diff --git a/docs/scripts/gen_mds.py b/docs/scripts/gen_mds.py
index 3b3abfb3d..c8b0c11fd 100644
--- a/docs/scripts/gen_mds.py
+++ b/docs/scripts/gen_mds.py
@@ -1,177 +1,94 @@
-__author__ = "Sander Schulhoff"
-__email__ = "sanderschulhoff@gmail.com"
-
 import os
 import re
-from functools import reduce
+from collections import defaultdict
 
-import numpy as np
-from tqdm import tqdm
+from docs.scripts.utils import trim
 
 import gymnasium as gym
-from utils import kill_strs, trim
+from gymnasium.envs.registration import find_highest_version, get_env_id
 
 
-LAYOUT = "env"
+filtered_envs = defaultdict(list)
+exclude_env_names = [
+    "GymV21Environment",
+    "GymV26Environment",
+    "FrozenLake8x8",
+    "LunarLanderContinuous",
+    "BipedalWalkerHardcore",
+    "CartPoleJax",
+    "PendulumJax",
+    "Jax-Blackjack",
+]
+for env_spec in gym.registry.values():
+    if env_spec.name not in exclude_env_names:
+        highest_version = find_highest_version(env_spec.namespace, env_spec.name)
+        env_id = get_env_id(env_spec.namespace, env_spec.name, highest_version)
 
-pattern = re.compile(r"(?<!^)(?=[A-Z])")
-
-gym.logger.set_level(gym.logger.DISABLED)
-
-all_envs = list(gym.envs.registry.values())
-filtered_envs_by_type = {}
-
-# Obtain filtered list
-for env_spec in tqdm(all_envs):
-    if any(x in str(env_spec.id) for x in kill_strs):
-        continue
-
-    # gymnasium.envs.env_type.env.EnvClass
-    # ale_py.env.gym:AtariEnv
-    split = env_spec.entry_point.split(".")
-    # ignore gymnasium.envs.env_type:Env
-    env_module = split[0]
-    if len(split) < 4 and env_module != "ale_py":
-        continue
-    env_type = split[2] if env_module != "ale_py" else "atari"
-    env_version = env_spec.version
-
-    # ignore unit test envs and old versions of atari envs
-    if env_module == "ale_py" or env_type == "unittest":
-        continue
-
-    try:
-        env = gym.make(env_spec.id)
-        split = str(type(env.unwrapped)).split(".")
-        env_name = split[3]
-
-        if env_type not in filtered_envs_by_type.keys():
-            filtered_envs_by_type[env_type] = {}
-        # only store new entries and higher versions
-        if env_name not in filtered_envs_by_type[env_type] or (
-            env_name in filtered_envs_by_type[env_type]
-            and env_version > filtered_envs_by_type[env_type][env_name].version
+        env_spec = gym.spec(env_id)
+        if (
+            isinstance(env_spec.entry_point, str)
+            and "gymnasium" in env_spec.entry_point
         ):
-            filtered_envs_by_type[env_type][env_name] = env_spec
+            env_module = env_spec.entry_point.split(".")[2]
 
-    except Exception as e:
-        print(e)
+            if env_spec not in filtered_envs[env_module]:
+                filtered_envs[env_module].append(env_spec)
 
-# Sort
-filtered_envs = list(
-    reduce(
-        lambda s, x: s + x,
-        map(
-            lambda arr: sorted(arr, key=lambda x: x.name),
-            map(lambda dic: list(dic.values()), list(filtered_envs_by_type.values())),
-        ),
-        [],
-    )
-)
+# print(filtered_envs.keys())
+for env_module, env_specs in filtered_envs.items():
+    env_module_name = env_module.replace("_", " ").title()
+    print(env_module_name)
+    env_specs = sorted(env_specs, key=lambda spec: spec.name)
 
+    for i, env_spec in enumerate(env_specs):
+        print(f"\t{i=}, {env_spec.name}")
+        env = gym.make(env_spec)
+        env_docstring = trim(env.unwrapped.__doc__)
+        assert env_docstring
 
-# Update Docs
-for i, env_spec in tqdm(enumerate(filtered_envs)):
-    print("ID:", env_spec.id)
-    env_type = env_spec.entry_point.split(".")[2]
-    try:
-        env = gym.make(env_spec.id)
+        snake_env_name = re.sub(r"(?<!^)(?=[A-Z])", "_", env_spec.name).lower()
+        title_env_name = re.sub(r"(?<!^)(?=[A-Z])", " ", env_spec.name).title()
 
