diff --git a/examples/7_get_started_with_real_robot.md b/examples/7_get_started_with_real_robot.md
index 8771d9fe4..5933fd560 100644
--- a/examples/7_get_started_with_real_robot.md
+++ b/examples/7_get_started_with_real_robot.md
@@ -11,7 +11,7 @@ This tutorial will guide you through the process of setting up and training a ne
 
 By following these steps, you'll be able to replicate tasks like picking up a Lego block and placing it in a bin with a high success rate, as demonstrated in [this video](https://x.com/RemiCadene/status/1814680760592572934).
 
-This tutorial is specifically made for the affordable [Koch v1.1](https://github.com/jess-moss/koch-v1-1) robot, but it contains additional information to be easily adapted to various types of robots like [Aloha bimanual robot](aloha-2.github.io) by changing some configurations. The Koch v1.1 consists of a leader arm and a follower arm, each with 6 motors. It can work with one or several cameras to record the scene, which serve as visual sensors for the robot.
+This tutorial is specifically made for the affordable [Koch v1.1](https://github.com/jess-moss/koch-v1-1) robot, but it contains additional information to be easily adapted to various types of robots like [Aloha bimanual robot](https://aloha-2.github.io) by changing some configurations. The Koch v1.1 consists of a leader arm and a follower arm, each with 6 motors. It can work with one or several cameras to record the scene, which serve as visual sensors for the robot.
 
 During the data collection phase, you will control the follower arm by moving the leader arm. This process is known as "teleoperation." This technique is used to collect robot trajectories. Afterward, you'll train a neural network to imitate these trajectories and deploy the network to enable your robot to operate autonomously.
 
diff --git a/examples/9_use_aloha.md b/examples/9_use_aloha.md
index 2708a998f..cf5e1ceca 100644
--- a/examples/9_use_aloha.md
+++ b/examples/9_use_aloha.md
@@ -32,7 +32,7 @@ git clone https://github.com/huggingface/lerobot.git ~/lerobot
 
 5. Install LeRobot with dependencies for the Aloha motors (dynamixel) and cameras (intelrealsense):
 ```bash
-cd ~/lerobot && pip install -e ".[dynamixel intelrealsense]"
+cd ~/lerobot && pip install -e ".[dynamixel, intelrealsense]"
 ```
 
 For Linux only (not Mac), install extra dependencies for recording datasets:
diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py
index 554e054e8..4e276e169 100644
--- a/lerobot/common/utils/utils.py
+++ b/lerobot/common/utils/utils.py
@@ -196,19 +196,19 @@ def say(text, blocking=False):
     # Check if mac, linux, or windows.
     if platform.system() == "Darwin":
         cmd = f'say "{text}"'
+        if not blocking:
+            cmd += " &"
     elif platform.system() == "Linux":
         cmd = f'spd-say "{text}"'
+        if blocking:
+            cmd += "  --wait"
     elif platform.system() == "Windows":
+        # TODO(rcadene): Make blocking option work for Windows
         cmd = (
             'PowerShell -Command "Add-Type -AssemblyName System.Speech; '
             f"(New-Object System.Speech.Synthesis.SpeechSynthesizer).Speak('{text}')\""
         )
 
-    if not blocking and platform.system() in ["Darwin", "Linux"]:
-        # TODO(rcadene): Make it work for Windows
-        # Use the ampersand to run command in the background
-        cmd += " &"
-
     os.system(cmd)
 
 
diff --git a/poetry.lock b/poetry.lock
index bdb606456..bb82228de 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -7441,4 +7441,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "6c4bdf158f8744a5ba190df7e02bf4cdd545daa0680ef019706581e514c9e198"
+content-hash = "7ff63d36a5524a77cba916d212741082adcb49dfdc0dc49f8bf8ccee53c02254"
diff --git a/pyproject.toml b/pyproject.toml
index 5a926757a..42cdf5813 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -44,7 +44,8 @@ diffusers = ">=0.27.2"
 torchvision = ">=0.17.1"
 h5py = ">=3.10.0"
 huggingface-hub = {extras = ["hf-transfer", "cli"], version = ">=0.25.0"}
-gymnasium = ">=0.29.1"
+# TODO(rcadene, aliberts): Make gym 1.0.0 work
+gymnasium = "==0.29.1"
 cmake = ">=3.29.0.1"
 gym-dora = { git = "https://github.com/dora-rs/dora-lerobot.git", subdirectory = "gym_dora", optional = true }
 gym-pusht = { version = ">=0.1.5", optional = true}