diff --git a/docs/conf.py b/docs/conf.py
index e6163812..9c0a1420 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -23,7 +23,7 @@
 author = "Quentin Gallouédec"
 
 # The full version, including alpha/beta/rc tags
-release = "v3.0.2"
+release = "v3.0.3"
 
 
 # -- General configuration ---------------------------------------------------
diff --git a/panda_gym/envs/core.py b/panda_gym/envs/core.py
index 16911571..d7462b1c 100644
--- a/panda_gym/envs/core.py
+++ b/panda_gym/envs/core.py
@@ -208,6 +208,7 @@ class RobotTaskEnv(gym.Env):
     def __init__(self, robot: PyBulletRobot, task: Task) -> None:
         assert robot.sim == task.sim, "The robot and the task must belong to the same simulation."
         self.sim = robot.sim
+        self.metadata["render_fps"] = 1 / self.sim.dt
         self.robot = robot
         self.task = task
         observation, _ = self.reset()  # required for init; seed can be changed later
diff --git a/panda_gym/pybullet.py b/panda_gym/pybullet.py
index b4e869b3..0145f4c8 100644
--- a/panda_gym/pybullet.py
+++ b/panda_gym/pybullet.py
@@ -139,10 +139,12 @@ def render(
         if self.render_mode == "rgb_array":
             if self.connection_mode == p.DIRECT:
                 warnings.warn(
-                    "The use of the render method is not recommended when the environment "
-                    "has not been created with render_mode='human'. The rendering will probably be weird. "
-                    "Prefer making the environment with option `render_mode='rgb_array'. For example: "
-                    "`env = gym.make('PandaReach-v3', render_mode='rgb_array')`.",
+                    "You have set 'render_mode' to be 'rgb_array'. This is correct if you want to render the "
+                    "environment without an OpenGL engine. However, this option does not support transparency "
+                    "or background rendering and may result in lower quality rendering. To improve the rendering "
+                    "quality, we recommend that you use render_mode='human' instead. The render() method will "
+                    "return a more qualitative rendering of the environment. "
+                    "For example: env = gym.make('PandaReach-v3', render_mode='human').",
                     UserWarning,
                 )
             view_matrix = self.physics_client.computeViewMatrixFromYawPitchRoll(
diff --git a/panda_gym/version.txt b/panda_gym/version.txt
index d9c62ed9..282895a8 100644
--- a/panda_gym/version.txt
+++ b/panda_gym/version.txt
@@ -1 +1 @@
-3.0.2
\ No newline at end of file
+3.0.3
\ No newline at end of file