diff --git a/alr_envs/alr/classic_control/hole_reacher/hole_reacher.py b/alr_envs/alr/classic_control/hole_reacher/hole_reacher.py
index dd7321a..208f005 100644
--- a/alr_envs/alr/classic_control/hole_reacher/hole_reacher.py
+++ b/alr_envs/alr/classic_control/hole_reacher/hole_reacher.py
@@ -106,7 +106,7 @@ class HoleReacherEnv(BaseReacherDirectEnv):
             # self._tmp_hole_depth,
             self.end_effector - self._goal,
             self._steps
-        ])
+        ]).astype(np.float32)
 
     def _get_line_points(self, num_points_per_link=1):
         theta = self._joint_angles[:, None]
diff --git a/alr_envs/alr/classic_control/simple_reacher/simple_reacher.py b/alr_envs/alr/classic_control/simple_reacher/simple_reacher.py
index 758f824..dac06a3 100644
--- a/alr_envs/alr/classic_control/simple_reacher/simple_reacher.py
+++ b/alr_envs/alr/classic_control/simple_reacher/simple_reacher.py
@@ -73,7 +73,7 @@ class SimpleReacherEnv(BaseReacherTorqueEnv):
             self._angle_velocity,
             self.end_effector - self._goal,
             self._steps
-        ])
+        ]).astype(np.float32)
 
     def _generate_goal(self):
 
diff --git a/alr_envs/alr/classic_control/viapoint_reacher/viapoint_reacher.py b/alr_envs/alr/classic_control/viapoint_reacher/viapoint_reacher.py
index 748eb99..b44647e 100644
--- a/alr_envs/alr/classic_control/viapoint_reacher/viapoint_reacher.py
+++ b/alr_envs/alr/classic_control/viapoint_reacher/viapoint_reacher.py
@@ -111,7 +111,7 @@ class ViaPointReacherEnv(BaseReacherDirectEnv):
             self.end_effector - self._via_point,
             self.end_effector - self._goal,
             self._steps
-        ])
+        ]).astype(np.float32)
 
     def _check_collisions(self) -> bool:
         return self._check_self_collision()
diff --git a/alr_envs/dmc/dmc_wrapper.py b/alr_envs/dmc/dmc_wrapper.py
index 10f1af9..aa6c7aa 100644
--- a/alr_envs/dmc/dmc_wrapper.py
+++ b/alr_envs/dmc/dmc_wrapper.py
@@ -15,10 +15,10 @@ def _spec_to_box(spec):
         assert s.dtype == np.float64 or s.dtype == np.float32, f"Only float64 and float32 types are allowed, instead {s.dtype} was found"
         dim = int(np.prod(s.shape))
         if type(s) == specs.Array:
-            bound = np.inf * np.ones(dim, dtype=np.float32)
+            bound = np.inf * np.ones(dim, dtype=s.dtype)
             return -bound, bound
         elif type(s) == specs.BoundedArray:
-            zeros = np.zeros(dim, dtype=np.float32)
+            zeros = np.zeros(dim, dtype=s.dtype)
             return s.minimum + zeros, s.maximum + zeros
 
     mins, maxs = [], []
@@ -29,7 +29,7 @@ def _spec_to_box(spec):
     low = np.concatenate(mins, axis=0)
     high = np.concatenate(maxs, axis=0)
     assert low.shape == high.shape
-    return spaces.Box(low, high, dtype=np.float32)
+    return spaces.Box(low, high, dtype=s.dtype)
 
 
 def _flatten_obs(obs: collections.MutableMapping):
@@ -113,7 +113,7 @@ class DMCWrapper(core.Env):
             if self._channels_first:
                 obs = obs.transpose(2, 0, 1).copy()
         else:
-            obs = _flatten_obs(time_step.observation)
+            obs = _flatten_obs(time_step.observation).astype(self.observation_space.dtype)
         return obs
 
     @property