diff --git a/poetry.lock b/poetry.lock
index 14a321c..eee2b9c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
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+[package.dependencies]
+cmeel = "*"
+
+[[package]]
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+version = "8.0.2.1"
+description = "cmeel distribution for qhull: Convex hull, Delaunay triangulation, Voronoi diagrams, Halfspace intersection"
+optional = false
+python-versions = ">= 3.8"
+files = [
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+[package.dependencies]
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+[[package]]
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+description = "cmeel distribution for TinyXML, an obsolete thing."
+optional = false
+python-versions = ">= 3.8"
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+[package.dependencies]
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+[[package]]
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+description = "cmeel distribution for urdfdom, URDF parser"
+optional = false
+python-versions = ">= 3.8"
+files = [
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+[package.extras]
+build = ["cmeel-urdfdom-headers"]
+
 [[package]]
 name = "colorama"
 version = "0.4.6"
@@ -341,6 +570,19 @@ traitlets = ">=4"
 [package.extras]
 test = ["pytest"]
 
+[[package]]
+name = "commentjson"
+version = "0.9.0"
+description = "Add Python and JavaScript style comments in your JSON files."
+optional = false
+python-versions = "*"
+files = [
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+[package.dependencies]
+lark-parser = ">=0.7.1,<0.8.0"
+
 [[package]]
 name = "contourpy"
 version = "1.1.1"
@@ -415,6 +657,55 @@ mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.4.1)", "types-Pill
 test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
 test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
 
+[[package]]
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+version = "2.0.2"
+description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
+optional = false
+python-versions = ">=3.8"
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+example-robot-data = "*"
+
+[package.extras]
+build = ["example-robot-data[build]", "scipy"]
+
 [[package]]
 name = "cycler"
 version = "0.12.1"
@@ -548,6 +839,47 @@ files = [
 [package.dependencies]
 six = ">=1.4.0"
 
+[[package]]
+name = "eigenpy"
+version = "3.5.1"
+description = "Bindings between Numpy and Eigen using Boost.Python"
+optional = false
+python-versions = ">=3.8"
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+    {file = "eigenpy-3.5.1.tar.gz", hash = "sha256:85289cc71bddebfca5ecec9e6519ba3b114f07bc9900bc842d2bb7a1d4128f2f"},
+]
+
+[package.dependencies]
+cmeel = "*"
+cmeel-boost = ">=1.83.0,<1.84.0"
+
+[package.extras]
+build = ["cmeel-eigen (>=3.4.0.2)"]
+
 [[package]]
 name = "etils"
 version = "1.5.2"
@@ -585,6 +917,28 @@ etree-jax = ["etils[etree]", "jax[cpu]"]
 etree-tf = ["etils[etree]", "tensorflow"]
 lazy-imports = ["etils[ecolab]"]
 
+[[package]]
+name = "example-robot-data"
+version = "4.1.0"
+description = "Set of robot URDFs for benchmarking and developed examples."
+optional = false
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+cmeel = "*"
+pin = "*"
+
+[package.extras]
+build = ["pin[build]"]
+
 [[package]]
 name = "exceptiongroup"
 version = "1.2.0"
@@ -950,6 +1304,93 @@ other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-pyt
 testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
 toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
 
+[[package]]
+name = "hpp-fcl"
+version = "2.4.4"
+description = "An extension of the Flexible Collision Library"
+optional = false
+python-versions = ">=3.8"
+files = [
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+]
+
+[package.dependencies]
+cmeel = "*"
+cmeel-assimp = ">=5.3.1,<6"
+cmeel-boost = ">=1.83.0,<1.84.0"
+cmeel-octomap = ">=1.9.8.2,<2"
+cmeel-qhull = ">=8.0.2.1,<8.0.3"
+eigenpy = ">=3.1,<4"
+
+[package.extras]
+build = ["eigenpy[build] (>=3.1,<4)"]
+
 [[package]]
 name = "hydra-core"
 version = "1.3.2"
@@ -1449,6 +1890,16 @@ files = [
     {file = "kiwisolver-1.4.5.tar.gz", hash = "sha256:e57e563a57fb22a142da34f38acc2fc1a5c864bc29ca1517a88abc963e60d6ec"},
 ]
 
+[[package]]
+name = "lark-parser"
+version = "0.7.8"
+description = "a modern parsing library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "lark-parser-0.7.8.tar.gz", hash = "sha256:26215ebb157e6fb2ee74319aa4445b9f3b7e456e26be215ce19fdaaa901c20a4"},
+]
+
 [[package]]
 name = "lz4"
 version = "4.3.3"
@@ -1965,6 +2416,21 @@ files = [
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 ]
 
+[[package]]
+name = "numpy-stl"
+version = "3.1.2"
+description = "Library to make reading, writing and modifying both binary and ascii STL files easy."
+optional = false
+python-versions = ">3.6.0"
+files = [
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+]
+
+[package.dependencies]
+numpy = "*"
+python-utils = ">=3.4.5"
+
 [[package]]
 name = "nvidia-cublas-cu12"
 version = "12.1.3.1"
@@ -2138,6 +2604,26 @@ files = [
 antlr4-python3-runtime = "==4.9.*"
 PyYAML = ">=5.1.0"
 
