diff --git a/poetry.lock b/poetry.lock
index 52ff3da..c730829 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -23,10 +23,10 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
-docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
-tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
+tests_no_zope = ["cloudpickle", "pytest-mypy-plugins", "mypy", "six", "pytest (>=4.3.0)", "pympler", "hypothesis", "coverage[toml] (>=5.0.2)"]
+tests = ["cloudpickle", "zope.interface", "pytest-mypy-plugins", "mypy", "six", "pytest (>=4.3.0)", "pympler", "hypothesis", "coverage[toml] (>=5.0.2)"]
+docs = ["sphinx-notfound-page", "zope.interface", "sphinx", "furo"]
+dev = ["cloudpickle", "pre-commit", "sphinx-notfound-page", "sphinx", "furo", "zope.interface", "pytest-mypy-plugins", "mypy", "six", "pytest (>=4.3.0)", "pympler", "hypothesis", "coverage[toml] (>=5.0.2)"]
 
 [[package]]
 name = "babel"
@@ -77,7 +77,7 @@ pyparsing = "*"
 python-dateutil = "*"
 
 [package.extras]
-test = ["flake8", "flake8-blind-except", "flake8-builtins", "flake8-class-newline", "flake8-comprehensions", "flake8-deprecated", "flake8-docstrings", "flake8-import-order", "flake8-quotes", "pytest", "mock"]
+test = ["mock", "pytest", "flake8-quotes", "flake8-import-order", "flake8-docstrings", "flake8-deprecated", "flake8-comprehensions", "flake8-class-newline", "flake8-builtins", "flake8-blind-except", "flake8"]
 
 [[package]]
 name = "certifi"
@@ -152,7 +152,7 @@ python-versions = ">=3.6"
 name = "dataclasses"
 version = "0.8"
 description = "A backport of the dataclasses module for Python 3.6"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6, <3.7"
 
@@ -219,28 +219,38 @@ dev = ["coverage", "hypothesis", "hypothesmith (>=0.2)", "pre-commit"]
 
 [[package]]
 name = "gym"
-version = "0.21.0"
-description = "Gym: A universal API for reinforcement learning environments."
+version = "0.25.2"
+description = "Gym: A universal API for reinforcement learning environments"
 category = "main"
 optional = false
 python-versions = ">=3.6"
 
 [package.dependencies]
 cloudpickle = ">=1.2.0"
-importlib_metadata = {version = ">=4.8.1", markers = "python_version < \"3.8\""}
+dataclasses = {version = "0.8", markers = "python_version == \"3.6\""}
+gym_notices = ">=0.0.4"
+importlib_metadata = {version = ">=4.8.0", markers = "python_version < \"3.10\""}
 numpy = ">=1.18.0"
 
 [package.extras]
 accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
-all = ["mujoco_py (>=1.50,<2.0)", "lz4 (>=3.1.0)", "opencv-python (>=3)", "ale-py (>=0.7.1,<0.8.0)", "pyglet (>=1.4.0)", "scipy (>=1.4.1)", "box2d-py (==2.3.5)", "pyglet (>=1.4.0)", "ale-py (>=0.7.1,<0.8.0)", "lz4 (>=3.1.0)", "opencv-python (>=3)", "pyglet (>=1.4.0)", "box2d-py (==2.3.5)", "pyglet (>=1.4.0)", "scipy (>=1.4.1)", "mujoco_py (>=1.50,<2.0)"]
-atari = ["ale-py (>=0.7.1,<0.8.0)"]
-box2d = ["box2d-py (==2.3.5)", "pyglet (>=1.4.0)"]
-classic_control = ["pyglet (>=1.4.0)"]
-mujoco = ["mujoco_py (>=1.50,<2.0)"]
-nomujoco = ["lz4 (>=3.1.0)", "opencv-python (>=3)", "ale-py (>=0.7.1,<0.8.0)", "pyglet (>=1.4.0)", "scipy (>=1.4.1)", "box2d-py (==2.3.5)", "pyglet (>=1.4.0)"]
-other = ["lz4 (>=3.1.0)", "opencv-python (>=3)"]
-robotics = ["mujoco_py (>=1.50,<2.0)"]
-toy_text = ["scipy (>=1.4.1)"]
+all = ["opencv-python (>=3.0)", "pytest (==7.0.1)", "mujoco (==2.2.0)", "pygame (==2.1.0)", "lz4 (>=3.1.0)", "ale-py (>=0.7.5,<0.8.0)", "mujoco_py (>=2.1,<2.2)", "imageio (>=2.14.1)", "swig (>=4.0.0,<5.0.0)", "matplotlib (>=3.0)", "box2d-py (==2.3.5)"]
+atari = ["ale-py (>=0.7.5,<0.8.0)"]
+box2d = ["box2d-py (==2.3.5)", "pygame (==2.1.0)", "swig (>=4.0.0,<5.0.0)"]
+classic_control = ["pygame (==2.1.0)"]
+mujoco = ["mujoco (==2.2.0)", "imageio (>=2.14.1)"]
+mujoco_py = ["mujoco_py (>=2.1,<2.2)"]
+other = ["lz4 (>=3.1.0)", "opencv-python (>=3.0)", "matplotlib (>=3.0)"]
+testing = ["opencv-python (>=3.0)", "mujoco (==2.2.0)", "pygame (==2.1.0)", "lz4 (>=3.1.0)", "mujoco_py (>=2.1,<2.2)", "imageio (>=2.14.1)", "swig (>=4.0.0,<5.0.0)", "matplotlib (>=3.0)", "box2d-py (==2.3.5)", "pytest (==7.0.1)"]
+toy_text = ["pygame (==2.1.0)"]
+
+[[package]]
+name = "gym-notices"
+version = "0.0.8"
+description = "Notices for gym"
+category = "main"
+optional = false
+python-versions = "*"
 
