diff --git a/howto/learn_in_dmc.md b/howto/learn_in_dmc.md
index 65624070..5b604abe 100644
--- a/howto/learn_in_dmc.md
+++ b/howto/learn_in_dmc.md
@@ -1,7 +1,7 @@
 ## Install Gymnasium MuJoCo/DMC environments
 First, you should install the proper environments:
 
-- MuJoCo (Gymnasium): you do not need to install extra packages, the `pip install -e .` command is enough to have available all the MuJoCo environments provided by Gymnasium (https://gymnasium.farama.org/environments/mujoco/)
+- MuJoCo (Gymnasium): you need to install extra packages: use the `pip install -e .[mujoco]` command to have available all the MuJoCo environments provided by Gymnasium (https://gymnasium.farama.org/environments/mujoco/).
 - DMC: you have to install extra packages with the following command: `pip install -e .[dmc]`. (https://github.com/deepmind/dm_control).
 
 ## Install OpenGL rendering backands packages
@@ -13,22 +13,28 @@ For each of them, you need to install some packages:
 - OSMesa: `sudo apt-get install libgl1-mesa-glx libosmesa6`
 In order to use one of these rendering backends, you need to set the `MUJOCO_GL` environment variable to `"glfw"`, `"egl"`, `"osmesa"`, respectively.
 
-> **Note**
+> [!NOTE]
 >
 > The `libglew2.2` could have a different name, based on your OS (e.g., `libglew2.2` is for Ubuntu 22.04.2 LTS).
+>
+> It could be necessary to install also the `PyOpenGL-accelerate` package with the `pip install PyOpenGL-accelerate` command and the `mesalib` package with the `conda install conda-forge::mesalib` command.
 
-For more information: [https://github.com/deepmind/dm_control](https://github.com/deepmind/dm_control) and [https://mujoco.readthedocs.io/en/stable/programming/index.html#using-opengl](https://mujoco.readthedocs.io/en/stable/programming/index.html#using-opengl)
+For more information: [https://github.com/deepmind/dm_control](https://github.com/deepmind/dm_control) and [https://mujoco.readthedocs.io/en/stable/programming/index.html#using-opengl](https://mujoco.readthedocs.io/en/stable/programming/index.html#using-opengl).
 
 ## MuJoCo Gymnasium
-In order to train your agents on the [MuJoCo environments](https://gymnasium.farama.org/environments/mujoco/) provided by Gymnasium, it is sufficient to select the *GYM* environment (`env=gym`) and set the `env.id` to the name of the environment you want to use. For instance, `"Walker2d-v4"` if you want to train your agent in the *walker walk* environment.
+In order to train your agents on the [MuJoCo environments](https://gymnasium.farama.org/environments/mujoco/) provided by Gymnasium, it is sufficient to select the *MuJoCo* environment (`env=mujoco`) and set the `env.id` to the name of the environment you want to use. For instance, `"Walker2d-v4"` if you want to train your agent in the *walker walk* environment.
 
 ```bash
-python sheeprl.py exp=dreamer_v3 env=gym env.id=Walker2d-v4 algo.cnn_keys.encoder=[rgb]
+python sheeprl.py exp=dreamer_v3 env=mujoco env.id=Walker2d-v4 algo.cnn_keys.encoder=[rgb]
 ```
 
 ## DeepMind Control
-In order to train your agents on the [DeepMind control suite](https://github.com/deepmind/dm_control/blob/main/dm_control/suite/README.md), you have to select the *DMC* environment (`env=dmc`) and to set the id of the environment you want to use. A list of the available environments can be found [here](https://arxiv.org/abs/1801.00690). For instance, if you want to train your agent on the *walker walk* environment, you need to set the `env.id` to `"walker_walk"`.
+In order to train your agents on the [DeepMind control suite](https://github.com/deepmind/dm_control/blob/main/dm_control/suite/README.md), you have to select the *DMC* environment (`env=dmc`) and set the id of the environment you want to use. A list of the available environments can be found [here](https://arxiv.org/abs/1801.00690). For instance, if you want to train your agent on the *walker walk* environment, you need to set the `env.id` to `"walker_walk"`.
 
 ```bash
 python sheeprl.py exp=dreamer_v3 env=dmc env.id=walker_walk algo.cnn_keys.encoder=[rgb]
-```
\ No newline at end of file
+```
+
+> [!NOTE]
+>
+> By default the `env.sync_env` parameter is set to `True`. We recommend not changing this value for the MuJoCo environments to work properly.
\ No newline at end of file
diff --git a/sheeprl/configs/env/dmc.yaml b/sheeprl/configs/env/dmc.yaml
index bda7e6f5..9f184b92 100644
--- a/sheeprl/configs/env/dmc.yaml
+++ b/sheeprl/configs/env/dmc.yaml
@@ -6,6 +6,7 @@ defaults:
 id: walker_walk
 action_repeat: 1
 max_episode_steps: 1000
+sync_env: True
 
 # Wrapper to be instantiated
 wrapper:
@@ -15,4 +16,4 @@ wrapper:
   height: ${env.screen_size}
   seed: null
   from_pixels: True
-  from_vectors: False
+  from_vectors: True
diff --git a/sheeprl/configs/env/mujoco.yaml b/sheeprl/configs/env/mujoco.yaml
new file mode 100644
index 00000000..d01c106c
--- /dev/null
+++ b/sheeprl/configs/env/mujoco.yaml
@@ -0,0 +1,6 @@
+defaults:
+  - gym
+  - _self_
+
+id: Walker2d-v4
+sync_env: True