diff --git a/metadrive/constants.py b/metadrive/constants.py
index 556b02a26..544e77b3a 100644
--- a/metadrive/constants.py
+++ b/metadrive/constants.py
@@ -46,6 +46,7 @@ class TerminationState:
                "  B: Top-down View Camera (control: WASD-=)\n" \
                "  +: Lift Camera\n" \
                "  -: Lower Camera\n" \
+               "  T: Toggle manual controller\n" \
                "  Mouse click: move camera (top-down view)\n" \
                "  Esc: Quit\n"
 
diff --git a/setup.py b/setup.py
index ae2115c7d..ea3ca20b8 100644
--- a/setup.py
+++ b/setup.py
@@ -87,9 +87,9 @@ def is_win():
         "cuda": cuda_requirement,
         "gym": gym_requirement,
         "ros": ros_requirement,
-        ":python_version == '3.6'": ["panda3d==1.10.11", "panda3d-gltf==0.10, <1.0", "gymnasium>=0.26", "numpy", "opencv-python==4.5.5.64"],
-        ":python_version == '3.7'": ["panda3d>=1.10.11", "panda3d-gltf>=0.10, <1.0", "gymnasium>=0.26", "numpy", "opencv-python"],
-        ":python_version >= '3.8'": ["panda3d>=1.10.14", "panda3d-gltf>=0.13, <1.0", "gymnasium>=0.28", "numpy>=1.21.6", "opencv-python"],
+        ":python_version == '3.6'": ["panda3d==1.10.11", "panda3d-gltf==0.10, <1.0", "gymnasium>=0.26", "numpy<2.0", "opencv-python==4.5.5.64"],
+        ":python_version == '3.7'": ["panda3d>=1.10.11", "panda3d-gltf>=0.10, <1.0", "gymnasium>=0.26", "numpy<2.0", "opencv-python"],
+        ":python_version >= '3.8'": ["panda3d>=1.10.14", "panda3d-gltf>=0.13, <1.0", "gymnasium>=0.28", "numpy>=1.21.6, <2.0", "opencv-python"],
     },
     include_package_data=True,
     license="Apache 2.0",