 [[package]]
 name = "idna"
@@ -271,9 +281,9 @@ typing-extensions = {version = ">=3.6.4", markers = "python_version < \"3.8\""}
 zipp = ">=0.5"
 
 [package.extras]
-docs = ["sphinx", "jaraco.packaging (>=8.2)", "rst.linker (>=1.9)"]
+testing = ["importlib-resources (>=1.3)", "pytest-mypy", "pytest-black (>=0.3.7)", "pytest-perf (>=0.9.2)", "flufl.flake8", "pyfakefs", "pep517", "packaging", "pytest-enabler (>=1.0.1)", "pytest-cov", "pytest-flake8", "pytest-checkdocs (>=2.4)", "pytest (>=6)"]
 perf = ["ipython"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "packaging", "pep517", "pyfakefs", "flufl.flake8", "pytest-perf (>=0.9.2)", "pytest-black (>=0.3.7)", "pytest-mypy", "importlib-resources (>=1.3)"]
+docs = ["rst.linker (>=1.9)", "jaraco.packaging (>=8.2)", "sphinx"]
 
 [[package]]
 name = "jinja2"
@@ -396,38 +406,6 @@ python-versions = ">=3.6"
 [package.dependencies]
 numpy = ">=1.13.3"
 
-[[package]]
-name = "opencv-python"
-version = "4.5.5.64"
-description = "Wrapper package for OpenCV python bindings."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-numpy = [
-    {version = ">=1.13.3", markers = "python_version < \"3.7\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.14.5", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
-
-[[package]]
-name = "opencv-python"
-version = "4.6.0.66"
-description = "Wrapper package for OpenCV python bindings."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-numpy = [
-    {version = ">=1.13.3", markers = "python_version < \"3.7\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
-    {version = ">=1.14.5", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
-
 [[package]]
 name = "packaging"
 version = "21.3"
@@ -464,8 +442,8 @@ optional = false
 python-versions = ">=3.6"
 
 [package.extras]
-docs = ["Sphinx (>=4)", "furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx-autodoc-typehints (>=1.12)"]
-test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+test = ["pytest-mock (>=3.6)", "pytest-cov (>=2.7)", "pytest (>=6)", "appdirs (==1.4.4)"]
+docs = ["sphinx-autodoc-typehints (>=1.12)", "proselint (>=0.10.2)", "furo (>=2021.7.5b38)", "Sphinx (>=4)"]
 
 [[package]]
 name = "pluggy"
@@ -479,7 +457,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 importlib-metadata = {version = ">=0.12", markers = "python_version < \"3.8\""}
 
 [package.extras]
-dev = ["pre-commit", "tox"]
+dev = ["tox", "pre-commit"]
 
 [[package]]
 name = "psutil"
@@ -490,7 +468,7 @@ optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [package.extras]
-test = ["ipaddress", "mock", "enum34", "pywin32", "wmi"]
+test = ["wmi", "pywin32", "enum34", "mock", "ipaddress"]
 
 [[package]]
 name = "py"
@@ -579,7 +557,7 @@ coverage = {version = ">=5.2.1", extras = ["toml"]}
 pytest = ">=4.6"
 
 [package.extras]
-testing = ["fields", "hunter", "process-tests", "six", "pytest-xdist", "virtualenv"]
+testing = ["virtualenv", "pytest-xdist", "six", "process-tests", "hunter", "fields"]
 
 [[package]]
 name = "pytest-timeout"
@@ -642,8 +620,8 @@ idna = {version = ">=2.5,<4", markers = "python_version >= \"3\""}
 urllib3 = ">=1.21.1,<1.27"
 
