diff --git a/.github/workflows/conda-test.yml b/.github/workflows/conda-test.yml
index e0b16795..3d30c461 100644
--- a/.github/workflows/conda-test.yml
+++ b/.github/workflows/conda-test.yml
@@ -52,7 +52,7 @@ jobs:
         if: steps.cache.outputs.cache-hit != 'true'
 
       - name: Install happypose
-        run: pip install -e ".[evaluation]"
+        run: pip install -e .
 
       - name: Download pre-trained models required for tests
         run: |
diff --git a/.github/workflows/pip-test.yml b/.github/workflows/pip-test.yml
index 36537b69..dbccb892 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,pypi]" --extra-index-url https://download.pytorch.org/whl/cpu
+        run: pip install ".[cpu,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 6ebe0afd..d3dbee13 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 -E pypi
+        run: poetry install --with dev -E cpu -E pypi
 
       - name: Download pre-trained models required for tests
         run: |
diff --git a/README.md b/README.md
index d0481e29..114c0b9a 100644
--- a/README.md
+++ b/README.md
@@ -46,7 +46,6 @@ pip install .[pypi,cpu] --extra-index-url https://download.pytorch.org/whl/cpu
 
 - `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 & opencv from PyPI (don't use this with conda)
 
diff --git a/docs/book/megapose/download_data.md b/docs/book/megapose/download_data.md
index 552a5f80..8bb46fc7 100644
--- a/docs/book/megapose/download_data.md
+++ b/docs/book/megapose/download_data.md
@@ -19,23 +19,11 @@ Megapose can use pretrained detectors from CosyPose, which can be downloaded to
 
 ```sh
 # hope
-python -m happypose.toolbox.utils.download --cosypose_models \
-          detector-bop-hope-pbr--15246 \
-          coarse-bop-hope-pbr--225203 \
-          refiner-bop-hope-pbr--955392
-
+python -m happypose.toolbox.utils.download --cosypose_models detector-bop-hope-pbr--15246
 # ycbv
-
-python -m happypose.toolbox.utils.download --cosypose_models \
-          detector-bop-ycbv-pbr--970850 \
-          coarse-bop-ycbv-pbr--724183 \
-          refiner-bop-ycbv-pbr--604090
-
+python -m happypose.toolbox.utils.download --cosypose_models detector-bop-ycbv-pbr--970850
 # tless
-python -m happypose.toolbox.utils.download --cosypose_models \
-          detector-bop-tless-pbr--873074 \
-          coarse-bop-tless-pbr--506801 \
-          refiner-bop-tless-pbr--233420
+python -m happypose.toolbox.utils.download --cosypose_models detector-bop-tless-pbr--873074
 ```
 
 # Dataset
diff --git a/docs/book/megapose/evaluate.md b/docs/book/megapose/evaluate.md
index c1adf1ec..012a8979 100644
--- a/docs/book/megapose/evaluate.md
+++ b/docs/book/megapose/evaluate.md
@@ -2,28 +2,11 @@
 
 Please make sure you followed the steps relative to the evaluation in the main readme.
 
-## TEASER++
-
-You will first need to install [TEASER++](https://github.com/MIT-SPARK/TEASER-plusplus) if you want to use the depth for MegaPose.
-To do so, please run the following commands to install it :
-
-```
-# Go to HappyPose root directory
-apt install -y cmake libeigen3-dev libboost-all-dev
-conda activate happypose
-mamba install compilers -c conda-forge
-pip install open3d
-mkdir /build && cd /build && git clone https://github.com/MIT-SPARK/TEASER-plusplus.git
-cd TEASER-plusplus && mkdir build && cd build
-cmake -DTEASERPP_PYTHON_VERSION=3.9 .. && make teaserpp_python
-cd python && pip install .
-```
-
 ## Evaluating with Megapose detector
 Run a detector part of Megapose pipeline to detect bounding boxes in the image dataset at run-time.
 
 ```
-python -m happypose.pose_estimators.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19,lmo.bop19,tless.bop19,tudl.bop19,icbin.bop19,hb.bop19,itodd.bop19] result_id=detector_1posehyp detection_coarse_types=[["detector","SO3_grid"]] inference.n_pose_hypotheses=1 skip_inference=false run_bop_eval=true
+python -m happypose.pose_estimators.megapose.scripts.run_full_megapose_eval detector_run_id=bop_pbr coarse_run_id=coarse-rgb-906902141 refiner_run_id=refiner-rgb-653307694 ds_names=[ycbv.bop19,lmo.bop19,tless.bop19,tudl.bop19,icbin.bop19,hb.bop19,itodd.bop19,hope.bop19] result_id=detector_1posehyp detection_coarse_types=[["detector","SO3_grid"]] inference.n_pose_hypotheses=1 skip_inference=false run_bop_eval=true
 ```
 