+[[package]]
+name = "onshape-to-robot"
+version = "0.3.26"
+description = "Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API"
+optional = false
+python-versions = ">=3.6"
+files = [
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+commentjson = "*"
+numpy = "*"
+numpy-stl = "*"
+pybullet = "*"
+requests = "*"
+transforms3d = "*"
+
 [[package]]
 name = "opencv-python"
 version = "4.9.0.80"
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+optional = false
+python-versions = "*"
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+version = "0.4.1"
+description = "Easy-to-use python 3D graphics viewer"
+optional = false
+python-versions = "*"
+files = [
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+
+[package.dependencies]
+numpy = "*"
+panda3d = ">=1.10"
+
 [[package]]
 name = "pandas"
 version = "2.0.3"
@@ -2418,6 +2996,50 @@ files = [
 docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
 tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
 
+[[package]]
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+    {file = "pin-2.7.0.tar.gz", hash = "sha256:4903821a466eb8fc7f2350ce0c5f84943e8c391ebc2977898bbb154dcdf01747"},
+]
+
+[package.dependencies]
+cmeel = "*"
+cmeel-boost = ">=1.83.0,<1.84.0"
+cmeel-urdfdom = ">=3.1.1.1,<4"
+hpp-fcl = ">=2.3.4,<4"
+
+[package.extras]
+build = ["cmeel-urdfdom[build] (>=3.1.1.1,<4)", "hpp-fcl[build] (>=2.3.4,<4)"]
+
 [[package]]
 name = "platformdirs"
 version = "3.11.0"
@@ -2517,6 +3139,55 @@ files = [
     {file = "protobuf-4.21.12.tar.gz", hash = "sha256:7cd532c4566d0e6feafecc1059d04c7915aec8e182d1cf7adee8b24ef1e2e6ab"},
 ]
 
+[[package]]
+name = "proxsuite"
+version = "0.6.7"
+description = "Quadratic Programming Solver for Robotics and beyond."
+optional = false
+python-versions = ">=3.7"
+files = [
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+    {file = "proxsuite-0.6.7-0-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:bb799edcc899022d9ba74c4c2f9bc476203b5bd5b5e064a6fc4436ed6efd2cec"},
+    {file = "proxsuite-0.6.7-0-cp310-cp310-win_amd64.whl", hash = "sha256:0a41d19b250427b268f6e86be55ad2ef256c68a4313b282cb9349f9cfd79ac86"},
+    {file = "proxsuite-0.6.7-0-cp311-cp311-macosx_13_0_x86_64.whl", hash = "sha256:b796a12149843900a0f0179496b37210095a4bcf2ef74c38bb4dfd4530264c17"},
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+    {file = "proxsuite-0.6.7-0-cp38-cp38-musllinux_1_2_x86_64.whl", hash = "sha256:8de60bbff079222bdf02e134386e70e64208b67303dea1a227683a7f4c72c48d"},
+    {file = "proxsuite-0.6.7-0-cp38-cp38-win_amd64.whl", hash = "sha256:f40cac09ce600e5addcac509b77f8aa52bdfb2392a271c06234f71330533f1c5"},
+    {file = "proxsuite-0.6.7-0-cp39-cp39-macosx_13_0_x86_64.whl", hash = "sha256:2dcb04249b45862d1d7a5bb19d2ee4ffcbf729801d73640c82bbe1a5976e4ae5"},
+    {file = "proxsuite-0.6.7-0-cp39-cp39-macosx_14_0_arm64.whl", hash = "sha256:a9f7031cfa2ddfefc883f83ef259b254822be2d44cef4e241db769c88d6d4ba4"},
+    {file = "proxsuite-0.6.7-0-cp39-cp39-manylinux_2_17_x86_64.whl", hash = "sha256:328f63e1472e38c78cd38870eafb5725fcdfe99553fed6481bd1a2de4fccc103"},
+    {file = "proxsuite-0.6.7-0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:9fe978839c929758f79aa8c72aaff6402df68112f07b713b53ed24f8ebe74581"},
+    {file = "proxsuite-0.6.7-0-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:e3497725ce99a6119cdcc0a6cf4c503788e654e0f59e566921a2b424717b037c"},
+    {file = "proxsuite-0.6.7-0-cp39-cp39-win_amd64.whl", hash = "sha256:c5e4ef61f376896745d5b9f2bc5bab5578f726f159f8610079d1f5ded47f0243"},
+    {file = "proxsuite-0.6.7-0-pp38-pypy38_pp73-manylinux_2_17_x86_64.whl", hash = "sha256:5c7effb6777c778b9c928512494912d27da1f3c9cd06a1892c2442527f20a188"},
+    {file = "proxsuite-0.6.7-0-pp39-pypy39_pp73-manylinux_2_17_x86_64.whl", hash = "sha256:4a7170b76686227c6bad979296a2d3e30594c8ac319a8092a0b36c8c4387a630"},
+]
+
+[package.dependencies]
+cmeel = "*"
+numpy = "*"
+scipy = "*"
+
+[package.extras]
+build = ["cmeel-eigen", "cmeel-simde"]
+
 [[package]]
 name = "psutil"
 version = "5.9.6"
@@ -2595,6 +3266,22 @@ files = [
 [package.dependencies]
 pyasn1 = ">=0.4.6,<0.6.0"
 
