diff --git a/readme/tuto_library.md b/readme/tuto_library.md
index 8ab8aa8..90f0629 100644
--- a/readme/tuto_library.md
+++ b/readme/tuto_library.md
@@ -214,7 +214,7 @@ class DummyRCDroneInterface(RealTimeGymInterface):
         vel_y = control[1]
         self.rc_drone.send_control(vel_x, vel_y)
 
-    def reset(self):
+    def reset(self, seed=None, options=None):
         if not self.initialized:
             self.rc_drone = DummyRCDrone()
             self.initialized = True
@@ -240,7 +240,7 @@ class DummyRCDroneInterface(RealTimeGymInterface):
         return obs, rew, terminated, info
 
     def wait(self):
-        self.send_control(self.get_default_action())
+        pass
 
     def render(self):
         image = self.blank_image.copy()
diff --git a/setup.py b/setup.py
index 482deb0..362ba41 100644
--- a/setup.py
+++ b/setup.py
@@ -103,7 +103,7 @@ def url_retrieve(url: str, outfile: Path, overwrite: bool = False):
     'torch',
     'pandas',
     'gymnasium',
-    'rtgym>=0.8',
+    'rtgym>=0.9',
     'pyyaml',
     'wandb',
     'requests',
@@ -127,13 +127,13 @@ def url_retrieve(url: str, outfile: Path, overwrite: bool = False):
 
 setup(
     name='tmrl',
-    version='0.5.0',
+    version='0.5.1',
     description='Network-based framework for real-time robot learning',
     long_description=README,
     long_description_content_type='text/markdown',
     keywords='reinforcement learning, robot learning, trackmania, self driving, roborace',
     url='https://github.com/trackmania-rl/tmrl',
-    download_url='https://github.com/trackmania-rl/tmrl/archive/refs/tags/v0.4.2.tar.gz',
+    download_url='https://github.com/trackmania-rl/tmrl/archive/refs/tags/v0.5.1.tar.gz',
     author='Yann Bouteiller, Edouard Geze',
     author_email='yann.bouteiller@polymtl.ca, edouard.geze@hotmail.fr',
     license='MIT',
diff --git a/tmrl/custom/custom_gym_interfaces.py b/tmrl/custom/custom_gym_interfaces.py
index 9cb6d03..9d149fe 100644
--- a/tmrl/custom/custom_gym_interfaces.py
+++ b/tmrl/custom/custom_gym_interfaces.py
@@ -149,7 +149,7 @@ def reset_common(self):
         time_sleep = max(0, cfg.SLEEP_TIME_AT_RESET - 0.1) if self.gamepad else cfg.SLEEP_TIME_AT_RESET
         time.sleep(time_sleep)  # must be long enough for image to be refreshed
 
-    def reset(self):
+    def reset(self, seed=None, options=None):
         """
         obs must be a list of numpy arrays
         """
@@ -268,7 +268,7 @@ def initialize(self):
         self.lidar = Lidar(self.window_interface.screenshot())
         self.initialized = True
 
-    def reset(self):
+    def reset(self, seed=None, options=None):
         """
         obs must be a list of numpy arrays
         """
@@ -316,7 +316,7 @@ def get_observation_space(self):
 
 class TM2020InterfaceLidarProgress(TM2020InterfaceLidar):
 
-    def reset(self):
+    def reset(self, seed=None, options=None):
         """
         obs must be a list of numpy arrays
         """
diff --git a/tmrl/tuto/tuto.py b/tmrl/tuto/tuto.py
index 5ef795c..63c2c01 100644
--- a/tmrl/tuto/tuto.py
+++ b/tmrl/tuto/tuto.py
@@ -75,7 +75,7 @@ def send_control(self, control):
         vel_y = control[1]
         self.rc_drone.send_control(vel_x, vel_y)
 
-    def reset(self):
+    def reset(self, seed=None, options=None):
         if not self.initialized:
             self.rc_drone = DummyRCDrone()
             self.rendering_thread.start()
@@ -102,7 +102,7 @@ def get_obs_rew_terminated_info(self):
         return obs, rew, terminated, info
 
     def wait(self):
-        self.send_control(self.get_default_action())
+        pass
 
     def render(self):
         image = self.blank_image.copy()