diff --git a/docs/src/define_controller.md b/docs/src/define_controller.md
index f8fc36239..554df8830 100644
--- a/docs/src/define_controller.md
+++ b/docs/src/define_controller.md
@@ -33,7 +33,7 @@ function controller!(mechanism, t)
     x = get_minimal_state(mechanism)
 
     ## Gains
-    K = [5.0 0.5] * 0.1
+    K = [75.0 0.5] * 0.1
 
     # Control inputs
     u =  -K * (x - x_goal)
@@ -50,7 +50,7 @@ initialize!(mechanism, :pendulum,
 
 We simulate the system for 2 seconds using the `controller!`.
 ```julia
-storage = simulate!(mechanism, 2.0, controller!,
+storage = simulate!(mechanism, 20.0, controller!,
     record=true,
     verbose=true);
 ```
diff --git a/docs/src/define_environment.md b/docs/src/define_environment.md
index b7b883ffd..6021b6aa5 100644
--- a/docs/src/define_environment.md
+++ b/docs/src/define_environment.md
@@ -2,6 +2,26 @@
 
 An [`Environment`](@ref) is a convienient object for applications like reinforcement learning and trajectory optimization. 
 
+For this example we need the following setup:
+```julia
+# ## Setup
+using Dojo
+using DojoEnvironments
+using Random
+using LinearAlgebra
+
+# ## Define struct
+struct Ant end
+```
+
+```julia
+# ## Define Variables
+representation = :minimal #(:minimal, :maximal)
+seed = 0
+timestep = 0.01
+T = 2.0 # Total time
+```
+
 To demonstrate, we create the [`Dojo.Ant`](@ref) environment. First, we load (or [create](define_mechanism.md)) a mechanism:
 
 ```julia 
@@ -41,6 +61,11 @@ Random number:
 rng = MersenneTwister(seed)
 ```
 
+Intialize info:
+```julia
+info = Dict()
+```
+
 Dynamics data:
 ```julia
 # state vector
@@ -77,7 +102,7 @@ opts_grad = SolverOptions()
 
 Environment:
 ```julia
-TYPES = [Ant, T, typeof(mechanism), typeof(aspace), typeof(ospace), typeof(info)]
+TYPES = [Ant, typeof(T), typeof(mechanism), typeof(aspace), typeof(ospace), typeof(info)]
 env = Environment{TYPES...}(
     mechanism, 
     representation, 
@@ -89,7 +114,7 @@ env = Environment{TYPES...}(
     info,
     [rng], 
     vis,
-    opts_sim, opts_grad)
+    opts_step, opts_grad)
 ```
 
 With the environment instantiated, we can interact with it by overloading the following methods: 
@@ -126,7 +151,7 @@ function step(env::Environment{Ant}, x, u;
     reward = cost(env, z1, u_scaled)
 
     # check for done
-    done = is_done(env, z1, u_scaled)
+    done = is_done(env, z1)
 
     # gradients
     if gradients
@@ -232,7 +257,8 @@ for t = 1:100
     step(env, env.state, randn(env.num_inputs))
     push!(y, copy(env.state)) 
 end
-visualize(env, y)
+open(vis)
+DojoEnvironments.visualize(env, y)
 ```
 
 The result should be something like this:
diff --git a/examples/trajectory_optimization/quadruped_min.jl b/examples/trajectory_optimization/quadruped_min.jl
index bfa8990e2..825437eca 100644
--- a/examples/trajectory_optimization/quadruped_min.jl
+++ b/examples/trajectory_optimization/quadruped_min.jl
@@ -2,10 +2,6 @@ using Pkg
 Pkg.activate(joinpath(@__DIR__, ".."))
 Pkg.instantiate()
 
-# ## visualizer
-vis = Visualizer()
-open(vis)
-
 # ## setup
 using Dojo
 using IterativeLQR
@@ -13,6 +9,10 @@ using LinearAlgebra
 using FiniteDiff
 using DojoEnvironments
 
+# ## visualizer
+vis = Visualizer()
+open(vis)
+
 # ## system
 gravity = -9.81
 timestep = 0.05
@@ -85,7 +85,7 @@ model = [dyn for t = 1:T-1]
 x1 = xref[1]
 ū = [u_control for t = 1:T-1]
 x̄ = IterativeLQR.rollout(model, x1, ū)
-visualize(env, x̄)
+DojoEnvironments.visualize(env, x̄)
 
 # ## objective
 qt = [0.3; 0.05; 0.05; 0.01 * ones(3); 0.01 * ones(3); 0.01 * ones(3); fill([0.2, 0.001], 12)...]
@@ -134,7 +134,7 @@ x_sol, u_sol = IterativeLQR.get_trajectory(s)
 vis= Visualizer()
 open(env.vis)
 x_view = [[x_sol[1] for t = 1:15]..., x_sol..., [x_sol[end] for t = 1:15]...]
-visualize(env, x_view)
+DojoEnvironments.visualize(env, x_view)
 
 set_camera!(env.vis,
     cam_pos=[0.0, -3.0, 2.0],