diff --git a/docs/guide/configuration.rst b/docs/guide/configuration.rst
index a6e206e71..4e4c87e16 100644
--- a/docs/guide/configuration.rst
+++ b/docs/guide/configuration.rst
@@ -10,12 +10,15 @@ Collision Dynamics
 Environment variables starting with ``JAXSIM_COLLISION_`` are used to configure collision dynamics. The available variables are:
 
 - ``JAXSIM_COLLISION_SPHERE_POINTS``: Specifies the number of collision points to approximate the sphere.
+
   *Default:* ``50``.
 
 - ``JAXSIM_COLLISION_MESH_ENABLED``: Enables or disables mesh-based collision detection.
+
   *Default:* ``False``.
 
 - ``JAXSIM_COLLISION_USE_BOTTOM_ONLY``: Limits collision detection to only the bottom half of the box or sphere.
+
   *Default:* ``False``.
 
 .. note::
@@ -28,12 +31,15 @@ Testing
 For testing configurations, environment variables beginning with ``JAXSIM_TEST_`` are used. The following variables are available:
 
 - ``JAXSIM_TEST_SEED``: Defines the seed for the random number generator.
+
   *Default:* ``0``.
 
 - ``JAXSIM_TEST_AD_ORDER``: Specifies the gradient order for automatic differentiation tests.
+
   *Default:* ``1``.
 
 - ``JAXSIM_TEST_FD_STEP_SIZE``: Sets the step size for finite difference tests.
+
   *Default:* the cube root of the machine epsilon.
 
 
@@ -52,9 +58,11 @@ Logging and Exceptions
 The logging and exceptions configurations is controlled by the following environment variables:
 
 - ``JAXSIM_LOGGING_LEVEL``: Determines the logging level.
+
   *Default:* ``DEBUG`` for development, ``WARNING`` for production.
 
 - ``JAXSIM_DISABLE_EXCEPTIONS``: Disables the runtime checks and exceptions.
+
   *Default:* ``False``.
 
 .. note::