diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
index 3bd0fde75..af10509de 100644
--- a/.github/workflows/push.yml
+++ b/.github/workflows/push.yml
@@ -9,9 +9,9 @@ jobs:
   run_tests:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Set up Python
-      uses: actions/setup-python@v3
+      uses: actions/setup-python@v4
       with:
         python-version: '3.10'
     - name: Install dependencies
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 5c2365bf7..ef66c235f 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -9,7 +9,7 @@
 
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
     -   id: check-ast
     -   id: check-yaml
@@ -28,7 +28,7 @@ repos:
     -   id: double-quote-string-fixer
 
 -   repo: https://github.com/pycqa/isort
-    rev: 5.12.0
+    rev: 5.13.2
     hooks:
       - id: isort
         name: isort
@@ -47,7 +47,7 @@ repos:
         files: (^tests/|^safe_control_gym/math_and_models/transformations.py)
 
 -   repo: https://github.com/PyCQA/flake8
-    rev: 6.1.0
+    rev: 7.1.1
     hooks:
     -   id: flake8
         name: flake8_default
diff --git a/pyproject.toml b/pyproject.toml
index 8fa852219..e5eeb8a0f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -22,6 +22,7 @@ casadi = "^3.6.0"
 pybullet = "^3.2.0"
 numpy = "^1.22.1"
 cvxpy = "^1.1.18"
+pycddlib = "^2.1.7"
 pytope = "^0.0.4"
 Mosek = "^10.0.18"
 termcolor = "^1.1.0"
diff --git a/setup.py b/setup.py
index 8ca23c269..1ab2354f4 100644
--- a/setup.py
+++ b/setup.py
@@ -18,6 +18,7 @@
           'pybullet',
           'numpy',
           'cvxpy',
+          'pycddlib',
           'pytope',
           'Mosek',
           'termcolor',