numpy>=1.22
scipy
gymnasium>=0.28.1
sapien==3.0.0.dev0
h5py
pyyaml
tqdm
GitPython
tabulate
transforms3d
trimesh
rtree
opencv-python
imageio
imageio[ffmpeg]

[docs]
sphinx==6.2.1
sphinx-autobuild
sphinx-rtd-theme
sphinxcontrib.spelling
sphinx-autodoc-typehints
sphinx_copybutton
myst-parser
sphinx-subfigure

[tests]
pytest
black
isort
