diff --git a/pyproject.toml b/pyproject.toml
index e080b6784..a350cd785 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -408,6 +408,11 @@ ignore = [
     "T201", # Print statement found
     "T203", # Pprint statement found
     "B008", # Perform function call in argument defaults
+    # D100/D104: module- and package-level docstrings. The API reference is generated from class and
+    # function docstrings; a banner at the top of every file and every __init__.py would not appear on any
+    # rendered page. Coverage of the things that do get rendered is enforced by interrogate instead.
+    "D100",
+    "D104",
 ]
 
 [tool.ruff.lint.per-file-ignores]
@@ -447,7 +452,6 @@ ignore = [
 "src/lerobot/processor/**" = ["D"]
 "src/lerobot/rewards/**" = ["D"]
 "src/lerobot/rl/**" = ["D"]
-"src/lerobot/robots/**" = ["D"]
 "src/lerobot/rollout/**" = ["D"]
 "src/lerobot/scripts/**" = ["D"]
 "src/lerobot/teleoperators/**" = ["D"]
@@ -455,9 +459,6 @@ ignore = [
 "src/lerobot/transport/**" = ["D"]
 "src/lerobot/utils/**" = ["D"]
 "src/lerobot/lerobot_types.py" = ["D"]
-# Package root: two one-line docstring fixes land with the docstring PR.
-"src/lerobot/__init__.py" = ["D"]
-"src/lerobot/__version__.py" = ["D"]
 [tool.ruff.lint.isort]
 combine-as-imports = true
 known-first-party = ["lerobot"]
@@ -514,7 +515,7 @@ ignore-private = false
 ignore-property-decorators = false
 ignore-module = false
 ignore-setters = false
-fail-under = 52
+fail-under = 55
 output-format = "term-missing"
 color = true
 paths = ["src/lerobot"]
diff --git a/src/lerobot/__init__.py b/src/lerobot/__init__.py
index df43e7172..d4f8df34c 100644
--- a/src/lerobot/__init__.py
+++ b/src/lerobot/__init__.py
@@ -14,8 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""
-LeRobot -- PyTorch library for real-world robotics.
+"""LeRobot -- PyTorch library for real-world robotics.
 
 Provides datasets, pretrained policies, and tools for training, evaluation,
 data collection, and robot control. Integrates with Hugging Face Hub for
diff --git a/src/lerobot/__version__.py b/src/lerobot/__version__.py
index d12aafaa9..08de70178 100644
--- a/src/lerobot/__version__.py
+++ b/src/lerobot/__version__.py
@@ -13,7 +13,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-"""To enable `lerobot.__version__`"""
+"""To enable `lerobot.__version__`."""
 
 from importlib.metadata import PackageNotFoundError, version
 
diff --git a/src/lerobot/cameras/camera.py b/src/lerobot/cameras/camera.py
index 2a53d2544..f05921ff6 100644
--- a/src/lerobot/cameras/camera.py
+++ b/src/lerobot/cameras/camera.py
@@ -33,10 +33,10 @@ class Camera(abc.ABC):
     - Connection/disconnection
     - Frame capture (sync/async/latest)
 
-    Attributes:
-        fps (int | None): Configured frames per second
-        width (int | None): Frame width in pixels
-        height (int | None): Frame height in pixels
+    **Attributes**:
+        - **fps** (`int | None`) -- Configured frames per second.
+        - **width** (`int | None`) -- Frame width in pixels.
+        - **height** (`int | None`) -- Frame height in pixels.
     """
 
     def __init__(self, config: CameraConfig):
diff --git a/src/lerobot/cameras/opencv/configuration_opencv.py b/src/lerobot/cameras/opencv/configuration_opencv.py
index 8ae57fe3c..310475924 100644
--- a/src/lerobot/cameras/opencv/configuration_opencv.py
+++ b/src/lerobot/cameras/opencv/configuration_opencv.py
@@ -40,17 +40,20 @@ class OpenCVCameraConfig(CameraConfig):
     OpenCVCameraConfig(0, 30, 1280, 720, fourcc="YUYV")     # With YUYV format
     ```
 
