diff --git a/deformable_gym/__init__.py b/deformable_gym/__init__.py
index 6b6b848..fd80d46 100644
--- a/deformable_gym/__init__.py
+++ b/deformable_gym/__init__.py
@@ -3,17 +3,79 @@
 register(
     id="FloatingMiaGraspInsole-v0",
     entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv",
+    disable_env_checker=True,
     kwargs={
         "object_name": "insole_on_conveyor_belt/back",
         "observable_object_pos": True,
     },
 )
 
+register(
+    id="FloatingMiaGraspPillow-v0",
+    entry_point="deformable_gym.envs.floating_mia_grasp_env:FloatingMiaGraspEnv",
+    disable_env_checker=True,
+    kwargs={
+        "object_name": "pillow_small",
+        "observable_object_pos": True,
+    },
+)
+
 register(
     id="FloatingShadowGraspInsole-v0",
     entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv",
+    disable_env_checker=True,
+    kwargs={
+        "object_name": "insole_on_conveyor_belt/back",
+        "observable_object_pos": True,
+    },
+)
+
+register(
+    id="FloatingShadowGraspPillow-v0",
+    entry_point="deformable_gym.envs.floating_shadow_grasp_env:FloatingShadowGraspEnv",
+    disable_env_checker=True,
+    kwargs={
+        "object_name": "pillow_small",
+        "observable_object_pos": True,
+    },
+)
+
+register(
+    id="URMiaGraspInsole-v0",
+    entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv",
+    disable_env_checker=True,
+    kwargs={
+        "object_name": "insole_on_conveyor_belt/back",
+        "observable_object_pos": True,
+    },
+)
+
+register(
+    id="URMiaGraspPillow-v0",
+    entry_point="deformable_gym.envs.ur5_mia_grasp_env:UR5MiaGraspEnv",
+    disable_env_checker=True,
+    kwargs={
+        "object_name": "pillow_small",
+        "observable_object_pos": True,
+    },
+)
+
+register(
+    id="URShadowGraspInsole-v0",
+    entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv",
+    disable_env_checker=True,
     kwargs={
         "object_name": "insole_on_conveyor_belt/back",
         "observable_object_pos": True,
     },
 )
+
+register(
+    id="URShadowGraspPillow-v0",
+    entry_point="deformable_gym.envs.ur10_shadow_grasp_env:UR10ShadowGraspEnv",
+    disable_env_checker=True,
+    kwargs={
+        "object_name": "pillow_small",
+        "observable_object_pos": True,
+    },
+)
diff --git a/examples/floating_mia_example.py b/examples/floating_mia_example.py
index 81ec26f..d54f204 100644
--- a/examples/floating_mia_example.py
+++ b/examples/floating_mia_example.py
@@ -3,13 +3,12 @@
 from deformable_gym.envs.floating_mia_grasp_env import FloatingMiaGraspEnv
 
 """
-=========
+================================================================
 Floating Mia Example
-=========
-
-This is an example of how to use the FloatingMiaGraspEnv. A random policy is
-then used to generate ten episodes.
+================================================================
 
+This is an example of how to use the FloatingMiaGraspInsole environment. A
+random policy is then used to generate ten episodes.
 """
 
 env = gymnasium.make("FloatingMiaGraspInsole-v0", render_mode="human")
diff --git a/examples/floating_shadow_example.py b/examples/floating_shadow_example.py
index 69eaebe..d2d6ae1 100644
--- a/examples/floating_shadow_example.py
+++ b/examples/floating_shadow_example.py
@@ -3,13 +3,12 @@
 from deformable_gym.envs.floating_shadow_grasp_env import FloatingShadowGraspEnv
 
 """
-=========
+================================================================
 Floating Shadow Example
-=========
-
-This is an example of how to use the FloatingShadowGraspEnv. A random policy is then
-used to generate ten episodes.
+================================================================
 
+This is an example of how to use the FloatingShadowGraspInsole environment. A
+random policy is then used to generate ten episodes.
 """
 
 env = gymnasium.make("FloatingShadowGraspInsole-v0", render_mode="human")
diff --git a/examples/uniform_initialisation_example.py b/examples/uniform_initialisation_example.py
index f6659cc..0935271 100644
--- a/examples/uniform_initialisation_example.py
+++ b/examples/uniform_initialisation_example.py
@@ -3,16 +3,6 @@
 from deformable_gym.envs.floating_mia_grasp_env import FloatingMiaGraspEnv
 from deformable_gym.envs.sampler import UniformSampler
 
-"""
-=========
-Floating Mia Example
-=========
-
-This is an example of how to use the FloatingMiaGraspEnv. A random policy is
-then used to generate ten episodes.
-
-"""
-
 base_initial_pose = FloatingMiaGraspEnv.INITIAL_POSE.copy()
 low = base_initial_pose.copy()
 high = base_initial_pose.copy()
diff --git a/examples/ur10_shadow_grasp_example.py b/examples/ur10_shadow_grasp_example.py
index 7ffb2cc..94a78bc 100644
--- a/examples/ur10_shadow_grasp_example.py
+++ b/examples/ur10_shadow_grasp_example.py
@@ -1,16 +1,19 @@
+import gymnasium as gym
+
 from deformable_gym.envs.ur10_shadow_grasp_env import UR10ShadowGraspEnv
 
 """
-=========
-Floating Mia Example
-=========
+================================================================
+UR10 Shadow Example
+================================================================
 
-This is an example of how to use the FloatingMiaGraspEnv. A random policy is then
-used to generate ten episodes.
+This is an example of how to use the URShadowGraspPillow environment. A random
+policy is then used to generate ten episodes.
 
 """
 
-env = UR10ShadowGraspEnv(object_name="insole")
+env = gym.make("URShadowGraspPillow-v0")
+
 
 env.reset()
 episode_return = 0
diff --git a/examples/ur5_mia_grasp_example.py b/examples/ur5_mia_grasp_example.py
index f6379cd..8ec5bcb 100644
--- a/examples/ur5_mia_grasp_example.py
+++ b/examples/ur5_mia_grasp_example.py
@@ -1,16 +1,19 @@
+import gymnasium as gym
+
 from deformable_gym.envs.ur5_mia_grasp_env import UR5MiaGraspEnv
 
 """
-=========
-Floating Mia Example
-=========
+================================================================
+UR5 Mia Example
+================================================================
 
-This is an example of how to use the FloatingMiaGraspEnv. A random policy is then
-used to generate ten episodes.
+This is an example of how to use the URMiaGraspInsole environment. A random
+policy is then used to generate ten episodes.
 
 """
 
-env = UR5MiaGraspEnv(object_name="insole2")
+env = gym.make("URMiaGraspPillow-v0")
+
 
 env.reset()
 episode_return = 0