numpy>=1.18.0
spatialmath-python>=0.11
spatialgeometry>=0.2.0
pgraph-python
scipy
matplotlib
ansitable
swift-sim>=0.10.0
qpsolvers
rtb-data
progress

[collision]
pybullet

[dev]
pytest
pytest-cov
flake8
pyyaml
sympy

[docs]
sphinx
sphinx_rtd_theme
sphinx-autorun

[vpython]
vpython
numpy-stl
imageio
imageio-ffmpeg