 ## Evaluating with external detections
diff --git a/environment.yml b/environment.yml
index f3aff00d..e56d6d62 100644
--- a/environment.yml
+++ b/environment.yml
@@ -11,6 +11,7 @@ dependencies:
   - pip
   - pytorch::pytorch==1.11.0
   - torchvision==0.12.0
+  - mkl==2024.0.0
   - geckodriver
   - firefox
   - opencv
diff --git a/happypose/pose_estimators/cosypose/cosypose/config.py b/happypose/pose_estimators/cosypose/cosypose/config.py
index e1f0a366..1ddf5ccd 100644
--- a/happypose/pose_estimators/cosypose/cosypose/config.py
+++ b/happypose/pose_estimators/cosypose/cosypose/config.py
@@ -25,8 +25,9 @@
 SYNT_DS_DIR = LOCAL_DATA_DIR / "synt_datasets"
 BOP_DS_DIR = LOCAL_DATA_DIR / "bop_datasets"
 
-BOP_TOOLKIT_DIR = PROJECT_DIR / "deps" / "bop_toolkit_cosypose"
-BOP_CHALLENGE_TOOLKIT_DIR = PROJECT_DIR / "deps" / "bop_toolkit_challenge"
+# BOP scripts
+BOP_POSE_EVAL_SCRIPT_NAME = "eval_bop19_pose.py"
+BOP_DETECTION_EVAL_SCRIPT_NAME = "eval_bop22_coco.py"
 
 EXP_DIR = LOCAL_DATA_DIR / "experiments"
 RESULTS_DIR = LOCAL_DATA_DIR / "results"
diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
index f1b7e985..5f1ad82a 100644
--- a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
+++ b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
@@ -1,23 +1,17 @@
 import json
 import pickle
-import sys
 from pathlib import Path
 
 import numpy as np
 import pandas as pd
 import torch
+from bop_toolkit_lib import inout
 from PIL import Image
 
-from happypose.pose_estimators.cosypose.cosypose.config import BOP_TOOLKIT_DIR, MEMORY
+from happypose.pose_estimators.cosypose.cosypose.config import MEMORY
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
 from happypose.toolbox.lib3d.transform import Transform
 
-sys.path.append(str(BOP_TOOLKIT_DIR))
-from bop_toolkit_lib import inout
-
-sys.path = sys.path[:-1]
-
-
 logger = get_logger(__name__)
 
 
diff --git a/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py b/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py
index e32ddb25..70dc90d2 100644
--- a/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py
+++ b/happypose/pose_estimators/cosypose/cosypose/evaluation/evaluation.py
@@ -42,12 +42,8 @@
     ModelNetErrorMeter,
 )
 from happypose.pose_estimators.megapose.evaluation.runner_utils import format_results
-from happypose.pose_estimators.megapose.inference.icp_refiner import ICPRefiner
 
 # Pose estimator
-from happypose.pose_estimators.megapose.inference.teaserpp_refiner import (
-    TeaserppRefiner,
-)
 from happypose.toolbox.datasets.datasets_cfg import make_object_dataset
 from happypose.toolbox.lib3d.rigid_mesh_database import MeshDataBase
 from happypose.toolbox.renderer.panda3d_batch_renderer import Panda3dBatchRenderer
@@ -189,22 +185,7 @@ def run_eval(
     # See https://stackoverflow.com/a/53287330
     assert cfg.coarse_run_id is not None
     assert cfg.refiner_run_id is not None
-    # TODO (emaitre): This fuction seems to take the wrong parameters. Trying to fix
-    # this.
-    """
-    (
-        coarse_model,
-        refiner_model,
-        mesh_db,
-    ) = happypose.toolbox.inference.utils.load_pose_models(
-        coarse_run_id=cfg.coarse_run_id,
-        refiner_run_id=cfg.refiner_run_id,
-        n_workers=cfg.n_rendering_workers,
-        obj_ds_name=obj_ds_name,
-        urdf_ds_name=urdf_ds_name,
-        force_panda3d_renderer=True,
-    )
-    """
+
     object_ds = make_object_dataset(obj_ds_name)
 
