diff --git a/Makefile b/Makefile
index 9619456a..3c344268 100755
--- a/Makefile
+++ b/Makefile
@@ -57,6 +57,7 @@ install-third-party:
 	@cd third_party/isaacgym/python/ && pip install --verbose -e .
 
 install-third-party-external:
+	@conda install -y nvidia/label/cuda-12.0.0::cuda-nvrtc
 	@cd ${ISAACGYM_PATH}/python/ && pip install --verbose -e .
 
 build-ext:
diff --git a/sim/algo/ppo/on_policy_runner.py b/sim/algo/ppo/on_policy_runner.py
index e3fb6e1c..0065f8aa 100755
--- a/sim/algo/ppo/on_policy_runner.py
+++ b/sim/algo/ppo/on_policy_runner.py
@@ -38,9 +38,9 @@
 from typing import Callable, Optional
 
 import torch
-import wandb
 from torch.utils.tensorboard import SummaryWriter
 
+import wandb
 from sim.algo.ppo.actor_critic import ActorCritic
 from sim.algo.ppo.ppo import PPO
 from sim.algo.vec_env import VecEnv
diff --git a/sim/envs/humanoids/stompymini_config.py b/sim/envs/humanoids/stompymini_config.py
index fb45ff1d..91ffde22 100755
--- a/sim/envs/humanoids/stompymini_config.py
+++ b/sim/envs/humanoids/stompymini_config.py
@@ -36,7 +36,6 @@ class asset(LeggedRobotCfg.asset):
         name = "stompymini"
         file = str(robot_urdf_path(name))
 
-
         foot_name = ["RS_01_Stator", "RS_01_Stator_2"]
         knee_name = ["RS_04_Rotor_7", "RS_04_Rotor_8"]
 
diff --git a/sim/envs/humanoids/xbot_config.py b/sim/envs/humanoids/xbot_config.py
index 5c68e0af..5a7805db 100755
--- a/sim/envs/humanoids/xbot_config.py
+++ b/sim/envs/humanoids/xbot_config.py
@@ -36,7 +36,6 @@ class asset(LeggedRobotCfg.asset):
         name = "xbot"
         file = str(robot_urdf_path(name))
 
-
         foot_name = "ankle_roll"
         knee_name = "knee"
 
diff --git a/sim/requirements.txt b/sim/requirements.txt
index 229ec16a..18038c6b 100755
--- a/sim/requirements.txt
+++ b/sim/requirements.txt
@@ -4,4 +4,8 @@ mediapy
 torch
 python-dotenv
 h5py
-gdown
\ No newline at end of file
+gdown
+matplotlib==3.3.4
+numpy==1.19.5
+wandb
+tensorboard
\ No newline at end of file