Fix/mujoco

[michele-milesi]

Summary

Describe the purpose of the pull request, including:

• Fix howto/learn_in_dmc.md
• Fix MuJoCo default configs

Type of Change

Please select the one relevant option below:

• Bug fix (non-breaking change that solves an issue)

Checklist

Please confirm that the following tasks have been completed:

• I have tested my changes locally and they work as expected. (Please describe the tests you performed.)
• I have added unit tests for my changes, or updated existing tests if necessary.
• I have updated the documentation, if applicable.
• I have installed pre-commit and run locally for my code changes.