diff --git a/environment.yml b/environment.yml
index f6622bd342..89ff11a222 100644
--- a/environment.yml
+++ b/environment.yml
@@ -15,7 +15,8 @@ dependencies:
         # Please keep alphabetized
         - awscli
         - boto3
-        - Box2D>=2.3.2
+        # box2d-py>=2.3.4 works both on Linux and OSX.
+        - box2d-py>=2.3.4
         - cached_property
         - cloudpickle
         - cma==1.1.06
diff --git a/scripts/setup_linux.sh b/scripts/setup_linux.sh
index 4cdcf8577f..b7c2196fd1 100755
--- a/scripts/setup_linux.sh
+++ b/scripts/setup_linux.sh
@@ -216,10 +216,15 @@ conda activate garage
   fi
 
   # Fix Box2D install
+  # box2d-py 2.3.4 works on both Linux & OSX and is
+  # actively mantained by OpenAI.
+  # Before that, box2d-py works only on Linux,
+  # and Box2D-kengz works only on OSX.
   # See https://github.com/openai/gym/issues/100
   # See https://github.com/pybox2d/pybox2d/issues/82
+  # See https://github.com/openai/gym/pull/1120 (fixed)
   pip uninstall -y Box2D Box2D-kengz box2d-py
-  pip install Box2D
+  pip install box2d-py
 
   # We need a MuJoCo key to import mujoco_py
   cp ${_arg_mjkey} "${HOME}"/.mujoco/mjkey.txt
diff --git a/scripts/setup_osx.sh b/scripts/setup_osx.sh
index 076c20c700..d0b12ee8fd 100755
--- a/scripts/setup_osx.sh
+++ b/scripts/setup_osx.sh
@@ -228,10 +228,15 @@ conda activate garage
   pip install -e .
 
   # Fix Box2D install
+  # box2d-py 2.3.4 works on both Linux & OSX and is
+  # actively mantained by OpenAI.
+  # Before that, box2d-py works only on Linux,
+  # and Box2D-kengz works only on OSX.
   # See https://github.com/openai/gym/issues/100
   # See https://github.com/pybox2d/pybox2d/issues/82
+  # See https://github.com/openai/gym/pull/1120 (fixed)
   pip uninstall -y Box2D Box2D-kengz box2d-py
-  pip install Box2D-kengz --no-binary Box2D-kengz
+  pip install box2d-py
 
   # We need a MuJoCo key to import mujoco_py
   cp ${_arg_mjkey} "${HOME}"/.mujoco/mjkey.txt