diff --git a/.gitignore b/.gitignore
index 952acc04..d09d6354 100755
--- a/.gitignore
+++ b/.gitignore
@@ -28,3 +28,5 @@ out*/
 # Training artifacts
 wandb/
 runs/
+isaacgym/
+*.h5
diff --git a/sim/requirements-dev.txt b/sim/requirements-dev.txt
index 318955ea..fb42613f 100755
--- a/sim/requirements-dev.txt
+++ b/sim/requirements-dev.txt
@@ -1,8 +1,28 @@
 # requirements-dev.txt
 
-black
-darglint
+black==24.8.0
+darglint==1.8.1
+h5py==3.11.0
+imageio==2.35.1
+matplotlib==3.3.4
+mediapy==1.2.2
+mujoco==3.2.3
+mujoco_python_viewer==0.1.4
+numpy==1.24.4
+onnx==1.15.0
+onnxruntime==1.19.2
+pandas==1.4.4
+Pillow==11.0.0
+poselib==2.0.4
+pygame==2.6.1
+python-dotenv==1.0.1
+ruamel.base==1.0.0
+scipy==1.14.1
+setuptools==75.1.0
+torch==2.4.1
+tqdm==4.67.0
+wandb==0.18.7
 mypy==1.10.0
-pytest
-ruff
-isort
\ No newline at end of file
+pytest==8.3.3
+ruff==0.7.4
+isort==5.13.2
\ No newline at end of file
diff --git a/sim/scripts/download_assets.sh b/sim/scripts/download_assets.sh
index 1c5a716b..34e54529 100755
--- a/sim/scripts/download_assets.sh
+++ b/sim/scripts/download_assets.sh
@@ -1,29 +1,45 @@
 #!/bin/zsh
 
+echo "If any of the downloads fail, you can manually download the assets and place them in the respective directories."
+
 # Stompymini
+echo
+echo "Downloading Stompymini assets..."
 gdown --id 1Ah92CTN63M2h4uKPLf8eXkX2H9Bg3Kji
 unzip meshes.zip -d sim/resources/stompymini/
 rm meshes.zip
 
 # Stompypro
+echo
+echo "Downloading Stompypro assets..."
 gdown --folder https://drive.google.com/drive/folders/1-iIqy8j4gF6JeuMc_MjxkRe4vSZl8Ozp -O sim/resources/stompypro/
 
 # Xbot
+echo
+echo "Downloading Xbot assets..."
 gdown --id 1tpl95OdUhg9VL88FhKWMReY4qtLHHKoh
 tar -xzvf meshes.zip -C sim/resources/xbot/
 rm meshes.zip
 
 # Dora
+echo
+echo "Downloading Dora assets..."
 gdown --folder https://drive.google.com/drive/folders/1tQiMtOwGg3PGo9AygX3sj6X_HBpnW2S_ -O sim/resources/dora/
 
 # G1
+echo
+echo "Downloading G1 assets..."
 gdown --folder https://drive.google.com/drive/folders/1OxYcIJpeih89NY5auRayxCXpndrRnLJx -O sim/resources/g1/
 
 # H1_2
+echo
+echo "Downloading H1_2 assets..."
 gdown --id 19ih7zG6Ky8xJVJD5M1th2hmqtxaNiZyh
 tar -xzvf meshes.zip -C sim/resources/h1_2/
 rm meshes.zip
 
 # Stompymicro
+echo
+echo "Downloading Stompymicro assets..."
 gdown --folder https://drive.google.com/drive/folders/1C_v0FKoc6um0tUK2f1e6cWXtfvuc-xsD -O sim/resources/stompymicro/