diff --git a/docs/source/_static/imgs/Box_Pushing.gif b/docs/source/_static/imgs/Box_Pushing.gif
new file mode 100644
index 0000000..e2cd3c2
Binary files /dev/null and b/docs/source/_static/imgs/Box_Pushing.gif differ
diff --git a/docs/source/_static/imgs/Metaworld.gif b/docs/source/_static/imgs/Metaworld.gif
new file mode 100644
index 0000000..4a1045b
Binary files /dev/null and b/docs/source/_static/imgs/Metaworld.gif differ
diff --git a/docs/source/_templates/layout.html b/docs/source/_templates/layout.html
new file mode 100644
index 0000000..9ff17cf
--- /dev/null
+++ b/docs/source/_templates/layout.html
@@ -0,0 +1,5 @@
+{% extends "!layout.html" %}
+
+{% block extrahead %}
+  {{ super() }}
+{% endblock %}
\ No newline at end of file
diff --git a/docs/source/conf.py b/docs/source/conf.py
index 93d4cdd..c4fb19c 100644
--- a/docs/source/conf.py
+++ b/docs/source/conf.py
@@ -38,6 +38,7 @@ exclude_patterns = ['build', 'Thumbs.db', '.DS_Store']
 
 html_theme = 'sphinx_rtd_theme'
 html_logo = "_static/imgs/icon.svg"
+html_favicon = "_static/imgs/icon.svg"
 epub_show_urls = 'footnote'
 html_static_path = ['_static']
 
diff --git a/docs/source/envs/fancy/airhockey.rst b/docs/source/envs/fancy/airhockey.rst
new file mode 100644
index 0000000..a14f25a
--- /dev/null
+++ b/docs/source/envs/fancy/airhockey.rst
@@ -0,0 +1,4 @@
+AirHockey
+=========
+
+TODO
\ No newline at end of file
diff --git a/docs/source/envs/fancy/index.rst b/docs/source/envs/fancy/index.rst
index e660ce7..a903235 100644
--- a/docs/source/envs/fancy/index.rst
+++ b/docs/source/envs/fancy/index.rst
@@ -1,8 +1,17 @@
 Fancy
 =====
 
-Fancy gym also adds a couple of environments. Some of these are adaptations of existing environments while others were designed and build by us from the ground up.
+Fancy gym adds a couple of environments. Some of these are adaptations of existing environments while others were designed and build by us from the ground up.
+
+.. raw:: html
+
+   <div class='center'>
+      <img src="../../_static/imgs/Box_Pushing.gif" style="margin: 5%; width: 45%;">
+      <p>Box Pushing Task</p>
+   </div>
+   <br>
 
 .. toctree::
+   airhockey
    mujoco.md
    classic_control.md
diff --git a/docs/source/envs/fancy/mujoco.md b/docs/source/envs/fancy/mujoco.md
index 9bb169f..993bd7a 100644
--- a/docs/source/envs/fancy/mujoco.md
+++ b/docs/source/envs/fancy/mujoco.md
@@ -1,4 +1,4 @@
-# Custom Mujoco tasks
+# Mujoco
 
 ## Step-based Environments
 
@@ -47,7 +47,6 @@ No longer used?
 | `fancy/BallInACupGoal-v0`   | Similar to `fancy/BallInACupSimple-v0` but the ball needs to be caught at a specified goal position | 4000    | 7                | wip                   |
 -->
 
-
 ## MP Environments
 
 Many of these envs also exist as MP-variants. Refer to them using `fancy_DMP/<name>` `fancy_ProMP/<name>` or `fancy_ProDMP/<name>`.
diff --git a/docs/source/index.rst b/docs/source/index.rst
index 88c8751..2655d01 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -41,6 +41,15 @@ Key Features
    guide/basic_usage
    guide/upgrading_envs
 
+.. toctree::
+   :maxdepth: 3
+   :caption: Environments
+
+   envs/fancy/index
+   envs/dmc
+   envs/meta
+   envs/open_ai
+
 .. toctree::
    :maxdepth: 3
    :caption: Examples
@@ -51,18 +60,9 @@ Key Features
    examples/open_ai
    examples/movement_primitives
    examples/mp_params_tuning
+   examples/pd_control_gain_tuning
    examples/replanning_envs
 
-.. toctree::
-   :maxdepth: 3
-   :caption: Environments
-
-   envs/fancy/index
-   envs/airhockey
-   envs/dmc
-   envs/meta
-   envs/open_ai
-
 .. toctree::
    :maxdepth: 3
    :caption: API