diff --git a/jsk_rosbag_tools/CMakeLists.txt b/jsk_rosbag_tools/CMakeLists.txt
index 307da0895..75647f879 100644
--- a/jsk_rosbag_tools/CMakeLists.txt
+++ b/jsk_rosbag_tools/CMakeLists.txt
@@ -25,7 +25,8 @@ if($ENV{ROS_DISTRO} STREQUAL "noetic")
   )
 else()
   catkin_generate_virtualenv(
-    INPUT_REQUIREMENTS requirements.in
+    INPUT_REQUIREMENTS requirements.in.python2
+    PYTHON_INTERPRETER python2
   )
 endif()
 
diff --git a/jsk_rosbag_tools/requirements.in b/jsk_rosbag_tools/requirements.in
index f7b02cd95..da50244a5 100644
--- a/jsk_rosbag_tools/requirements.in
+++ b/jsk_rosbag_tools/requirements.in
@@ -1 +1,3 @@
 moviepy==1.0.3
+scipy<1.9.0
+numpy>=1.21.0
diff --git a/jsk_rosbag_tools/requirements.in.python2 b/jsk_rosbag_tools/requirements.in.python2
new file mode 100644
index 000000000..d2aad87ec
--- /dev/null
+++ b/jsk_rosbag_tools/requirements.in.python2
@@ -0,0 +1,2 @@
+moviepy==1.0.3
+numpy<1.21.0