typing-extensions>=4.0
jaxtyping>=0.2.19
matplotlib>=3.7
rich>=13
robot_descriptions<3,>=1.22
tyro>=0.8
PyYAML>=6
numpy>=1.24
scipy>=1.10
yourdfpy>=0.0.56
viser>=1.1
warp-lang>=1.8
filelock>=3.12
huggingface-hub>=0.36
trimesh>=4.7

[mj]
mujoco>=3.2

[mjwarp]

[mjwarp:python_version >= "3.10"]
mujoco-warp>=3.17

[pt-cpu]
torch>=2.4

[pt-cu118]
torch>=2.4

[pt-cu126]
torch>=2.4

[pt-cu128]
torch>=2.4
nvidia-nccl-cu12