     coarse_model, refiner_model, mesh_db = load_pose_models(
@@ -217,8 +198,16 @@ def run_eval(
 
     if cfg.inference.run_depth_refiner:
         if cfg.inference.depth_refiner == "icp":
+            from happypose.pose_estimators.megapose.inference.icp_refiner import (
+                ICPRefiner,
+            )
+
             ICPRefiner(mesh_db, renderer)
         elif cfg.inference.depth_refiner == "teaserpp":
+            from happypose.pose_estimators.megapose.inference.teaserpp_refiner import (
+                TeaserppRefiner,
+            )
+
             TeaserppRefiner(mesh_db, renderer)
         else:
             pass
diff --git a/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py b/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py
index 084f0483..5381826e 100644
--- a/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py
+++ b/happypose/pose_estimators/cosypose/cosypose/evaluation/prediction_runner.py
@@ -173,46 +173,43 @@ def get_predictions(
         """
         predictions_list = defaultdict(list)
         for n, data in enumerate(tqdm(self.dataloader)):
-            if n < 3:
-                # data is a dict
-                rgb = data["rgb"]
-                depth = None
-                K = data["cameras"].K
-                gt_detections = data["gt_detections"].cuda()
-
-                initial_data = None
-                if data["initial_data"]:
-                    initial_data = data["initial_data"].cuda()
-
-                obs_tensor = ObservationTensor.from_torch_batched(rgb, depth, K)
-                obs_tensor = obs_tensor.cuda()
-
-                # GPU warmup for timing
-                if n == 0:
-                    with torch.no_grad():
-                        self.run_inference_pipeline(
-                            pose_estimator,
-                            obs_tensor,
-                            gt_detections,
-                            initial_estimates=initial_data,
-                        )
-
-                cuda_timer = CudaTimer()
-                cuda_timer.start()
+            # data is a dict
+            rgb = data["rgb"]
+            depth = None
+            K = data["cameras"].K
+            gt_detections = data["gt_detections"].cuda()
+
+            initial_data = None
+            if data["initial_data"]:
+                initial_data = data["initial_data"].cuda()
+
+            obs_tensor = ObservationTensor.from_torch_batched(rgb, depth, K)
+            obs_tensor = obs_tensor.cuda()
+
+            # GPU warmup for timing
+            if n == 0:
                 with torch.no_grad():
-                    all_preds = self.run_inference_pipeline(
+                    self.run_inference_pipeline(
                         pose_estimator,
                         obs_tensor,
                         gt_detections,
                         initial_estimates=initial_data,
                     )
-                cuda_timer.end()
-                cuda_timer.elapsed()
 
-                for k, v in all_preds.items():
-                    predictions_list[k].append(v)
-            else:
-                break
+            cuda_timer = CudaTimer()
+            cuda_timer.start()
+            with torch.no_grad():
+                all_preds = self.run_inference_pipeline(
+                    pose_estimator,
+                    obs_tensor,
+                    gt_detections,
+                    initial_estimates=initial_data,
+                )
+            cuda_timer.end()
+            cuda_timer.elapsed()
+
+            for k, v in all_preds.items():
+                predictions_list[k].append(v)
 
