numpy>=1.18.5
pybullet>=2.8.1
matplotlib>=3.1.3
opencv-python>=3.4.2.17
omegaconf>=2.0.6
pyrender>=0.1.43
hydra-core>=1.0.6
urdfpy>=0.0.22
scipy
pyopengl@ git+https://github.com/mmatl/pyopengl.git@76d1261adee2d3fd99b418e75b0416bb7d2865e6
