diff --git a/poetry.lock b/poetry.lock
index 57684e32..48a4e612 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -1857,13 +1857,13 @@ test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
 
 [[package]]
 name = "gymnasium"
-version = "1.0.0"
+version = "0.29.1"
 description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "gymnasium-1.0.0-py3-none-any.whl", hash = "sha256:b6f40e1e24c5bd419361e1a5b86a9117d2499baecc3a660d44dfff4c465393ad"},
-    {file = "gymnasium-1.0.0.tar.gz", hash = "sha256:9d2b66f30c1b34fe3c2ce7fae65ecf365d0e9982d2b3d860235e773328a3b403"},
+    {file = "gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e"},
+    {file = "gymnasium-0.29.1.tar.gz", hash = "sha256:1a532752efcb7590478b1cc7aa04f608eb7a2fdad5570cd217b66b6a35274bb1"},
 ]
 
 [package.dependencies]
@@ -1873,34 +1873,34 @@ numpy = ">=1.21.0"
 typing-extensions = ">=4.3.0"
 
 [package.extras]
-all = ["ale-py (>=0.9)", "box2d-py (==2.3.5)", "cython (<3)", "flax (>=0.5.0)", "imageio (>=2.14.1)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.1.5)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (>=2.1.3)", "swig (==4.*)", "torch (>=1.0.0)"]
-atari = ["ale-py (>=0.9)"]
+accept-rom-license = ["autorom[accept-rom-license] (>=0.4.2,<0.5.0)"]
+all = ["box2d-py (==2.3.5)", "cython (<3)", "imageio (>=2.14.1)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)", "lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "mujoco (>=2.3.3)", "mujoco-py (>=2.1,<2.2)", "opencv-python (>=3.0)", "pygame (>=2.1.3)", "shimmy[atari] (>=0.1.0,<1.0)", "swig (==4.*)", "torch (>=1.0.0)"]
+atari = ["shimmy[atari] (>=0.1.0,<1.0)"]
 box2d = ["box2d-py (==2.3.5)", "pygame (>=2.1.3)", "swig (==4.*)"]
 classic-control = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
-jax = ["flax (>=0.5.0)", "jax (>=0.4.0)", "jaxlib (>=0.4.0)"]
-mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.1.5)"]
+jax = ["jax (>=0.4.0)", "jaxlib (>=0.4.0)"]
+mujoco = ["imageio (>=2.14.1)", "mujoco (>=2.3.3)"]
 mujoco-py = ["cython (<3)", "cython (<3)", "mujoco-py (>=2.1,<2.2)", "mujoco-py (>=2.1,<2.2)"]
-other = ["matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)"]
-testing = ["dill (>=0.3.7)", "pytest (==7.1.3)", "scipy (>=1.7.3)"]
-torch = ["torch (>=1.0.0)"]
+other = ["lz4 (>=3.1.0)", "matplotlib (>=3.0)", "moviepy (>=1.0.0)", "opencv-python (>=3.0)", "torch (>=1.0.0)"]
+testing = ["pytest (==7.1.3)", "scipy (>=1.7.3)"]
 toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
 
 [[package]]
 name = "gymnasium-robotics"
-version = "1.3.0"
+version = "1.2.4"
 description = "Robotics environments for the Gymnasium repo."
 optional = true
 python-versions = ">=3.8"
 files = [
-    {file = "gymnasium_robotics-1.3.0-py3-none-any.whl", hash = "sha256:d514a291e58e2d0197fd0bafb973685be7a43e40c7d464b5ef842462f1839fd7"},
-    {file = "gymnasium_robotics-1.3.0.tar.gz", hash = "sha256:b3198b1e31ea86ca674434a5643bcf354129cb93f512f1b2b57e18274c22c050"},
+    {file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"},
+    {file = "gymnasium_robotics-1.2.4-py3-none-any.whl", hash = "sha256:c2cb23e087ca0280ae6802837eb7b3a6d14e5bd24c00803ab09f015fcff3eef5"},
 ]
 
 [package.dependencies]
-gymnasium = ">=1.0.0"
+gymnasium = ">=0.26"
 imageio = "*"
 Jinja2 = ">=3.0.3"
-mujoco = ">=2.2.0,<3.2.0"
+mujoco = ">=2.3.3,<3.0"
 numpy = ">=1.21.0"
 PettingZoo = ">=1.23.0"
 
@@ -7576,4 +7576,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "a89f20d969c8cabb45732282832c7d997385399d436e45830a48584f11fa3135"
+content-hash = "e7e53f51865d6e800c6eb99b19451db2b92328f6ba198a9d1f9a2087b7341202"
diff --git a/pyproject.toml b/pyproject.toml
index 3ed68852..53f62e4a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -44,7 +44,7 @@ diffusers = ">=0.27.2"
 torchvision = ">=0.17.1"
 h5py = ">=3.10.0"
 huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.25.2"}
-gymnasium = ">=0.29.1"
+gymnasium = "==0.29.1" # TODO(rcadene, aliberts): Make gym 1.0.0 work
 cmake = ">=3.29.0.1"
 gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true }
 gym-pusht = { version = ">=0.1.5", optional = true}