 ]
 
 [package.dependencies]
@@ -1159,13 +1225,13 @@ files = [
 
 [[package]]
 name = "ipython"
-version = "8.15.0"
+version = "8.16.1"
 description = "IPython: Productive Interactive Computing"
 optional = false
 python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -1210,13 +1276,13 @@ files = [
 
 [[package]]
 name = "jedi"
-version = "0.19.0"
+version = "0.19.1"
 description = "An autocompletion tool for Python that can be used for text editors."
 optional = false
 python-versions = ">=3.6"
 files = [
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+    {file = "jedi-0.19.1-py2.py3-none-any.whl", hash = "sha256:e983c654fe5c02867aef4cdfce5a2fbb4a50adc0af145f70504238f18ef5e7e0"},
+    {file = "jedi-0.19.1.tar.gz", hash = "sha256:cf0496f3651bc65d7174ac1b7d043eff454892c708a87d1b683e57b569927ffd"},
 ]
 
 [package.dependencies]
@@ -1225,7 +1291,7 @@ parso = ">=0.8.3,<0.9.0"
 [package.extras]
 docs = ["Jinja2 (==2.11.3)", "MarkupSafe (==1.1.1)", "Pygments (==2.8.1)", "alabaster (==0.7.12)", "babel (==2.9.1)", "chardet (==4.0.0)", "commonmark (==0.8.1)", "docutils (==0.17.1)", "future (==0.18.2)", "idna (==2.10)", "imagesize (==1.2.0)", "mock (==1.0.1)", "packaging (==20.9)", "pyparsing (==2.4.7)", "pytz (==2021.1)", "readthedocs-sphinx-ext (==2.1.4)", "recommonmark (==0.5.0)", "requests (==2.25.1)", "six (==1.15.0)", "snowballstemmer (==2.1.0)", "sphinx (==1.8.5)", "sphinx-rtd-theme (==0.4.3)", "sphinxcontrib-serializinghtml (==1.1.4)", "sphinxcontrib-websupport (==1.2.4)", "urllib3 (==1.26.4)"]
 qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
-testing = ["Django (<3.1)", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
+testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
 
 [[package]]
 name = "jinja2"
@@ -1292,13 +1358,13 @@ referencing = ">=0.28.0"
 
 [[package]]
 name = "jupyter-core"
-version = "5.3.1"
+version = "5.4.0"
 description = "Jupyter core package. A base package on which Jupyter projects rely."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -1817,18 +1883,18 @@ werkzeug = ">=2.2.3"
 
 [[package]]
 name = "opencv-contrib-python"
-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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-    {file = "opencv_contrib_python-4.8.0.76-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e140c87160369dd3a7b122ff8904bc0cd898e1767324439e1874ab7ab5096b9"},
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+    {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"},
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 ]
 
 [package.dependencies]
@@ -1841,18 +1907,18 @@ numpy = [
 
 [[package]]
 name = "opencv-python"
-version = "4.8.0.76"
+version = "4.8.1.78"
 description = "Wrapper package for OpenCV python bindings."
 optional = false
 python-versions = ">=3.6"
 files = [
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-    {file = "opencv_python-4.8.0.76-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:93871871b1c9d6b125cddd45b0638a2fa01ee9fd37f5e428823f750e404f2f15"},
-    {file = "opencv_python-4.8.0.76-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9bcb4944211acf13742dbfd9d3a11dc4e36353ffa1746f2c7dcd6a01c32d1376"},
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+    {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"},
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 ]
 
 [package.dependencies]
@@ -1865,13 +1931,13 @@ numpy = [
 
 [[package]]
 name = "packaging"
-version = "23.1"
+version = "23.2"
 description = "Core utilities for Python packages"
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "packaging-23.1.tar.gz", hash = "sha256:a392980d2b6cffa644431898be54b0045151319d1e7ec34f0cfed48767dd334f"},
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 ]
 
 [[package]]
@@ -2076,65 +2142,65 @@ files = [
 
 [[package]]
 name = "pillow"
-version = "10.0.1"
+version = "10.1.0"
 description = "Python Imaging Library (Fork)"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [[package]]
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-version = "3.10.0"
+version = "3.11.0"
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 python-versions = ">=3.7"
 files = [
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@@ -2268,13 +2334,13 @@ numpy = ">=1.17"
 
 [[package]]
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-version = "3.4.0"
+version = "3.5.0"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
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 [package.dependencies]
@@ -2368,6 +2434,17 @@ files = [
 [package.extras]
 plugins = ["importlib-metadata"]
 
+[[package]]
+name = "pyopengl"
+version = "3.1.0"
+description = "Standard OpenGL bindings for Python"
+optional = false
+python-versions = "*"
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 [[package]]
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 version = "3.1.1"
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 [package.dependencies]
@@ -2930,118 +3009,131 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
 