         # Concatenate the lists of PandasTensorCollections
         predictions = {}
diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py
index 6f4591b1..e105ca0b 100644
--- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py
+++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop20_eval.py
@@ -1,23 +1,15 @@
 import argparse
-import os
 import shutil
 import subprocess
-import sys
-from pathlib import Path
 
 import torch
+from bop_toolkit_lib import inout
 from tqdm import tqdm
 
-from happypose.pose_estimators.cosypose.cosypose.config import PROJECT_DIR, RESULTS_DIR
-
-TOOLKIT_DIR = Path(PROJECT_DIR / "deps" / "bop_toolkit_challenge")
-EVAL_SCRIPT_PATH = TOOLKIT_DIR / "scripts/eval_bop19.py"
-DUMMY_EVAL_SCRIPT_PATH = TOOLKIT_DIR / "scripts/eval_bop19_dummy.py"
-
-sys.path.append(TOOLKIT_DIR.as_posix())
-from bop_toolkit_lib import inout  # noqa
-
-# from bop_toolkit_lib.config import results_path as BOP_RESULTS_PATH
+from happypose.pose_estimators.cosypose.cosypose.config import (
+    BOP_POSE_EVAL_SCRIPT_NAME,
+    RESULTS_DIR,
+)
 
 
 def main():
@@ -47,7 +39,7 @@ def run_evaluation(args):
         )
 
     if not args.convert_only:
-        run_bop_evaluation(csv_path, dummy=args.dummy)
+        run_bop_evaluation(csv_path)
     return csv_path
 
 
@@ -82,25 +74,15 @@ def convert_results(results_path, out_csv_path, method):
     return out_csv_path
 
 
-def run_bop_evaluation(filename, dummy=False):
-    myenv = os.environ.copy()
-    myenv["PYTHONPATH"] = TOOLKIT_DIR.as_posix()
-    myenv["COSYPOSE_DIR"] = PROJECT_DIR.as_posix()
-    if dummy:
-        script_path = DUMMY_EVAL_SCRIPT_PATH
-    else:
-        script_path = EVAL_SCRIPT_PATH
+def run_bop_evaluation(filename):
     subprocess.call(
         [
-            "python",
-            script_path.as_posix(),
+            BOP_POSE_EVAL_SCRIPT_NAME,
             "--renderer_type",
             "python",
             "--result_filenames",
             filename,
         ],
-        env=myenv,
-        cwd=TOOLKIT_DIR.as_posix(),
     )
 
 
diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py
deleted file mode 100644
index b8704400..00000000
--- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_bop_eval.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import argparse
-import os
-import subprocess
-import sys
-
-import numpy as np
-import torch
-from tqdm import tqdm
-
-from happypose.pose_estimators.cosypose.cosypose.config import (
-    BOP_TOOLKIT_DIR,
-    LOCAL_DATA_DIR,
-    MEMORY,
-    PROJECT_DIR,
-    RESULTS_DIR,
-)
-
-SISO_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_siso.py"
-VIVO_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_vivo.py"
-
-sys.path.append(BOP_TOOLKIT_DIR.as_posix())
-from bop_toolkit_lib import inout  # noqa
-
-
-def main():
-    parser = argparse.ArgumentParser("Bop evaluation")
-    parser.add_argument("--result_id", default="", type=str)
-    parser.add_argument("--method", default="", type=str)
-    parser.add_argument("--vivo", action="store_true")
-    args = parser.parse_args()
-    n_rand = np.random.randint(1e6)
-    csv_path = (
-        LOCAL_DATA_DIR
-        / "bop_predictions_csv"
-        / f"cosypose{n_rand}-eccv2020_tless-test-primesense.csv"
-    )
-    csv_path.parent.mkdir(exist_ok=True)
-    results_path = RESULTS_DIR / args.result_id / "results.pth.tar"
-    convert_results(results_path, csv_path, method=args.method)
-    run_evaluation(csv_path, args.vivo)
-
-
-@MEMORY.cache
-def convert_results(results_path, out_csv_path, method):
-    predictions = torch.load(results_path)["predictions"][method]
-    print("Predictions from:", results_path)
-    print("Method:", method)
-    print("Number of predictions: ", len(predictions))
-
-    preds = []
-    for n in tqdm(range(len(predictions))):
-        TCO_n = predictions.poses[n]
-        t = TCO_n[:3, -1] * 1e3  # m -> mm conversion
-        R = TCO_n[:3, :3]
-        row = predictions.infos.iloc[n]
-        obj_id = int(row.label.split("_")[-1])
-        score = row.score
-        time = -1.0
-        pred = {
-            "scene_id": row.scene_id,
-            "im_id": row.view_id,
-            "obj_id": obj_id,
-            "score": score,
-            "t": t,
-            "R": R,
-            "time": time,
-        }
-        preds.append(pred)
-    print("Wrote:", out_csv_path)
-    inout.save_bop_results(out_csv_path, preds)
-    return out_csv_path
-
-
-def run_evaluation(filename, is_vivo):
-    if is_vivo:
-        script_path = VIVO_SCRIPT_PATH
-    else:
-        script_path = SISO_SCRIPT_PATH
-    myenv = os.environ.copy()
-    myenv["PYTHONPATH"] = BOP_TOOLKIT_DIR.as_posix()
-    myenv["COSYPOSE_DIR"] = PROJECT_DIR.as_posix()
-    print(script_path)
-    subprocess.call(
-        [
-            "python",
-            script_path.as_posix(),
-            "--renderer_type",
-            "python",
-            "--result_filename",
-            filename,
-        ],
-        env=myenv,
-        cwd=BOP_TOOLKIT_DIR.as_posix(),
-    )
-
-
-if __name__ == "__main__":
-    main()
diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py
index f0923679..ba6cb96c 100644
--- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py
+++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_custom_scenario.py
@@ -1,16 +1,15 @@
 import argparse
 import json
 import logging
-import sys
 from pathlib import Path
 
