diff --git a/Pipfile b/Pipfile
deleted file mode 100644
index b85b85fa..00000000
--- a/Pipfile
+++ /dev/null
@@ -1,32 +0,0 @@
-[[source]]
-url = "https://pypi.org/simple"
-verify_ssl = true
-name = "pypi"
-
-[packages]
-gymnasium = "*"
-numpy = "<1.25"
-pillow = ">=9.0.1"
-scipy = ">=1.7.3"
-pyglet = "<1.5"
-pyyaml = ">=5.3.1"
-yamldataclassconfig = "*"
-requests = "*"
-pyopengl = "*"
-numba = "*"
-shapely = "*"
-opencv-python = "*"
-f110-gym = {file = "."}
-
-[dev-packages]
-flake8 = "*"
-black = "*"
-ipykernel = "*"
-pytest = "*"
-isort = "*"
-autoflake = "*"
-matplotlib = "*"
-
-[requires]
-python_version = "3.10"
-python_full_version = "3.10.11"
diff --git a/Pipfile.lock b/Pipfile.lock
deleted file mode 100644
index 5950f0cd..00000000
--- a/Pipfile.lock
+++ /dev/null
@@ -1,1380 +0,0 @@
-{
-    "_meta": {
-        "hash": {
-            "sha256": "8ba9fc82f4b3c300687f74e53209cf8bf21995882ac9cde2b005fd30b579e7ec"
-        },
-        "pipfile-spec": 6,
-        "requires": {
-            "python_full_version": "3.10.11",
-            "python_version": "3.10"
-        },
-        "sources": [
-            {
-                "name": "pypi",
-                "url": "https://pypi.org/simple",
-                "verify_ssl": true
-            }
-        ]
-    },
-    "default": {
-        "certifi": {
-            "hashes": [
-                "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082",
-                "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"
-            ],
-            "markers": "python_version >= '3.6'",
-            "version": "==2023.7.22"
-        },
-        "charset-normalizer": {
-            "hashes": [
-                "sha256:04e57ab9fbf9607b77f7d057974694b4f6b142da9ed4a199859d9d4d5c63fe96",
-                "sha256:09393e1b2a9461950b1c9a45d5fd251dc7c6f228acab64da1c9c0165d9c7765c",
-                "sha256:0b87549028f680ca955556e3bd57013ab47474c3124dc069faa0b6545b6c9710",
-                "sha256:1000fba1057b92a65daec275aec30586c3de2401ccdcd41f8a5c1e2c87078706",
-                "sha256:1249cbbf3d3b04902ff081ffbb33ce3377fa6e4c7356f759f3cd076cc138d020",
-                "sha256:1920d4ff15ce893210c1f0c0e9d19bfbecb7983c76b33f046c13a8ffbd570252",
-                "sha256:193cbc708ea3aca45e7221ae58f0fd63f933753a9bfb498a3b474878f12caaad",
-                "sha256:1a100c6d595a7f316f1b6f01d20815d916e75ff98c27a01ae817439ea7726329",
-                "sha256:1f30b48dd7fa1474554b0b0f3fdfdd4c13b5c737a3c6284d3cdc424ec0ffff3a",
-                "sha256:203f0c8871d5a7987be20c72442488a0b8cfd0f43b7973771640fc593f56321f",
-                "sha256:246de67b99b6851627d945db38147d1b209a899311b1305dd84916f2b88526c6",
-                "sha256:2dee8e57f052ef5353cf608e0b4c871aee320dd1b87d351c28764fc0ca55f9f4",
-                "sha256:2efb1bd13885392adfda4614c33d3b68dee4921fd0ac1d3988f8cbb7d589e72a",
-                "sha256:2f4ac36d8e2b4cc1aa71df3dd84ff8efbe3bfb97ac41242fbcfc053c67434f46",
-                "sha256:3170c9399da12c9dc66366e9d14da8bf7147e1e9d9ea566067bbce7bb74bd9c2",
-                "sha256:3b1613dd5aee995ec6d4c69f00378bbd07614702a315a2cf6c1d21461fe17c23",
-                "sha256:3bb3d25a8e6c0aedd251753a79ae98a093c7e7b471faa3aa9a93a81431987ace",
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-                "sha256:45de3f87179c1823e6d9e32156fb14c1927fcc9aba21433f088fdfb555b77c10",
-                "sha256:46fb8c61d794b78ec7134a715a3e564aafc8f6b5e338417cb19fe9f57a5a9bf2",
-                "sha256:48021783bdf96e3d6de03a6e39a1171ed5bd7e8bb93fc84cc649d11490f87cea",
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-        "cloudpickle": {
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-        "farama-notifications": {
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diff --git a/poetry.lock b/poetry.lock
new file mode 100644
index 00000000..45837d5f
--- /dev/null
+++ b/poetry.lock
@@ -0,0 +1,2028 @@
+# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand.
+
+[[package]]
+name = "appnope"
+version = "0.1.3"
+description = "Disable App Nap on macOS >= 10.9"
+optional = false
+python-versions = "*"
+files = [
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+    {file = "appnope-0.1.3.tar.gz", hash = "sha256:02bd91c4de869fbb1e1c50aafc4098827a7a54ab2f39d9dcba6c9547ed920e24"},
+]
+
+[[package]]
+name = "asttokens"
+version = "2.4.1"
+description = "Annotate AST trees with source code positions"
+optional = false
+python-versions = "*"
+files = [
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+    {file = "asttokens-2.4.1.tar.gz", hash = "sha256:b03869718ba9a6eb027e134bfdf69f38a236d681c83c160d510768af11254ba0"},
+]
+
+[package.dependencies]
+six = ">=1.12.0"
+
+[package.extras]
+astroid = ["astroid (>=1,<2)", "astroid (>=2,<4)"]
+test = ["astroid (>=1,<2)", "astroid (>=2,<4)", "pytest"]
+
+[[package]]
+name = "autoflake"
+version = "2.2.1"
+description = "Removes unused imports and unused variables"
+optional = false
+python-versions = ">=3.8"
+files = [
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+[package.dependencies]
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+tomli = {version = ">=2.0.1", markers = "python_version < \"3.11\""}
+
+[[package]]
+name = "black"
+version = "23.12.1"
+description = "The uncompromising code formatter."