 [[package]]
 name = "setuptools-scm"
-version = "8.0.3"
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 description = "the blessed package to manage your versions by scm tags"
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 python-versions = ">=3.8"
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 [package.dependencies]
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 setuptools = "*"
 tomli = {version = ">=1", markers = "python_version < \"3.11\""}
-typing-extensions = {version = "*", markers = "python_version < \"3.11\""}
+typing-extensions = "*"
 
 [package.extras]
 docs = ["entangled-cli[rich]", "mkdocs", "mkdocs-entangled-plugin", "mkdocs-material", "mkdocstrings[python]", "pygments"]
 rich = ["rich"]
-test = ["pytest", "rich", "virtualenv (>20)"]
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+    {file = "simplejson-3.19.2.tar.gz", hash = "sha256:9eb442a2442ce417801c912df68e1f6ccfcd41577ae7274953ab3ad24ef7d82c"},
 ]
 
 [[package]]
@@ -3207,13 +3299,13 @@ test = ["pytest"]
 
 [[package]]
 name = "stack-data"
-version = "0.6.2"
+version = "0.6.3"
 description = "Extract data from python stack frames and tracebacks for informative displays"
 optional = false
 python-versions = "*"
 files = [
-    {file = "stack_data-0.6.2-py3-none-any.whl", hash = "sha256:cbb2a53eb64e5785878201a97ed7c7b94883f48b87bfb0bbe8b623c74679e4a8"},
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+    {file = "stack_data-0.6.3-py3-none-any.whl", hash = "sha256:d5558e0c25a4cb0853cddad3d77da9891a08cb85dd9f9f91b9f8cd66e511e695"},
+    {file = "stack_data-0.6.3.tar.gz", hash = "sha256:836a778de4fec4dcd1dcd89ed8abff8a221f58308462e1c4aa2a3cf30148f0b9"},
 ]
 
 [package.dependencies]
@@ -3251,13 +3343,13 @@ files = [
 
 [[package]]
 name = "tifffile"
-version = "2023.9.18"
+version = "2023.9.26"
 description = "Read and write TIFF files"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "tifffile-2023.9.18-py3-none-any.whl", hash = "sha256:03574dc63a333111227c7710b52033def22db0072f9b49fdb25c9eea8249b026"},
-    {file = "tifffile-2023.9.18.tar.gz", hash = "sha256:391d49e5e10a0f50f627b9083116f965e37d40bfe4e4713154e5edd57591590c"},
+    {file = "tifffile-2023.9.26-py3-none-any.whl", hash = "sha256:1de47fa945fddaade256e25ad4f375ae65547f3c1354063aded881c32a64cf89"},
+    {file = "tifffile-2023.9.26.tar.gz", hash = "sha256:67e355e4595aab397f8405d04afe1b4ae7c6f62a44e22d933fee1a571a48c7ae"},
 ]
 
 [package.dependencies]
@@ -3376,13 +3468,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "traitlets"
-version = "5.10.0"
+version = "5.11.2"
 description = "Traitlets Python configuration system"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "traitlets-5.10.0-py3-none-any.whl", hash = "sha256:417745a96681fbb358e723d5346a547521f36e9bd0d50ba7ab368fff5d67aa54"},
-    {file = "traitlets-5.10.0.tar.gz", hash = "sha256:f584ea209240466e66e91f3c81aa7d004ba4cf794990b0c775938a1544217cd1"},
+    {file = "traitlets-5.11.2-py3-none-any.whl", hash = "sha256:98277f247f18b2c5cabaf4af369187754f4fb0e85911d473f72329db8a7f4fae"},
+    {file = "traitlets-5.11.2.tar.gz", hash = "sha256:7564b5bf8d38c40fa45498072bf4dc5e8346eb087bbf1e2ae2d8774f6a0f078e"},
 ]
 
 [package.extras]
@@ -3444,13 +3536,13 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.0.5"
+version = "2.0.6"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "urllib3-2.0.5-py3-none-any.whl", hash = "sha256:ef16afa8ba34a1f989db38e1dbbe0c302e4289a47856990d0682e374563ce35e"},
-    {file = "urllib3-2.0.5.tar.gz", hash = "sha256:13abf37382ea2ce6fb744d4dad67838eec857c9f4f57009891805e0b5e123594"},
+    {file = "urllib3-2.0.6-py3-none-any.whl", hash = "sha256:7a7c7003b000adf9e7ca2a377c9688bbc54ed41b985789ed576570342a375cd2"},
+    {file = "urllib3-2.0.6.tar.gz", hash = "sha256:b19e1a85d206b56d7df1d5e683df4a7725252a964e3993648dd0fb5a1c157564"},
 ]
 