 [package.extras]
-socks = ["PySocks (>=1.5.6,!=1.5.7)", "win-inet-pton"]
 use_chardet_on_py3 = ["chardet (>=3.0.2,<5)"]
+socks = ["win-inet-pton", "PySocks (>=1.5.6,!=1.5.7)"]
 
 [[package]]
 name = "rospkg"
@@ -737,8 +715,8 @@ python-versions = ">=3.6"
 Sphinx = ">=3.0"
 
 [package.extras]
-test = ["pytest (>=3.1.0)", "typing-extensions (>=3.5)", "sphobjinv (>=2.0)", "Sphinx (>=3.2.0)", "dataclasses"]
 type_comments = ["typed-ast (>=1.4.0)"]
+test = ["dataclasses", "Sphinx (>=3.2.0)", "sphobjinv (>=2.0)", "typing-extensions (>=3.5)", "pytest (>=3.1.0)"]
 
 [[package]]
 name = "sphinx-rtd-theme"
@@ -753,7 +731,7 @@ docutils = "<0.18"
 sphinx = ">=1.6"
 
 [package.extras]
-dev = ["transifex-client", "sphinxcontrib-httpdomain", "bump2version"]
+dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client"]
 
 [[package]]
 name = "sphinxcontrib-applehelp"
@@ -764,8 +742,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-devhelp"
@@ -776,8 +754,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-htmlhelp"
@@ -788,8 +766,8 @@ optional = false
 python-versions = ">=3.6"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
-test = ["pytest", "html5lib"]
+test = ["html5lib", "pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-jsmath"
@@ -800,7 +778,7 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-test = ["pytest", "flake8", "mypy"]
+test = ["mypy", "flake8", "pytest"]
 
 [[package]]
 name = "sphinxcontrib-qthelp"
@@ -811,8 +789,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "sphinxcontrib-serializinghtml"
@@ -823,8 +801,8 @@ optional = false
 python-versions = ">=3.5"
 
 [package.extras]
-lint = ["flake8", "mypy", "docutils-stubs"]
 test = ["pytest"]
+lint = ["docutils-stubs", "mypy", "flake8"]
 
 [[package]]
 name = "tabulate"
@@ -899,13 +877,13 @@ optional = false
 python-versions = ">=3.6"
 
 [package.extras]
-docs = ["sphinx", "jaraco.packaging (>=8.2)", "rst.linker (>=1.9)"]
-testing = ["pytest (>=4.6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "jaraco.itertools", "func-timeout", "pytest-black (>=0.3.7)", "pytest-mypy"]
+testing = ["pytest-mypy", "pytest-black (>=0.3.7)", "func-timeout", "jaraco.itertools", "pytest-enabler (>=1.0.1)", "pytest-cov", "pytest-flake8", "pytest-checkdocs (>=2.4)", "pytest (>=4.6)"]
+docs = ["rst.linker (>=1.9)", "jaraco.packaging (>=8.2)", "sphinx"]
 
 [metadata]
 lock-version = "1.1"
 python-versions = "^3.6.2"
-content-hash = "ce84a1ddb3c64210883b81231cb9e7bbfec99698bfb6411c350d6880ecd391bd"
+content-hash = "4bfb3147ecbdf1f2f824b0e8192fb1cd5e5c381c4b3ae11f77c02d87a7d8b66a"
 