 import numpy as np
 import pandas as pd
 import torch
+from bop_toolkit_lib import inout
 
 import happypose.pose_estimators.cosypose.cosypose.utils.tensor_collection as tc
 from happypose.pose_estimators.cosypose.cosypose.config import (
-    BOP_TOOLKIT_DIR,
     LOCAL_DATA_DIR,
 )
 from happypose.pose_estimators.cosypose.cosypose.datasets.bop_object_datasets import (
@@ -25,9 +24,6 @@
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
 from happypose.pose_estimators.cosypose.cosypose.visualization.multiview import nms3d
 
-sys.path.append(str(BOP_TOOLKIT_DIR))
-from bop_toolkit_lib import inout
-
 logger = get_logger(__name__)
 
 
diff --git a/happypose/pose_estimators/megapose/config.py b/happypose/pose_estimators/megapose/config.py
index 64dc8ec4..d7dde36b 100644
--- a/happypose/pose_estimators/megapose/config.py
+++ b/happypose/pose_estimators/megapose/config.py
@@ -35,7 +35,10 @@
 SHAPENET_DIR = LOCAL_DATA_DIR / "shapenetcorev2"
 WDS_DS_DIR = LOCAL_DATA_DIR / "webdatasets"
 
-BOP_TOOLKIT_DIR = PROJECT_ROOT / "deps" / "bop_toolkit_challenge"
+# BOP eval scripts names
+BOP_POSE_EVAL_SCRIPT_NAME = "eval_bop19_pose.py"
+BOP_DETECTION_EVAL_SCRIPT_NAME = "eval_bop22_coco.py"
+
 BLENDER_PBR_DS_DIR = LOCAL_DATA_DIR / "blender_pbr_datasets"
 CC_TEXTURE_FOLDER = str(LOCAL_DATA_DIR / "cctextures")
 
diff --git a/happypose/pose_estimators/megapose/evaluation/bop.py b/happypose/pose_estimators/megapose/evaluation/bop.py
index 88044839..aa77b241 100644
--- a/happypose/pose_estimators/megapose/evaluation/bop.py
+++ b/happypose/pose_estimators/megapose/evaluation/bop.py
@@ -31,7 +31,8 @@
 
 # MegaPose
 from happypose.pose_estimators.megapose.config import (
-    BOP_TOOLKIT_DIR,
+    BOP_DETECTION_EVAL_SCRIPT_NAME,
+    BOP_POSE_EVAL_SCRIPT_NAME,
     LOCAL_DATA_DIR,
     PROJECT_DIR,
 )
@@ -45,13 +46,6 @@
 
 device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
 
-# Note we are actually using the bop_toolkit_lib that is directly conda installed
-# inside the docker image. This is just to access the scripts.
-POSE_EVAL_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_bop19_pose.py"
-DETECTION_EVAL_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_bop22_coco.py"
-DUMMY_EVAL_SCRIPT_PATH = BOP_TOOLKIT_DIR / "scripts/eval_bop19_dummy.py"
-
-
 # Third Party
 from bop_toolkit_lib import inout  # noqa
 
