diff --git a/README.md b/README.md
index 02aeb1f..ff7c1b0 100644
--- a/README.md
+++ b/README.md
@@ -20,7 +20,7 @@ enabling evaluation across a spectrum of difficulty levels.
 ✅ Easy to use with [Gymnasium](https://github.com/Farama-Foundation/Gymnasium) or [Mushroom-RL](https://github.com/MushroomRL/mushroom-rl) interface \
 ✅ Many environments including humanoids and quadrupeds \
 ✅ Diverse set of datasets --> e.g., noisy motion capture or ground truth datasets with actions \
-✅ Wide spectrum spectrum of difficulty levels \
+✅ Wide spectrum of difficulty levels \
 ✅ Built-in domain randomization \
 ✅ Many baseline algorithms for quick benchmarking \
 ✅ [Documentation](https://loco-mujoco.readthedocs.io/)
@@ -38,6 +38,7 @@ pip install loco-mujoco
 or you do an editable installation by cloning this repository and then running:
 
 ```bash
+git clone --recurse-submodules git@github.com:robfiras/loco-mujoco.git 
 cd loco-mujoco
 pip install -e . 
 ```
diff --git a/loco_mujoco/environments/README.md b/loco_mujoco/environments/README.md
index e535604..7c897ba 100644
--- a/loco_mujoco/environments/README.md
+++ b/loco_mujoco/environments/README.md
@@ -2,6 +2,9 @@
 Here you can find an overviw of all tasks. Each Task is represented by its own ID. For each task, you can choose between different datasets. The real dataset contains real (noisy) motion capture datasets without actions. The perfect dataset contains ground truth states and actions form an expert policy (only available on an few tasks). The preference dataset contains preferences of an ground truth expert with states and action (only available on an few tasks). 
 The status of a dataset can be seen down below. ✅ means it is already available, and 🔶 means pending. 
 
+> **Note:**  You can find a detailed description of each environment in the 
+> [documentation](https://loco-mujoco.readthedocs.io/).
+
  | Image | Task-IDs | Status of Datasets | Description|
  |---|---|---|---|
  | ![out5](https://github.com/robfiras/loco-mujoco/assets/69359729/cdcd4617-c18a-448d-b42a-ea01384016b0) | HumanoidMuscle.walk </br> HumanoidMuscle.run </br> HumanoidMuscle4Ages.walk.4 </br> HumanoidMuscle.run </br> HumanoidMuscle4Ages.run.4 | real: ✅  <br /> perfect: ✅   <br /> preference: 🔶| Task of an adult **Muscle** Humanoid Walking or Running Straight. |
diff --git a/loco_mujoco/utils/dataset.py b/loco_mujoco/utils/dataset.py
index 18a4625..47f7fc9 100644
--- a/loco_mujoco/utils/dataset.py
+++ b/loco_mujoco/utils/dataset.py
@@ -31,7 +31,7 @@ def download_real_datasets():
     dataset_path_humanoid = dataset_path / "humanoids/real"
     dataset_path_humanoid_str = str(dataset_path_humanoid)
     os.makedirs(dataset_path_humanoid_str, exist_ok=True)
-    humanoid_url = "https://zenodo.org/records/11217638/files/humanoid_datasets_v0.3.0.zip?download=1"
+    humanoid_url = "https://zenodo.org/records/13737593/files/humanoid_datasets_v0.4.1.zip?download=1"
     wget.download(humanoid_url, out=dataset_path_humanoid_str)
     print("\n")
     file_name = "humanoid_datasets_v0.3.0.zip"
@@ -44,7 +44,7 @@ def download_real_datasets():
     dataset_path_quadrupeds = dataset_path / "quadrupeds/real"
     dataset_path_quadrupeds_str = str(dataset_path_quadrupeds)
     os.makedirs(dataset_path_quadrupeds_str, exist_ok=True)
-    quadruped_url = "https://zenodo.org/records/11217638/files/quadruped_datasets_v0.3.0.zip?download=1"
+    quadruped_url = "https://zenodo.org/records/13737593/files/quadruped_datasets_v0.4.1.zip?download=1"
     wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
     print("\n")
     file_name = "quadruped_datasets_v0.3.0.zip"
@@ -65,7 +65,7 @@ def download_perfect_datasets():
     dataset_path_humanoid = dataset_path / "humanoids/perfect"
     dataset_path_humanoid_str = str(dataset_path_humanoid)
     os.makedirs(dataset_path_humanoid_str, exist_ok=True)
-    humanoid_url = "https://zenodo.org/records/11217638/files/humanoid_datasets_perfect_v0.3.0.zip?download=1"
+    humanoid_url = "https://zenodo.org/records/13737593/files/humanoid_datasets_perfect_v0.4.1.zip?download=1"
     wget.download(humanoid_url, out=dataset_path_humanoid_str)
     print("\n")
     file_name = "humanoid_datasets_perfect_v0.3.0.zip"
@@ -79,7 +79,7 @@ def download_perfect_datasets():
     dataset_path_quadrupeds = dataset_path / "quadrupeds/perfect"
     dataset_path_quadrupeds_str = str(dataset_path_quadrupeds)
     os.makedirs(dataset_path_quadrupeds_str, exist_ok=True)
-    quadruped_url = "https://zenodo.org/records/11217638/files/quadruped_datasets_perfect_v0.3.0.zip?download=1"
+    quadruped_url = "https://zenodo.org/records/13737593/files/quadruped_datasets_perfect_v0.4.1.zip?download=1"
     wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
     print("\n")
     file_name = "quadruped_datasets_perfect_v0.3.0.zip"