diff --git a/requirements.txt b/requirements.txt
index 2c7a24dd..6e457c99 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,12 +1,13 @@
 click
 sk-video
-gym==0.13
+# gym==0.13 # default to this stable point if caught in gym/gymnasium issues
+gymnasium==0.29.1
 termcolor
 flatten_dict
 h5py
 numpy
-mujoco==2.3.7
-dm-control==1.0.14
+mujoco==3.1.2
+dm-control==1.0.16
 Pillow
 pink-noise-rl
 packaging