 [metadata.files]
 alabaster = [
@@ -1055,7 +1033,11 @@ flake8-bugbear = [
     {file = "flake8_bugbear-22.7.1-py3-none-any.whl", hash = "sha256:db5d7a831ef4412a224b26c708967ff816818cabae415e76b8c58df156c4b8e5"},
 ]
 gym = [
-    {file = "gym-0.21.0.tar.gz", hash = "sha256:0fd1ce165c754b4017e37a617b097c032b8c3feb8a0394ccc8777c7c50dddff3"},
+    {file = "gym-0.25.2.tar.gz", hash = "sha256:c8323f4c6f37363710b519742a0094316deddc9d8fc9e3f6deac08d6da47150c"},
+]
+gym-notices = [
+    {file = "gym-notices-0.0.8.tar.gz", hash = "sha256:ad25e200487cafa369728625fe064e88ada1346618526102659b4640f2b4b911"},
+    {file = "gym_notices-0.0.8-py3-none-any.whl", hash = "sha256:e5f82e00823a166747b4c2a07de63b6560b1acb880638547e0cabf825a01e463"},
 ]
 idna = [
     {file = "idna-3.3-py3-none-any.whl", hash = "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff"},
@@ -1315,20 +1297,6 @@ opencv-python = [
     {file = "opencv_python-4.5.2.54-cp39-cp39-manylinux2014_x86_64.whl", hash = "sha256:8cf81f53ac5ad900ca443a8252c4e0bc1256f1c2cb2d8459df2ba1ac014dfa36"},
     {file = "opencv_python-4.5.2.54-cp39-cp39-win32.whl", hash = "sha256:a8020cc6145c6934192189058743a55189750df6dff894396edb8b35a380cc48"},
     {file = "opencv_python-4.5.2.54-cp39-cp39-win_amd64.whl", hash = "sha256:0a3aef70b7c53bbd22ade86a4318b8a2ad98d3c3ed3d0c315f18bf1a2d868709"},
-    {file = "opencv-python-4.5.5.64.tar.gz", hash = "sha256:f65de0446a330c3b773cd04ba10345d8ce1b15dcac3f49770204e37602d0b3f7"},
-    {file = "opencv_python-4.5.5.64-cp36-abi3-macosx_10_15_x86_64.whl", hash = "sha256:a512a0c59b6fec0fac3844b2f47d6ecb1a9d18d235e6c5491ce8dbbe0663eae8"},
-    {file = "opencv_python-4.5.5.64-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ca6138b6903910e384067d001763d40f97656875487381aed32993b076f44375"},
-    {file = "opencv_python-4.5.5.64-cp36-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b293ced62f4360d9f11cf72ae7e9df95320ff7bf5b834d87546f844e838c0c35"},
-    {file = "opencv_python-4.5.5.64-cp36-abi3-win32.whl", hash = "sha256:6247e584813c00c3b9ed69a795da40d2c153dc923d0182e957e1c2f00a554ac2"},
-    {file = "opencv_python-4.5.5.64-cp36-abi3-win_amd64.whl", hash = "sha256:408d5332550287aa797fd06bef47b2dfed163c6787668cc82ef9123a9484b56a"},
-    {file = "opencv_python-4.5.5.64-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:7787bb017ae93d5f9bb1b817ac8e13e45dd193743cb648498fcab21d00cf20a3"},
-    {file = "opencv-python-4.6.0.66.tar.gz", hash = "sha256:c5bfae41ad4031e66bb10ec4a0a2ffd3e514d092652781e8b1ac98d1b59f1158"},
-    {file = "opencv_python-4.6.0.66-cp36-abi3-macosx_10_15_x86_64.whl", hash = "sha256:e6e448b62afc95c5b58f97e87ef84699e6607fe5c58730a03301c52496005cae"},
-    {file = "opencv_python-4.6.0.66-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5af8ba35a4fcb8913ffb86e92403e9a656a4bff4a645d196987468f0f8947875"},
-    {file = "opencv_python-4.6.0.66-cp36-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dbdc84a9b4ea2cbae33861652d25093944b9959279200b7ae0badd32439f74de"},
-    {file = "opencv_python-4.6.0.66-cp36-abi3-win32.whl", hash = "sha256:f482e78de6e7b0b060ff994ffd859bddc3f7f382bb2019ef157b0ea8ca8712f5"},
-    {file = "opencv_python-4.6.0.66-cp36-abi3-win_amd64.whl", hash = "sha256:0dc82a3d8630c099d2f3ac1b1aabee164e8188db54a786abb7a4e27eba309440"},
-    {file = "opencv_python-4.6.0.66-cp37-abi3-macosx_11_0_arm64.whl", hash = "sha256:6e32af22e3202748bd233ed8f538741876191863882eba44e332d1a34993165b"},
 ]
 packaging = [
     {file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
@@ -1631,7 +1599,10 @@ typing-extensions = [
     {file = "typing_extensions-4.1.1-py3-none-any.whl", hash = "sha256:21c85e0fe4b9a155d0799430b0ad741cdce7e359660ccbd8b530613e8df88ce2"},
     {file = "typing_extensions-4.1.1.tar.gz", hash = "sha256:1a9462dcc3347a79b1f1c0271fbe79e844580bb598bafa1ed208b94da3cdcd42"},
 ]
-urllib3 = []
+urllib3 = [
+    {file = "urllib3-1.26.10-py2.py3-none-any.whl", hash = "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec"},
+    {file = "urllib3-1.26.10.tar.gz", hash = "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"},
+]
 wcwidth = [
     {file = "wcwidth-0.2.5-py2.py3-none-any.whl", hash = "sha256:beb4802a9cebb9144e99086eff703a642a13d6a0052920003a230f3294bbe784"},
     {file = "wcwidth-0.2.5.tar.gz", hash = "sha256:c4d647b99872929fdb7bdcaa4fbe7f01413ed3d98077df798530e5b04f116c83"},
diff --git a/pyproject.toml b/pyproject.toml
index b1d20a5..03991b7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ documentation = "https://eagerx.readthedocs.io/en/master/"
 python = "^3.6.2"
 opencv-python = "^4.3.0.36"
 networkx = "^2.5.1"
-gym = "^0.21.0"
+gym = ">=0.21,<0.26"
 tabulate = "^0.8.9"
 PyYAML = "^6.0"
 rospkg = "^1.3.0"