@@ -167,41 +161,25 @@ def get_best_coarse_predictions(coarse_preds: PandasTensorCollection):
 
 def _run_bop_evaluation(filename, eval_dir, eval_detection=False, dummy=False):
     myenv = os.environ.copy()
-    myenv["PYTHONPATH"] = BOP_TOOLKIT_DIR.as_posix()
-    ld_library_path = os.environ["LD_LIBRARY_PATH"]
-    conda_prefix = os.environ["CONDA_PREFIX"]
-    myenv["LD_LIBRARY_PATH"] = f"{conda_prefix}/lib:{ld_library_path}"
     myenv["BOP_DATASETS_PATH"] = str(LOCAL_DATA_DIR / "bop_datasets")
     myenv["BOP_RESULTS_PATH"] = str(eval_dir)
     myenv["BOP_EVAL_PATH"] = str(eval_dir)
     renderer_type = "vispy"  # other options: 'cpp', 'python'
-    if dummy:
+    if eval_detection:
         cmd = [
-            "python",
-            str(DUMMY_EVAL_SCRIPT_PATH),
-            "--renderer_type",
-            renderer_type,
+            BOP_DETECTION_EVAL_SCRIPT_NAME,
             "--result_filenames",
             filename,
         ]
     else:
-        if eval_detection:
-            cmd = [
-                "python",
-                str(DETECTION_EVAL_SCRIPT_PATH),
-                "--result_filenames",
-                filename,
-            ]
-        else:
-            cmd = [
-                "python",
-                str(POSE_EVAL_SCRIPT_PATH),
-                "--result_filenames",
-                filename,
-                "--renderer_type",
-                renderer_type,
-            ]
-    subprocess.call(cmd, env=myenv, cwd=BOP_TOOLKIT_DIR.as_posix())
+        cmd = [
+            BOP_POSE_EVAL_SCRIPT_NAME,
+            "--result_filenames",
+            filename,
+            "--renderer_type",
+            renderer_type,
+        ]
+    subprocess.call(cmd, env=myenv)
 
 
 def run_evaluation(cfg: BOPEvalConfig) -> None:
diff --git a/happypose/toolbox/datasets/bop_scene_dataset.py b/happypose/toolbox/datasets/bop_scene_dataset.py
index 1236ff84..c74d265a 100644
--- a/happypose/toolbox/datasets/bop_scene_dataset.py
+++ b/happypose/toolbox/datasets/bop_scene_dataset.py
@@ -16,17 +16,19 @@
 # Standard Library
 import json
 import pickle
-import sys
 from pathlib import Path
 
 # Third Party
 import numpy as np
 import pandas as pd
+
+# Third Party
+from bop_toolkit_lib import inout
 from PIL import Image
 from tqdm import tqdm
 
 # MegaPose
-from happypose.pose_estimators.megapose.config import BOP_TOOLKIT_DIR, MEMORY
+from happypose.pose_estimators.megapose.config import MEMORY
 
 # Local Folder
 from happypose.toolbox.datasets.scene_dataset import (
@@ -39,13 +41,6 @@
 from happypose.toolbox.lib3d.transform import Transform
 from happypose.toolbox.utils.logging import get_logger
 
-sys.path.append(str(BOP_TOOLKIT_DIR))
-# Third Party
-from bop_toolkit_lib import inout
-
-sys.path = sys.path[:-1]
-
-
 logger = get_logger(__name__)
 
 
diff --git a/poetry.lock b/poetry.lock
index 98dd010a..c57ca751 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -128,13 +128,13 @@ lxml = ["lxml"]
 
