diff --git a/pyproject.toml b/pyproject.toml
index 96a2a3b..29ba3b7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,8 +33,10 @@ keywords = ["robot", "description", "urdf", "mjcf"]
 
 [project.optional-dependencies]
 opts = [
-    "pin >=2.6.10",
     "idyntree >= 8.0.0",
+    "mujoco >=3.2.0",
+    "pin >=2.6.10",
+    "pybullet >=3.2.6",
     "robomeshcat >=1.0.4",
     "yourdfpy >=0.0.56",
 ]