-    Attributes:
-        index_or_path: Either an integer representing the camera device index,
-                      or a Path object pointing to a video file.
-        fps: Requested frames per second for the color stream.
-        width: Requested frame width in pixels for the color stream.
-        height: Requested frame height in pixels for the color stream.
-        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.
-        warmup_s: Time reading frames before returning from connect (in seconds)
-        fourcc: FOURCC code for video format (e.g., "MJPG", "YUYV", "I420"). Defaults to None (auto-detect).
-        backend: OpenCV backend identifier (https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html). Defaults to ANY.
+    **Attributes**:
+        - **index_or_path** (`int | Path`) -- Either an integer representing the camera device index, or a
+          Path object pointing to a video file.
+        - **fps** -- Requested frames per second for the color stream.
+        - **width** -- Requested frame width in pixels for the color stream.
+        - **height** -- Requested frame height in pixels for the color stream.
+        - **color_mode** (`ColorMode`) -- Color mode for image output (RGB or BGR). Defaults to RGB.
+        - **rotation** (`Cv2Rotation`) -- Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no
+          rotation.
+        - **warmup_s** (`int`) -- Time reading frames before returning from connect (in seconds)
+        - **fourcc** (`str | None`) -- FOURCC code for video format (e.g., "MJPG", "YUYV", "I420"). Defaults
+          to None (auto-detect).
+        - **backend** (`Cv2Backends`) -- OpenCV backend identifier
+          (https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html). Defaults to ANY.
 
     Note:
         - Only 3-channel color output (RGB/BGR) is currently supported.
diff --git a/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py b/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py
index b40bfe71b..d904088ee 100644
--- a/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py
+++ b/src/lerobot/cameras/reachy2_camera/configuration_reachy2_camera.py
@@ -43,16 +43,16 @@ class Reachy2CameraConfig(CameraConfig):
     )  # Left teleop camera, 640x480 @ 30FPS
     ```
 
-    Attributes:
-        name: Name of the camera device. Can be "teleop" or "depth".
-        image_type: Type of image stream. For "teleop" camera, can be "left" or "right".
-                    For "depth" camera, can be "rgb" or "depth". (depth is not supported yet)
-        fps: Requested frames per second for the color stream. Not configurable for Reachy 2 cameras.
-        width: Requested frame width in pixels for the color stream.
-        height: Requested frame height in pixels for the color stream.
-        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        ip_address: IP address of the robot. Defaults to "localhost".
-        port: Port number for the camera server. Defaults to 50065.
+    **Attributes**:
+        - **name** (`str`) -- Name of the camera device. Can be "teleop" or "depth".
+        - **image_type** (`str`) -- Type of image stream. For "teleop" camera, can be "left" or "right". For
+          "depth" camera, can be "rgb" or "depth". (depth is not supported yet)
+        - **fps** -- Requested frames per second for the color stream. Not configurable for Reachy 2 cameras.
+        - **width** -- Requested frame width in pixels for the color stream.
+        - **height** -- Requested frame height in pixels for the color stream.
+        - **color_mode** (`ColorMode`) -- Color mode for image output (RGB or BGR). Defaults to RGB.
+        - **ip_address** (`str | None`) -- IP address of the robot. Defaults to "localhost".
+        - **port** (`int`) -- Port number for the camera server. Defaults to 50065.
 
     Note:
         - Only 3-channel color output (RGB/BGR) is currently supported.
diff --git a/src/lerobot/cameras/realsense/configuration_realsense.py b/src/lerobot/cameras/realsense/configuration_realsense.py
index c4f1c0e83..45c3ebe8e 100644
--- a/src/lerobot/cameras/realsense/configuration_realsense.py
+++ b/src/lerobot/cameras/realsense/configuration_realsense.py
@@ -36,27 +36,28 @@ class RealSenseCameraConfig(CameraConfig):
     RealSenseCameraConfig("0123456789", 30, 640, 480, rotation=Cv2Rotation.ROTATE_90)  # With 90° rotation
     ```
 
