diff --git a/poetry.lock b/poetry.lock
index 26192e53..1b7b4d7b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1108,67 +1108,79 @@ protobuf = ["grpcio-tools (>=1.63.0)"]
 
 [[package]]
 name = "gym-aloha"
-version = "0.1.0"
+version = "0.1.1"
 description = "A gym environment for ALOHA"
 optional = true
-python-versions = "<4.0,>=3.10"
-files = [
-    {file = "gym_aloha-0.1.0-py3-none-any.whl", hash = "sha256:62e36eeb09284422cbb7baca0292c6f65e38ec8774bf9b0bf7159ad5990cf29a"},
-    {file = "gym_aloha-0.1.0.tar.gz", hash = "sha256:bab332f469ba5ffe655fc3e9647aead05d2cb3b950dfb1f299b9539b3857ad7e"},
-]
+python-versions = "^3.10"
+files = []
+develop = false
 
 [package.dependencies]
-dm-control = "1.0.14"
-gymnasium = ">=0.29.1,<0.30.0"
-imageio = {version = ">=2.34.0,<3.0.0", extras = ["ffmpeg"]}
-mujoco = ">=2.3.7,<3.0.0"
+dm-control = ">=1.0.14"
+gymnasium = ">=0.29.1"
+imageio = {version = ">=2.34.0", extras = ["ffmpeg"]}
+mujoco = "^2.3.7"
 
 [package.extras]
-dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
-test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
+dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
+test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
+
+[package.source]
+type = "git"
+url = "https://github.com/huggingface/gym-aloha.git"
+reference = "user/aliberts/2024_05_07_remove_upper_bounds"
+resolved_reference = "32e1d915c4895fd814addbecc1fc6b7f6490cd71"
 
 [[package]]
 name = "gym-pusht"
-version = "0.1.1"
+version = "0.1.2"
 description = "A gymnasium environment for PushT."
 optional = true
-python-versions = "<4.0,>=3.10"
-files = [
-    {file = "gym_pusht-0.1.1-py3-none-any.whl", hash = "sha256:dcf8644713db48286e907aabb11e005b0592632e323baa40d1a4f2dfbbc76c3d"},
-    {file = "gym_pusht-0.1.1.tar.gz", hash = "sha256:0d1c9ffd4ad0e2411efcc724003a365a853f20b6d596980c113e7ec181ac021f"},
-]
+python-versions = "^3.10"
+files = []
+develop = false
 
 [package.dependencies]
-gymnasium = ">=0.29.1,<0.30.0"
-opencv-python = ">=4.9.0.80,<5.0.0.0"
-pygame = ">=2.5.2,<3.0.0"
-pymunk = ">=6.6.0,<7.0.0"
+gymnasium = ">=0.29.1"
+opencv-python = ">=4.9.0.80"
+pygame = ">=2.5.2"
+pymunk = ">=6.6.0"
 scikit-image = ">=0.22.0"
-shapely = ">=2.0.3,<3.0.0"
+shapely = ">=2.0.3"
 
 [package.extras]
-dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
-test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
+dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
+test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
+
+[package.source]
+type = "git"
+url = "https://github.com/huggingface/gym-pusht.git"
+reference = "user/aliberts/2024_05_07_remove_upper_bounds"
+resolved_reference = "fa7e937286582ede3d3d81d499edf9f076e25fee"
 
 [[package]]
 name = "gym-xarm"
-version = "0.1.0"
+version = "0.1.1"
 description = "A gym environment for xArm"
 optional = true
-python-versions = "<4.0,>=3.10"
-files = [
-    {file = "gym_xarm-0.1.0-py3-none-any.whl", hash = "sha256:d10ac19a59d302201a9b8bd913530211b1058467b787ad91a657907e40cdbc13"},
-    {file = "gym_xarm-0.1.0.tar.gz", hash = "sha256:fc05f9d02af1f0205275311669dc191ce431be484e221a96401eb544764eb986"},
-]
+python-versions = "^3.10"
+files = []
+develop = false
 
 [package.dependencies]
-gymnasium = ">=0.29.1,<0.30.0"
-gymnasium-robotics = ">=1.2.4,<2.0.0"
-mujoco = ">=2.3.7,<3.0.0"
+gymnasium = ">=0.29.1"
+gymnasium-robotics = ">=1.2.4"
+mujoco = "^2.3.7"
 
 [package.extras]
-dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
-test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
+dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
+test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
+
+[package.source]
+type = "git"
+url = "https://github.com/huggingface/gym-xarm.git"
+reference = "user/aliberts/2024_05_07_remove_upper_bounds"
+resolved_reference = "5627a6eee9d1871fece1bf6f910c04c1de10013e"
 
 [[package]]
 name = "gymnasium"
@@ -3066,6 +3078,7 @@ files = [
     {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
     {file = "PyYAML-6.0.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:855fb52b0dc35af121542a76b9a84f8d1cd886ea97c84703eaa6d88e37a2ad28"},
     {file = "PyYAML-6.0.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:40df9b996c2b73138957fe23a16a4f0ba614f4c0efce1e9406a184b6d07fa3a9"},
+    {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a08c6f0fe150303c1c6b71ebcd7213c2858041a7e01975da3a99aed1e7a378ef"},
     {file = "PyYAML-6.0.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c22bec3fbe2524cde73d7ada88f6566758a8f7227bfbf93a408a9d86bcc12a0"},
     {file = "PyYAML-6.0.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:8d4e9c88387b0f5c7d5f281e55304de64cf7f9c0021a3525bd3b1c542da3b0e4"},
     {file = "PyYAML-6.0.1-cp312-cp312-win32.whl", hash = "sha256:d483d2cdf104e7c9fa60c544d92981f12ad66a457afae824d146093b8c294c54"},
@@ -4354,4 +4367,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "008a6af5ad9d9eafbd933c922c2c5d84fddae85aff8a9eefc0538b1319966f6e"
+content-hash = "759d2614ba44721ef68a0daea8abdf5925b03224a05b0ea18d217a3ccfcb1a3a"
diff --git a/pyproject.toml b/pyproject.toml
index 94ed5d03..cc8a6049 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -47,9 +47,12 @@ huggingface-hub = "^0.21.4"
 robomimic = "0.2.0"
 gymnasium = "^0.29.1"
 cmake = "^3.29.0.1"
-gym-pusht = { version = "^0.1.1", optional = true}
-gym-xarm = { version = "^0.1.0", optional = true}
-gym-aloha = { version = "^0.1.0", optional = true}
+gym-pusht = { git = "https://github.com/huggingface/gym-pusht.git", branch = "user/aliberts/2024_05_07_remove_upper_bounds", optional = true}
+gym-xarm = { git = "https://github.com/huggingface/gym-xarm.git", branch = "user/aliberts/2024_05_07_remove_upper_bounds", optional = true}
+gym-aloha = { git = "https://github.com/huggingface/gym-aloha.git", branch = "user/aliberts/2024_05_07_remove_upper_bounds", optional = true}
+# gym-pusht = { version = "^0.1.2", optional = true}
+# gym-xarm = { version = "^0.1.1", optional = true}
+# gym-aloha = { version = "^0.1.1", optional = true}
 pre-commit = {version = "^3.7.0", optional = true}
 debugpy = {version = "^1.8.1", optional = true}
 pytest = {version = "^8.1.0", optional = true}