gymnasium==0.29.1
huggingface-hub>=0.27.1
imageio==2.34.2
matplotlib
numpy==1.26.4
opencv-python==4.9.0.80
pillow>=10
pyyaml
scipy==1.10.1
setuptools<75.9,>=69.5.1
torch==2.8.0
toppra==0.6.3
transforms3d==0.4.2
trimesh==4.4.3
yourdfpy>=0.0.53

[:platform_system == "Linux" and platform_machine == "x86_64"]
mplib==0.2.1
open3d==0.18.0
sapien==3.0.0b1
warp-lang==1.11.1
