numpy>=1.17.4
spatialmath-python~=1.0.0
spatialgeometry~=1.0.0
pgraph-python
scipy
matplotlib
ansitable
swift-sim~=1.0.0
rtb-data
progress

[collision]
pybullet

[dev]
black
pytest
pytest-cov
flake8
pyyaml
sympy

[docs]
sphinx
sphinx_rtd_theme
sphinx-autorun