 [[package]]
 name = "blinker"
-version = "1.7.0"
+version = "1.8.1"
 description = "Fast, simple object-to-object and broadcast signaling"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "blinker-1.7.0-py3-none-any.whl", hash = "sha256:c3f865d4d54db7abc53758a01601cf343fe55b84c1de4e3fa910e420b438d5b9"},
-    {file = "blinker-1.7.0.tar.gz", hash = "sha256:e6820ff6fa4e4d1d8e2747c2283749c3f547e4fee112b98555cdcdae32996182"},
+    {file = "blinker-1.8.1-py3-none-any.whl", hash = "sha256:5f1cdeff423b77c31b89de0565cd03e5275a03028f44b2b15f912632a58cced6"},
+    {file = "blinker-1.8.1.tar.gz", hash = "sha256:da44ec748222dcd0105ef975eed946da197d5bdf8bafb6aa92f5bc89da63fa25"},
 ]
 
 [[package]]
@@ -159,28 +159,6 @@ PyYAML = ">=3.10"
 tornado = ">=6.2"
 xyzservices = ">=2021.09.1"
 
-[[package]]
-name = "bop_toolkit_lib"
-version = "1.0"
-description = ""
-optional = true
-python-versions = "*"
-files = []
-develop = false
-
-[package.dependencies]
-cython = "*"
-PyOpenGL = "3.1.0"
-pypng = "*"
-pytz = "*"
-vispy = ">=0.6.5"
-
-[package.source]
-type = "git"
-url = "https://github.com/agimus-project/bop_toolkit"
-reference = "HEAD"
-resolved_reference = "53b6e2e335c4e6aa76e5db34e809506ee3f4cf16"
-
 [[package]]
 name = "braceexpand"
 version = "0.1.7"
@@ -491,6 +469,12 @@ 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]
@@ -517,6 +501,12 @@ 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]
@@ -705,63 +695,63 @@ url = "happypose/pose_estimators/cosypose"
 
 [[package]]
 name = "coverage"
-version = "7.4.4"
+version = "7.5.0"
 description = "Code coverage measurement for Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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-    {file = "coverage-7.4.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:09fa497a8ab37784fbb20ab699c246053ac294d13fc7eb40ec007a5043ec91f8"},
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 docs = ["ipython", "matplotlib", "numpydoc", "sphinx"]
 tests = ["pytest", "pytest-cov", "pytest-xdist"]
 
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@@ -1248,17 +1155,6 @@ eigenpy = ">=3.1,<4"
 [package.extras]
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@@ -1306,13 +1202,13 @@ socks = ["socksio (==1.*)"]
 
 [[package]]
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@@ -2544,18 +2433,19 @@ build = ["cmeel-urdfdom[build] (>=3.1.1.1,<4)", "hpp-fcl[build] (>=2.3.4,<4)"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.0"
-description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+version = "4.2.1"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
 optional = false
 python-versions = ">=3.8"
 files = [
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 test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4.3)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)"]
+type = ["mypy (>=1.8)"]
 
 [[package]]
 name = "plotly"
@@ -2574,13 +2464,13 @@ tenacity = ">=6.2.0"
 
 [[package]]
 name = "pluggy"
-version = "1.4.0"
+version = "1.5.0"
 description = "plugin and hook calling mechanisms for python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
@@ -2732,17 +2622,6 @@ PyYAML = ">=5.1"
 dev = ["coverage[toml]", "flake8", "flake8-pyproject", "pep8-naming", "psutil"]
 docs = ["Sphinx", "mypy", "sphinx-autodoc-typehints (==1.25.2)", "sphinx-notfound-page", "sphinx-substitution-extensions", "types-PyYAML"]
 
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-name = "pyopengl"
-version = "3.1.0"
-description = "Standard OpenGL bindings for Python"
-optional = true
-python-versions = "*"
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-
 [[package]]
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 version = "3.1.2"
@@ -2782,13 +2661,13 @@ files = [
 
 [[package]]
 name = "pytest"
-version = "8.1.1"
+version = "8.2.0"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -2796,11 +2675,11 @@ colorama = {version = "*", markers = "sys_platform == \"win32\""}
 exceptiongroup = {version = ">=1.0.0rc8", markers = "python_version < \"3.11\""}
 iniconfig = "*"
 packaging = "*"
-pluggy = ">=1.4,<2.0"
+pluggy = ">=1.5,<2.0"
 tomli = {version = ">=1", markers = "python_version < \"3.11\""}
 
