diff --git a/robogauge/scripts/server.py b/robogauge/scripts/server.py
index ff60c09..6bdc80c 100644
--- a/robogauge/scripts/server.py
+++ b/robogauge/scripts/server.py
@@ -19,6 +19,7 @@ os.environ['MUJOCO_GL'] = 'glfw'
 
 os.environ["OMP_NUM_THREADS"] = "1"
 os.environ["MKL_NUM_THREADS"] = "1"
+os.environ["TORCH_CPP_LOG_LEVEL"] = "ERROR"
 
 import multiprocessing
 import threading
diff --git a/robogauge/tasks/simulator/mujoco_simulator.py b/robogauge/tasks/simulator/mujoco_simulator.py
index 96a842b..910d636 100644
--- a/robogauge/tasks/simulator/mujoco_simulator.py
+++ b/robogauge/tasks/simulator/mujoco_simulator.py
@@ -781,6 +781,13 @@ class MujocoSimulator:
 
             contact_force = np.zeros(6, dtype=np.float64)
             mujoco.mj_contactForce(self.mj_model, self.mj_data, i, contact_force)
+            max_contact_force = 1e6
+            contact_force = np.nan_to_num(
+                contact_force,
+                nan=0.0, posinf=max_contact_force, neginf=-max_contact_force
+            )
+            contact_force = np.clip(contact_force, -max_contact_force, max_contact_force)
+
             friction = np.array(contact.friction, dtype=np.float32).reshape(-1)
 
             positions.append(np.array(contact.pos, dtype=np.float32))
diff --git a/setup.py b/setup.py
index 6dd8658..300cf18 100644
--- a/setup.py
+++ b/setup.py
@@ -10,8 +10,8 @@ setup(
     packages=find_packages(),
     install_requires=[
         "torch",  # Refer: https://pytorch.org/get-started/locally/
-        "numpy==1.20.0",
-        "pillow==9.0.0",
+        "numpy<2",
+        "pillow<10",
         "mujoco==3.2.3",
         "dm_control==1.0.23",
         "scipy",