+[[package]]
+name = "pybullet"
+version = "3.2.6"
+description = "Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pybullet-3.2.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6f71d0bed6824875b521066571d612274f1d2dead3ede50f8fbdde1946ec0c40"},
+    {file = "pybullet-3.2.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a476d51726efa7aabe1dc8c4ee676b78bcd9fc19d4a2ce9776f2c9a9dacd9e8b"},
+    {file = "pybullet-3.2.6-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8af791050e927f407a85fa9de15754fbe0973f8c798fd2893773b52fa1fc70e0"},
+    {file = "pybullet-3.2.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72be1e68c61bbe49af5b7c609d59ede92d3fbbfca072e9b31d4819575c8f332b"},
+    {file = "pybullet-3.2.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba46f9d8ae76d2bcae4bf4b5768b1dccc0b3b15110b69ba3d78cd0b11f8f21cf"},
+    {file = "pybullet-3.2.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f928444471186c5d6092d71371b03436e23ec96acd7800dfefcd8e96572c6581"},
+    {file = "pybullet-3.2.6.tar.gz", hash = "sha256:da27525433c88698dc9fd8bc20fa4ae4d07738b4656633659ebd82c2d2884e08"},
+]
+
 [[package]]
 name = "pycparser"
 version = "2.21"
@@ -2750,6 +3437,25 @@ files = [
 [package.dependencies]
 six = ">=1.5"
 
+[[package]]
+name = "python-utils"
+version = "3.8.2"
+description = "Python Utils is a module with some convenient utilities not included with the standard Python install"
+optional = false
+python-versions = ">3.8.0"
+files = [
+    {file = "python-utils-3.8.2.tar.gz", hash = "sha256:c5d161e4ca58ce3f8c540f035e018850b261a41e7cb98f6ccf8e1deb7174a1f1"},
+    {file = "python_utils-3.8.2-py2.py3-none-any.whl", hash = "sha256:ad0ccdbd6f856d015cace07f74828b9840b5c4072d9e868a7f6a14fd195555a8"},
+]
+
+[package.dependencies]
+typing-extensions = ">3.10.0.2"
+
+[package.extras]
+docs = ["mock", "python-utils", "sphinx"]
+loguru = ["loguru"]
+tests = ["flake8", "loguru", "pytest", "pytest-asyncio", "pytest-cov", "pytest-mypy", "sphinx", "types-setuptools"]
+
 [[package]]
 name = "pytz"
 version = "2023.3.post1"
@@ -3602,6 +4308,20 @@ files = [
 docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
 test = ["argcomplete (>=3.0.3)", "mypy (>=1.6.0)", "pre-commit", "pytest (>=7.0,<7.5)", "pytest-mock", "pytest-mypy-testing"]
 
+[[package]]
+name = "transforms3d"
+version = "0.4.2"
+description = "Functions for 3D coordinate transformations"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "transforms3d-0.4.2-py3-none-any.whl", hash = "sha256:1c70399d9e9473ecc23311fd947f727f7c69ed0b063244828c383aa1aefa5941"},
+    {file = "transforms3d-0.4.2.tar.gz", hash = "sha256:e8b5df30eaedbee556e81c6938e55aab5365894e47d0a17615d7db7fd2393680"},
+]
+
+[package.dependencies]
+numpy = ">=1.15"
+
 [[package]]
 name = "triton"
 version = "2.1.0"
@@ -3846,4 +4566,4 @@ cffi = ["cffi (>=1.11)"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9,<4.0"
-content-hash = "bbb0f184747afd9ebad8c90da3bbd0d0300e954ea471299c52cdc0aa752bcdb4"
+content-hash = "2eede96ea8b197766b9dc292eeccbf2e43a2d1b755b74bd3cca9ffef36bcea4a"
diff --git a/pyproject.toml b/pyproject.toml
index 84e6ca6..3271491 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -29,6 +29,11 @@ sbx-rl = "^0.10.0"
 jax-metal = {version = "^0.0.5", platform = "darwin"}
 sb3-contrib = {git = "https://github.com/Stable-Baselines-Team/stable-baselines3-contrib"}
 pytest = "^7.4.4"
+pin = "^2.7.0"
+crocoddyl = "^2.0.2"
+panda3d-viewer = "^0.4.1"
+cmeel-mim-solvers = "^0.0.4"
+onshape-to-robot = "^0.3.26"
 
 [build-system]
 requires = ["poetry-core"]