diff --git a/deepbots/supervisor/controllers/deepbots_supervisor_env.py b/deepbots/supervisor/controllers/deepbots_supervisor_env.py
index d2da665..fc7f238 100644
--- a/deepbots/supervisor/controllers/deepbots_supervisor_env.py
+++ b/deepbots/supervisor/controllers/deepbots_supervisor_env.py
@@ -1,4 +1,4 @@
-import gym
+import gymnasium as gym
 from controller import Supervisor
 
 
@@ -43,7 +43,7 @@ def step(self, action):
         """
         raise NotImplementedError
 
-    def reset(self):
+    def reset(self, **kwargs):
         """
         Used to reset the world to an initial state.
 
@@ -62,7 +62,7 @@ def reset(self):
         self.simulationReset()
         self.simulationResetPhysics()
         super(Supervisor, self).step(int(self.getBasicTimeStep()))
-        return self.get_default_observation()
+        return self.get_default_observation(), {}
 
     def get_default_observation(self):
         """
@@ -109,6 +109,12 @@ def is_done(self):
         """
         raise NotImplementedError
 
+    def is_terminated(self):
+        raise NotImplementedError
+    
+    def is_truncated(self):
+        raise NotImplementedError
+
     def get_info(self):
         """
         This method can be implemented to return any diagnostic
diff --git a/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py b/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py
index 2ad040b..88c4d95 100644
--- a/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py
+++ b/deepbots/supervisor/controllers/emitter_receiver_supervisor_env.py
@@ -71,7 +71,8 @@ def step(self, action):
         return (
             self.get_observations(),
             self.get_reward(action),
-            self.is_done(),
+            self.is_terminated(),
+            self.is_truncated(),
             self.get_info(),
         )
 
diff --git a/deepbots/supervisor/controllers/robot_supervisor_env.py b/deepbots/supervisor/controllers/robot_supervisor_env.py
index 33647e1..ef6b1f3 100644
--- a/deepbots/supervisor/controllers/robot_supervisor_env.py
+++ b/deepbots/supervisor/controllers/robot_supervisor_env.py
@@ -83,7 +83,8 @@ def step(self, action):
         return (
             self.get_observations(),
             self.get_reward(action),
-            self.is_done(),
+            self.is_terminated(),
+            self.is_truncated(),
             self.get_info(),
         )
 
diff --git a/requirements.txt b/requirements.txt
index dc587eb..0599fd4 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,2 +1,2 @@
-gym==0.21
+gymnasium>=0.28.1,<0.30
 tensorboardX