diff --git a/bigym/robots/floating_base.py b/bigym/robots/floating_base.py
index f3dc223..18385cc 100644
--- a/bigym/robots/floating_base.py
+++ b/bigym/robots/floating_base.py
@@ -204,7 +204,7 @@ def rotation_actuators(self) -> list[Optional[mjcf.Element]]:
     def _pelvis_z(self) -> float:
         if self._position_actuators[2]:
             joint = self._mojo.physics.bind(self._position_actuators[2].joint)
-            return float(joint.qpos)
+            return float(joint.qpos.item())
         else:
             pelvis = self._mojo.physics.bind(self._pelvis.mjcf)
             return float(pelvis.pos[2])
diff --git a/setup.py b/setup.py
index cac0e54..6c4fb43 100644
--- a/setup.py
+++ b/setup.py
@@ -22,13 +22,12 @@ def get_version(rel_path):
 
 core_requirements = [
     "gymnasium>=1.0.0",
-    # pyquaternion doesn't support 2.x yet
-    "numpy==1.26.*",
+    "numpy>=2.0",
     "safetensors==0.6.2",
     # WARNING: recorded demos might break when updating Mujoco
-    "mujoco==3.1.5",
+    "mujoco>3",
     # needed for pyMJCF
-    "dm_control==1.0.19",
+    "dm_control>=1.0.43",
     "imageio",
     "pyquaternion",
     "mujoco_utils",