 [package.extras]
@@ -3479,15 +3571,71 @@ platformdirs = ">=3.9.1,<4"
 docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.2)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
 test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
 
+[[package]]
+name = "vispy"
+version = "0.14.1"
+description = "Interactive visualization in Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "vispy-0.14.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:629274e84fd823ce81abe3024c2675323ccb8aab5a696556a0cce656d96397bb"},
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+    {file = "vispy-0.14.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6f8872ec2d33e2f8579055aa37cd4427e2334ee9e6a2b6a1abc1d82c3f741f1c"},
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+    {file = "vispy-0.14.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:23ccbf235ef9bc654c49774062b9d7478b7c7fb9d21abbc64c9210ccf4821676"},
+    {file = "vispy-0.14.1-cp39-cp39-win_amd64.whl", hash = "sha256:4f4f3f48ed18deed51578e5f05f9ecbe7a37f0e563d4b98fa159d5900bb83504"},
+    {file = "vispy-0.14.1.tar.gz", hash = "sha256:249a50979fc00a8b65109283354dcf12cf415c1a5dcf9821e113f6e590b9b93c"},
+]
+
+[package.dependencies]
+freetype-py = "*"
+hsluv = "*"
+kiwisolver = "*"
+numpy = "*"
+packaging = "*"
+
+[package.extras]
+doc = ["myst-parser", "numpydoc", "pillow", "pydata-sphinx-theme", "pyopengl", "pytest", "sphinx-gallery", "sphinxcontrib-apidoc"]
+io = ["Pillow", "meshio"]
+ipython-static = ["ipython"]
+pyglet = ["pyglet (>=1.2)"]
+pyqt5 = ["pyqt5"]
+pyqt6 = ["pyqt6"]
+pyside = ["PySide"]
+pyside2 = ["PySide2"]
+pyside6 = ["PySide6"]
+sdl2 = ["PySDL2"]
+tk = ["pyopengltk"]
+wx = ["wxPython"]
+
 [[package]]
 name = "wcwidth"
-version = "0.2.6"
+version = "0.2.8"
 description = "Measures the displayed width of unicode strings in a terminal"
 optional = false
 python-versions = "*"
 files = [
-    {file = "wcwidth-0.2.6-py2.py3-none-any.whl", hash = "sha256:795b138f6875577cd91bba52baf9e445cd5118fd32723b460e30a0af30ea230e"},
-    {file = "wcwidth-0.2.6.tar.gz", hash = "sha256:a5220780a404dbe3353789870978e472cfe477761f06ee55077256e509b156d0"},
+    {file = "wcwidth-0.2.8-py2.py3-none-any.whl", hash = "sha256:77f719e01648ed600dfa5402c347481c0992263b81a027344f3e1ba25493a704"},
+    {file = "wcwidth-0.2.8.tar.gz", hash = "sha256:8705c569999ffbb4f6a87c6d1b80f324bd6db952f5eb0b95bc07517f4c1813d4"},
 ]
 
 [[package]]
@@ -3535,13 +3683,13 @@ files = [
 
 [[package]]
 name = "xyzservices"
-version = "2023.7.0"
+version = "2023.10.0"
 description = "Source of XYZ tiles providers"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "xyzservices-2023.7.0-py3-none-any.whl", hash = "sha256:88e9cbf22b31a2f9c1b242e2b18690f5c705f0e539c9bfd37a10399e1037731b"},
-    {file = "xyzservices-2023.7.0.tar.gz", hash = "sha256:0ec928742227d6f5d4367ea7b457fcfed943429f4de2949b5b02a82cdf5569d6"},
+    {file = "xyzservices-2023.10.0-py3-none-any.whl", hash = "sha256:70b9910f6c8e46f6ca92dea21e9b8cf89edf0ead35a870198fb59a7d63579525"},
+    {file = "xyzservices-2023.10.0.tar.gz", hash = "sha256:eee203e91955782fd8bfc2f05846830c289139dc0ab4eaf733bfa8f0be71861f"},
 ]
 
 [[package]]
@@ -3566,4 +3714,4 @@ render = ["panda3d", "pybullet"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "1b02444fcce33c913f196b9e4fa015d3236786c79f103cc9c597ecf979d976ce"
+content-hash = "97a83dc5b0d1957d4db59367c0b073ac7359f3705064fad388b014027deab6a7"
diff --git a/pyproject.toml b/pyproject.toml
index 1ba2da17..8ef7a0ee 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -24,6 +24,8 @@ readme = "README.md"
 version = "0.1.0"
 
 [tool.poetry.dependencies]
+cosypose = { path = "happypose/pose_estimators/cosypose" }
+bop_toolkit_lib = { path = "deps/bop_toolkit_challenge" }
 ipython = "^8.12.2"
 panda3d = {optional = true, version = "=1.10.13"}
 pin = "^2.6.20"