+optional = false
+python-versions = ">=3.8"
+files = [
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+
+[[package]]
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+description = "A lil' TOML parser"
+optional = false
+python-versions = ">=3.7"
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+version = "6.4"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+optional = false
+python-versions = ">= 3.8"
+files = [
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+optional = false
+python-versions = ">=3.8"
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+test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,<7.5)", "pytest-mock", "pytest-mypy-testing"]
+
+[[package]]
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+version = "4.9.0"
+description = "Backported and Experimental Type Hints for Python 3.8+"
+optional = false
+python-versions = ">=3.8"
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+python-versions = "*"
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+description = "HTTP library with thread-safe connection pooling, file post, and more."
+optional = false
+python-versions = ">=3.8"
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+socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
+zstd = ["zstandard (>=0.18.0)"]
+
+[[package]]
+name = "wcwidth"
+version = "0.2.13"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = "*"
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+[[package]]
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+description = "This project helps you to import config file writen by YAML to Python data class."
+optional = false
+python-versions = ">=3.7"
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+[package.dependencies]
+dataclasses-json = "*"
+pyyaml = "*"
+
+[[package]]
+name = "zipp"
+version = "3.17.0"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "zipp-3.17.0-py3-none-any.whl", hash = "sha256:0e923e726174922dce09c53c59ad483ff7bbb8e572e00c7f7c46b88556409f31"},
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+]
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+
+[metadata]
+lock-version = "2.0"
+python-versions = ">=3.9,<=3.11"
+content-hash = "6e6d27dd3ae39a4b959e1ecbf0e8355662aa34e478db6762064c16ea1a8aa99c"
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 00000000..d505e15f
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,61 @@
+[tool.pytest.ini_options]
+minversion = 6.0
+addopts = "-ra -q"
+testpaths =[
+    "tests",
+    "integration",
+]
+
+
+[tool.poetry]
+name = "f1tenth-gym"
+version = "0.2.1"
+description = "Gym environment for F1TENTH"
+license = "MIT"
+authors = [
+    "Hongrui Zheng", 
+    "Renukanandan Tumu", 
+    "Luigi Berducci", 
+    "Ahmad Amine",
+    "Joseph Auckley", 
+    "Matthew O'Kelly", 
+    "Aman Sinha"
+]
+maintainers = [
+    "Hongrui Zheng",
+]
+readme = "README.md"
+homepage = "https://f1tenth.org"
+repository = "https://github.com/f1tenth/f1tenth_gym"
+documentation = "https://f1tenth-gym.readthedocs.io/en/latest/"
+packages = [
+    { include = "f110_gym", from = "gym"},
+]
+
+[tool.poetry.dependencies]
+python = ">=3.9,<3.12"
+gymnasium = "^0.29.1"
+numpy = "<=1.25,>=1.18"
+pillow = ">=9.0.1"
+scipy = ">=1.7.3"
+numba = ">=0.55.2"
+PyYAML = ">=5.3.1"
+pygame = "^2.5.2"
+opencv-python = "^4.9.0.80"
+yamldataclassconfig = "^1.5.0"
+requests = "^2.31.0"
+shapely = "^2.0.2"
+
+[tool.poetry.group.dev.dependencies]
+pytest = "^7.4.4"
+black = "^23.12.1"
+ipykernel = "^6.29.0"
+isort = "^5.13.2"
+autoflake = "^2.2.1"
+matplotlib = "^3.8.2"
+flake8 = "^7.0.0"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
diff --git a/setup.cfg b/setup.cfg
index a59f8a19..8c4c2d2d 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,10 +1,3 @@
-[tool:pytest]
-minversion = 6.0
-addopts = -ra -q
-testpaths =
-    tests
-    integration
-
 [flake8]
 extend-ignore = E203, E501,
 max-line-length = 120
diff --git a/setup.py b/setup.py
deleted file mode 100644
index 8d5d5b50..00000000
--- a/setup.py
+++ /dev/null
@@ -1,35 +0,0 @@
-from setuptools import setup
-
-setup(
-    name="f110_gym",
-    version="0.2.1",
-    author="Hongrui Zheng",
-    author_email="billyzheng.bz@gmail.com",
-    url="https://f1tenth.org",
-    package_dir={"": "gym"},
-    install_requires=[
-        "gymnasium",
-        "numpy<=1.25.0,>=1.18.0",
-        "Pillow>=9.0.1",
-        "scipy>=1.7.3",
-        "numba>=0.55.2",
-        "pyyaml>=5.3.1",
-        "pygame",
-        "opencv-python",
-        "yamldataclassconfig",
-        "requests",
-        "shapely",
-        "opencv-python",
-    ],
-    extras_require={
-        "dev": [
-            "pytest",
-            "flake8",
-            "black",
-            "ipykernel",
-            "isort",
-            "autoflake",
-            "matplotlib",
-        ]
-    },
-)