torch>=2.1
numpy>=1.24
scipy
trimesh>=4.0
yourdfpy>=0.0.56
h5py
omegaconf
pyyaml
tqdm
addict
timm>=1.0
huggingface-hub>=0.25

[dev]
pytest
diffusers

[train]
hydra-core
webdataset
tensorboard
tensorboardx
pyrender
transformers
torch-geometric
tensordict
sharedarray
matplotlib
scikit-learn
ninja

[vis]
meshcat
