requirements-dev.txt

# Developer / equivalence-testing dependencies.
# These power the `equivalents/` Pinocchio backend and the `tests/` suite that
# checks the pure-Python reference against Pinocchio (C++). The core reference
# does NOT need any of these — install them only to run equivalence tests.
-r requirements.txt

pin<4                        # Pinocchio (C++) Python wheel: `import pinocchio`.
                             # <4: pin 4.x drops pinocchio.pc AND restructures the C++
                             # headers (its urdf-parser templates no longer compile from
                             # pin_so_ext's TU) — porting pin_so_ext to pin 4 is a
                             # tracked follow-up, not a requirements tweak.
cmeel-eigen                  # Eigen headers + eigen3.pc (pinocchio.pc Requires eigen3;
                             # covers boxes without a system libeigen3-dev, e.g. CI runners)
cmeel-urdfdom<5              # pin 3.9's pywrap links liburdfdom_*.so.4.0; pip otherwise
                             # pairs it with urdfdom 6.x -> ImportError at `import pinocchio`
robot_descriptions>=1.23.0   # FALLBACK URDF resolution for tests/robot_manifest.json —
                             # every robot lists its vendored robot_assets/ copy FIRST;
                             # the download path only fires when the vendored asset is absent
lxml                         # bs4's "xml" parser backend (reference/pinocchio adapters
                             # call BeautifulSoup(..., "xml"))
xacrodoc                     # xacro -> URDF expansion inside the robot_descriptions fallback
# mujoco                     # OPT-IN: tests/test_mujoco_convention.py's real-MuJoCo
                             # cross-checks skip without it (guarded); uncomment to run them
beautifulsoup4>=4.9.3        # URDF joint-type parsing in the adapters
pybind11                     # builds the pin_so_ext second-order RNEA binding
setuptools                   # pin_so_ext's setup.py (not bundled in py3.12 venvs)
pytest
scipy                       # independent solve_ivp oracle in integrator convergence tests

# Also required (sibling package, not on PyPI): URDFParser
#   https://github.com/A2R-Lab/URDFParser
# In the parent GRiD repo it is available as a submodule on sys.path.