-    Attributes:
-        fps: Requested frames per second for the color stream.
-        width: Requested frame width in pixels for the color stream.
-        height: Requested frame height in pixels for the color stream.
-        serial_number_or_name: Unique serial number or human-readable name to identify the camera.
-        color_mode: Color mode for image output (RGB or BGR). Defaults to RGB.
-        use_rgb: Whether to enable the color stream. Defaults to True.
-        use_depth: Whether to enable depth stream. Defaults to False.
-        rotation: Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no rotation.
-        warmup_s: Time reading frames before returning from connect (in seconds)
-        exposure: Manual exposure value for the color sensor. When set, auto-exposure is
-            disabled and this fixed value is used. Valid ranges are camera-model specific
-            and reported if the value is rejected. Defaults to None (leave unchanged).
-        gain: Manual gain value for the color sensor. When set, auto-exposure is disabled
-            and this fixed gain is used, which also freezes exposure at its current value
-            when no exposure is configured. Valid ranges are camera-model specific and
-            reported if the value is rejected. Defaults to None (leave unchanged).
-        white_balance: Manual white balance value for the color sensor. When set, auto
-            white balance is disabled and this fixed value is used. Valid ranges are
-            camera-model specific and reported if the value is rejected. Defaults to None
-            (leave unchanged).
+    **Attributes**:
+        - **fps** -- Requested frames per second for the color stream.
+        - **width** -- Requested frame width in pixels for the color stream.
+        - **height** -- Requested frame height in pixels for the color stream.
+        - **serial_number_or_name** (`str`) -- Unique serial number or human-readable name to identify the
+          camera.
+        - **color_mode** (`ColorMode`) -- Color mode for image output (RGB or BGR). Defaults to RGB.
+        - **use_rgb** (`bool`) -- Whether to enable the color stream. Defaults to True.
+        - **use_depth** (`bool`) -- Whether to enable depth stream. Defaults to False.
+        - **rotation** (`Cv2Rotation`) -- Image rotation setting (0°, 90°, 180°, or 270°). Defaults to no
+          rotation.
+        - **warmup_s** (`int`) -- Time reading frames before returning from connect (in seconds)
+        - **exposure** (`int | None`) -- Manual exposure value for the color sensor. When set, auto-exposure
+          is disabled and this fixed value is used. Valid ranges are camera-model specific and reported if the
+          value is rejected. Defaults to None (leave unchanged).
+        - **gain** (`int | None`) -- Manual gain value for the color sensor. When set, auto-exposure is
+          disabled and this fixed gain is used, which also freezes exposure at its current value when no
+          exposure is configured. Valid ranges are camera-model specific and reported if the value is
+          rejected. Defaults to None (leave unchanged).
+        - **white_balance** (`int | None`) -- Manual white balance value for the color sensor. When set, auto
+          white balance is disabled and this fixed value is used. Valid ranges are camera-model specific and
+          reported if the value is rejected. Defaults to None (leave unchanged).
 
     Note:
         - Either name or serial_number must be specified.
diff --git a/src/lerobot/motors/motors_bus.py b/src/lerobot/motors/motors_bus.py
index f4a747b44..dba3c1ee9 100644
--- a/src/lerobot/motors/motors_bus.py
+++ b/src/lerobot/motors/motors_bus.py
@@ -314,11 +314,16 @@ class SerialMotorsBus(MotorsBusBase):
     To find the port, you can run our utility script:
     ```bash
     lerobot-find-port.py
-    >>> Finding all available ports for the MotorsBus.
-    >>> ["/dev/tty.usbmodem575E0032081", "/dev/tty.usbmodem575E0031751"]
-    >>> Remove the usb cable from your MotorsBus and press Enter when done.
-    >>> The port of this MotorsBus is /dev/tty.usbmodem575E0031751.
-    >>> Reconnect the usb cable.
+    ```
+
+    which prints:
+
+    ```
+    Finding all available ports for the MotorsBus.
+    ["/dev/tty.usbmodem575E0032081", "/dev/tty.usbmodem575E0031751"]
+    Remove the usb cable from your MotorsBus and press Enter when done.
+    The port of this MotorsBus is /dev/tty.usbmodem575E0031751.
+    Reconnect the usb cable.
     ```
 
     Example of usage for 1 Feetech sts3215 motor connected to the bus:
@@ -595,7 +600,7 @@ class SerialMotorsBus(MotorsBusBase):
         ID, and finally programs the bus' default baud-rate.
 
         Args:
-            motor (str): Key of the motor in :pyattr:`motors`.
+            motor (str): Key of the motor in `motors`.
             initial_baudrate (int | None, optional): Current baud-rate (skips scanning when provided).
                 Defaults to None.
             initial_id (int | None, optional): Current ID (skips scanning when provided). Defaults to None.
@@ -666,7 +671,7 @@ class SerialMotorsBus(MotorsBusBase):
         """Enable torque on selected motors.
 
         Args:
-            motors (int | str | list[str] | None, optional): Same semantics as :pymeth:`disable_torque`.
+            motors (int | str | list[str] | None, optional): Same semantics as [`~motors.motors_bus.MotorsBus.disable_torque`].
                 Defaults to `None`.
             num_retry (int, optional): Number of additional retry attempts on communication failure.
                 Defaults to 0.
@@ -679,10 +684,12 @@ class SerialMotorsBus(MotorsBusBase):
 
         This helper is useful to temporarily disable torque when configuring motors.
 
