diff --git a/requirements.txt b/requirements.txt
index 73ac318..b1f1036 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -5,3 +5,4 @@ pytransform3d>=2.0.0
 scipy>=1.10.0
 setuptools>=65.5.1
 mujoco >= 3.2.0
+imageio >= 2.34.1
diff --git a/setup.py b/setup.py
index 03f23ce..51e78a6 100644
--- a/setup.py
+++ b/setup.py
@@ -20,5 +20,6 @@
             "numpy>=1.23.5,<2.0.0",
             "pytransform3d",
             "mujoco>=3.2.0",
+            "imageio >= 2.34.1",
         ],
     )