 [package.extras]
-testing = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
+dev = ["argcomplete", "attrs (>=19.2)", "hypothesis (>=3.56)", "mock", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
 [[package]]
 name = "python-dateutil"
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@@ -2911,99 +2791,99 @@ files = [
 
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+version = "26.0.2"
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 python-versions = ">=3.7"
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@@ -3011,13 +2891,13 @@ cffi = {version = "*", markers = "implementation_name == \"pypy\""}
 
 [[package]]
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-version = "0.34.0"
+version = "0.35.0"
 description = "JSON Referencing + Python"
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 python-versions = ">=3.8"
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 [package.dependencies]
@@ -3061,13 +2941,13 @@ six = ">=1.7.0"
 
 [[package]]
 name = "roma"
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 description = "A lightweight library to deal with 3D rotations in PyTorch."
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 python-versions = ">=3.6"
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 [[package]]
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 [package.dependencies]
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 [package.dependencies]
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 [package.dependencies]
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 [[package]]
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 [[package]]
 name = "transforms3d"
@@ -4071,13 +3951,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.25.3"
+version = "20.26.0"
 description = "Virtual Python Environment builder"
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 python-versions = ">=3.7"
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-[[package]]
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-    {file = "vispy-0.14.2.tar.gz", hash = "sha256:eed8b44d6f5c87bd295b24aa9a2e0e4e6dc6a905ccee01b2d41c8fbf0a767b3d"},
-]
-
-[package.dependencies]
-freetype-py = "*"
-hsluv = "*"
-kiwisolver = "*"
-numpy = "*"
-packaging = "*"
-
-[package.extras]
-doc = ["myst-parser", "numpydoc", "pillow", "pydata-sphinx-theme", "pyopengl", "pytest", "sphinx-gallery", "sphinxcontrib-apidoc"]
-io = ["Pillow", "meshio"]
-ipython-static = ["ipython"]
-pyglet = ["pyglet (>=1.2)"]
-pyqt5 = ["pyqt5"]
-pyqt6 = ["pyqt6"]
-pyside = ["PySide"]
-pyside2 = ["PySide2"]
-pyside6 = ["PySide6"]
-sdl2 = ["PySDL2"]
-tk = ["pyopengltk"]
-wx = ["wxPython"]
-
 [[package]]
 name = "wcwidth"
 version = "0.2.13"
@@ -4269,7 +4093,7 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 
 [extras]
 cpu = ["torch", "torch", "torchvision", "torchvision"]
-evaluation = ["bop_toolkit_lib", "cmeel-teaser-plusplus"]
+evaluation = ["cmeel-teaser-plusplus"]
 gpu = ["torch", "torch", "torchvision", "torchvision"]
 multiview = ["cosypose"]
 pypi = ["opencv-contrib-python", "opencv-python", "pin"]
@@ -4277,4 +4101,4 @@ pypi = ["opencv-contrib-python", "opencv-python", "pin"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<3.11"
-content-hash = "914bd1caef0001b067c2ea5de0e741a66ffd39a9b0037132c32c26abd3a48b6f"
+content-hash = "4d2878e5184230c9d4a08ab7413436470973b9fe66d318978bc7e7cf46aaef72"
diff --git a/pyproject.toml b/pyproject.toml
index 172987e0..ad2363a4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -24,7 +24,6 @@ version = "0.1.0"
 addict = "^2.4.0"
 beautifulsoup4 = "^4.12.2"
 bokeh = "^3.2.2"
-bop_toolkit_lib = {git = "https://github.com/agimus-project/bop_toolkit", optional = true}
 cmeel-teaser-plusplus = {optional = true, version = "^2.0"}
 cosypose = {optional = true, path = "happypose/pose_estimators/cosypose"}
 httpx = "^0.25.0"
@@ -68,7 +67,7 @@ xarray = "^2024.3.0"
 
 [tool.poetry.extras]
 cpu = ["torch", "torchvision"]
-evaluation = ["bop_toolkit_lib", "cmeel-teaser-plusplus"]
+evaluation = ["cmeel-teaser-plusplus"]
 gpu = ["torch", "torchvision"]
 multiview = ["cosypose"]
 pypi = ["opencv-contrib-python", "opencv-python", "pin"]