-        # variants dont get their own pages
-        e_n = str(env_spec).lower()
-
-        docstring = env.unwrapped.__doc__
-        if not docstring:
-            docstring = env.unwrapped.__class__.__doc__
-        docstring = trim(docstring)
-
-        # pascal case
-        pascal_env_name = env_spec.id.split("-")[0]
-        snake_env_name = pattern.sub("_", pascal_env_name).lower()
-        title_env_name = snake_env_name.replace("_", " ").title()
-        env_type_title = env_type.replace("_", " ").title()
-        related_pages_meta = ""
-        if i == 0 or not env_type == filtered_envs[i - 1].entry_point.split(".")[2]:
+        if i == 0:
             related_pages_meta = "firstpage:\n"
-        elif (
-            i == len(filtered_envs) - 1
-            or not env_type == filtered_envs[i + 1].entry_point.split(".")[2]
-        ):
+        elif i == len(env_specs) - 1:
             related_pages_meta = "lastpage:\n"
+        else:
+            related_pages_meta = ""
 
-        # path for saving video
-        v_path = os.path.join(
-            os.path.dirname(__file__),
-            "..",
-            "environments",
-            env_type,
-            snake_env_name + ".md",
-        )
+        action_space_table = env.action_space.__repr__().replace("\n", "")
+        observation_space_table = env.observation_space.__repr__().replace("\n", "")
 
-        front_matter = f"""---
+        env_page = f"""---
 autogenerated:
 title: {title_env_name}
 {related_pages_meta}---
+
+# {title_env_name}
+
+```{{figure}} ../../_static/videos/{env_module}/{snake_env_name}.gif
+:width: 200px
+:name: {snake_env_name}
+```
+
+This environment is part of the {env_module_name} environments which contains general information about the environment.
+
+|   |   |
+|---|---|
+| Action Space | `{re.sub(' +', ' ', action_space_table)}` |
+| Observation Space | `{re.sub(' +', ' ', observation_space_table)}` |
+| import | `gymnasium.make("{env.spec.id}")` |
+
+{env_docstring}
 """
-        title = f"# {title_env_name}"
-        gif = (
-            "```{figure}"
-            + f" ../../_static/videos/{env_type}/{snake_env_name}.gif"
-            + f" \n:width: 200px\n:name: {snake_env_name}\n```"
+
+        env_md_path = os.path.join(
+            os.path.dirname(__file__),
+            "..",
+            "environments",
+            env_module,
+            snake_env_name + ".md",
         )
-        info = (
-            "This environment is part of the "
-            + f"<a href='..'>{env_type_title} environments</a>."
-            + "Please read that page first for general information."
-        )
-        env_table = "|   |   |\n|---|---|\n"
-        env_table += f"| Action Space | {env.action_space} |\n"
-
-        if env.observation_space.shape:
-            env_table += f"| Observation Shape | {env.observation_space.shape} |\n"
-
-            if hasattr(env.observation_space, "high"):
-                high = env.observation_space.high
-
-                if hasattr(high, "shape"):
-                    if len(high.shape) == 3:
-                        high = high[0][0][0]
-                if env_type == "mujoco":
-                    high = high[0]
-                high = np.round(high, 2)
-                high = str(high).replace("\n", " ")
-                env_table += f"| Observation High | {high} |\n"
-
-            if hasattr(env.observation_space, "low"):
-                low = env.observation_space.low
-                if hasattr(low, "shape"):
-                    if len(low.shape) == 3:
-                        low = low[0][0][0]
-                if env_type == "mujoco":
-                    low = low[0]
-                low = np.round(low, 2)
-                low = str(low).replace("\n", " ")
-                env_table += f"| Observation Low | {low} |\n"
-        else:
-            env_table += f"| Observation Space | {env.observation_space} |\n"
-
-        env_table += f'| Import | `gymnasium.make("{env_spec.id}")` | \n'
-
-        if docstring is None:
-            docstring = "No information provided"
-        all_text = f"""{front_matter}
-{title}
-
-{gif}
-
-{info}
-
-{env_table}
-
-{docstring}
-"""
-        file = open(v_path, "w", encoding="utf-8")
-        file.write(all_text)
+        file = open(env_md_path, "w", encoding="utf-8")
+        file.write(env_page)
         file.close()
-    except Exception as e:
-        print(e)