diff --git a/README.md b/README.md
index aeae444b6..e5e8a3cdb 100644
--- a/README.md
+++ b/README.md
@@ -58,6 +58,9 @@ Gibson v2 can be installed as a python package:
 ```bash
 git clone https://github.com/fxia22/gibsonv2
 cd gibsonv2
+
+conda create -n py3-gibson python=3.6 anaconda
+source activate py3-gibson
 pip install -e .
 ```
 
diff --git a/gibson2/envs/locomotor_env.py b/gibson2/envs/locomotor_env.py
index 78a93370c..4b875bea9 100644
--- a/gibson2/envs/locomotor_env.py
+++ b/gibson2/envs/locomotor_env.py
@@ -181,7 +181,7 @@ class NavigateEnv(BaseEnv):
         return additional_states
         """
 
-    def get_state(self):
+    def get_state(self, collision_links=[]):
         # calculate state
         # sensor_state = self.robots[0].calc_state()
         # sensor_state = np.concatenate((sensor_state, self.get_additional_states()))
@@ -265,7 +265,7 @@ class NavigateEnv(BaseEnv):
     def step(self, action):
         self.robots[0].apply_action(action)
         collision_links = self.run_simulation()
-        state = self.get_state()
+        state = self.get_state(collision_links)
         reward = self.get_reward(collision_links)
         done = self.get_termination()
 
diff --git a/setup.py b/setup.py
index 52fb6ce55..4c845b0e5 100644
--- a/setup.py
+++ b/setup.py
@@ -85,7 +85,7 @@ setup(name='gibson2',
             'numpy>=1.13',
             'pybullet==2.4.1',
             'transforms3d>=0.3.1',
-            'tqdm >= 4',
+            'tqdm == 4.19.9',
             'Pillow>=4.2.1',
             'matplotlib>=2.1.0',
             'mpi4py>=2.0.0',