diff --git a/README.md b/README.md
index 31fdde0a..51e03d65 100644
--- a/README.md
+++ b/README.md
@@ -62,21 +62,29 @@
 
 Download our source code:
 ```bash
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
+git clone https://github.com/huggingface/lerobot.git && cd lerobot
 ```
 
 Create a virtual environment with Python 3.10 and activate it, e.g. with [`miniconda`](https://docs.anaconda.com/free/miniconda/index.html):
 ```bash
-conda create -y -n lerobot python=3.10
-conda activate lerobot
+conda create -y -n lerobot python=3.10 && conda activate lerobot
 ```
 
-Then, install 🤗 LeRobot:
+Install 🤗 LeRobot:
 ```bash
 python -m pip install .
 ```
 
+For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
+- [aloha](https://github.com/huggingface/gym-aloha)
+- [xarm](https://github.com/huggingface/gym-xarm)
+- [pusht](https://github.com/huggingface/gym-pusht)
+
+For instance, to install 🤗 LeRobot with aloha and pusht, use:
+```bash
+python -m pip install ".[aloha, pusht]"
+```
+
 To use [Weights and Biases](https://docs.wandb.ai/quickstart) for experiments tracking, log in with
 ```bash
 wandb login
@@ -89,11 +97,11 @@ wandb login
 ├── lerobot
 |   ├── configs          # contains hydra yaml files with all options that you can override in the command line
 |   |   ├── default.yaml   # selected by default, it loads pusht environment and diffusion policy
-|   |   ├── env            # various sim environments and their datasets: aloha.yaml, pusht.yaml, simxarm.yaml
+|   |   ├── env            # various sim environments and their datasets: aloha.yaml, pusht.yaml, xarm.yaml
 |   |   └── policy         # various policies: act.yaml, diffusion.yaml, tdmpc.yaml
 |   ├── common           # contains classes and utilities
-|   |   ├── datasets       # various datasets of human demonstrations: aloha, pusht, simxarm
-|   |   ├── envs           # various sim environments: aloha, pusht, simxarm
+|   |   ├── datasets       # various datasets of human demonstrations: aloha, pusht, xarm
+|   |   ├── envs           # various sim environments: aloha, pusht, xarm
 |   |   └── policies       # various policies: act, diffusion, tdmpc
 |   └── scripts                  # contains functions to execute via command line
 |       ├── visualize_dataset.py  # load a dataset and render its demonstrations
@@ -198,21 +206,33 @@ pre-commit install
 pre-commit
 ```
 
-### Add dependencies
+### Dependencies
 
 Instead of using `pip` directly, we use `poetry` for development purposes to easily track our dependencies.
 If you don't have it already, follow the [instructions](https://python-poetry.org/docs/#installation) to install it.
 
-Install the project with:
+Install the project with dev dependencies and all environments:
 ```bash
-poetry install
+poetry install --sync --with dev --all-extras
+```
+This command should be run when pulling code with and updated version of `pyproject.toml` and `poetry.lock` in order to synchronize your virtual environment with the dependencies.
+
+To selectively install environments (for example aloha and pusht) use:
+```bash
+poetry install --sync --with dev --extras "aloha pusht"
 ```
 
-Then, the equivalent of `pip install some-package`, would just be:
+The equivalent of `pip install some-package`, would just be:
 ```bash
 poetry add some-package
 ```
 
+When changes are made to the poetry sections of the `pyproject.toml`, you should run the following command to lock dependencies.
+```bash
+poetry lock --no-update
+```
+
+
 **NOTE:** Currently, to ensure the CI works properly, any new package must also be added in the CPU-only environment dedicated to the CI. To do this, you should create a separate environment and add the new package there as well. For example:
 ```bash
 # Add the new package to your main poetry env