-        Examples:
-            >>> with bus.torque_disabled():
+        Example:
+            ```python
+            >>> with bus.torque_disabled():  # doctest: +SKIP
             ...     # Safe operations here
             ...     pass
+            ```
         """
         self.disable_torque(motors)
         try:
@@ -695,7 +702,7 @@ class SerialMotorsBus(MotorsBusBase):
 
         Args:
             timeout_ms (int | None, optional): Timeout in *milliseconds*. If `None` (default) the method falls
-                back to :pyattr:`default_timeout`.
+                back to `default_timeout`.
         """
         timeout_ms = timeout_ms if timeout_ms is not None else self.default_timeout
         self.port_handler.setPacketTimeoutMillis(timeout_ms)
@@ -746,8 +753,8 @@ class SerialMotorsBus(MotorsBusBase):
 
         Args:
             calibration_dict (dict[str, MotorCalibration]): Calibration obtained from
-                :pymeth:`read_calibration` or crafted by the user.
-            cache (bool, optional): Save the calibration to :pyattr:`calibration`. Defaults to True.
+                [`~motors.motors_bus.MotorsBus.read_calibration`] or crafted by the user.
+            cache (bool, optional): Save the calibration to `calibration`. Defaults to True.
         """
         pass
 
@@ -755,7 +762,7 @@ class SerialMotorsBus(MotorsBusBase):
         """Restore factory calibration for the selected motors.
 
         Homing offset is set to ``0`` and min/max position limits are set to the full usable range.
-        The in-memory :pyattr:`calibration` is cleared.
+        The in-memory `calibration` is cleared.
 
         Args:
             motors (NameOrID | Sequence[NameOrID] | None, optional): Selection of motors. `None` (default)
@@ -1069,9 +1076,9 @@ class SerialMotorsBus(MotorsBusBase):
     ) -> None:
         """Write a value to a single motor's register.
 
-        Contrary to :pymeth:`sync_write`, this expects a response status packet emitted by the motor, which
+        Contrary to [`~motors.motors_bus.MotorsBus.sync_write`], this expects a response status packet emitted by the motor, which
         provides a guarantee that the value was written to the register successfully. In consequence, it is
-        slower than :pymeth:`sync_write` but it is more reliable. It should typically be used when configuring
+        slower than [`~motors.motors_bus.MotorsBus.sync_write`] but it is more reliable. It should typically be used when configuring
         motors.
 
         Args:
@@ -1228,8 +1235,8 @@ class SerialMotorsBus(MotorsBusBase):
     ) -> None:
         """Write the same register on multiple motors.
 
-        Contrary to :pymeth:`write`, this *does not* expects a response status packet emitted by the motor, which
-        can allow for lost packets. It is faster than :pymeth:`write` and should typically be used when
+        Contrary to [`~motors.motors_bus.MotorsBus.write`], this *does not* expects a response status packet emitted by the motor, which
+        can allow for lost packets. It is faster than [`~motors.motors_bus.MotorsBus.write`] and should typically be used when
         frequency matters and losing some packets is acceptable (e.g. teleoperation loops).
 
         Args:
diff --git a/src/lerobot/policies/factory.py b/src/lerobot/policies/factory.py
index ae6869d91..c4a7371cd 100644
--- a/src/lerobot/policies/factory.py
+++ b/src/lerobot/policies/factory.py
@@ -131,12 +131,16 @@ class ProcessorConfigKwargs(TypedDict, total=False):
     This provides type hints for the optional arguments passed to `make_pre_post_processors`,
     improving code clarity and enabling static analysis.
 
-    Attributes:
-        preprocessor_config_filename: The filename for the preprocessor configuration.
-        postprocessor_config_filename: The filename for the postprocessor configuration.
-        preprocessor_overrides: A dictionary of overrides for the preprocessor configuration.
-        postprocessor_overrides: A dictionary of overrides for the postprocessor configuration.
-        dataset_stats: Dataset statistics for normalization.
+    **Attributes**:
+        - **preprocessor_config_filename** (`str | None`) -- The filename for the preprocessor configuration.
+        - **postprocessor_config_filename** (`str | None`) -- The filename for the postprocessor
+          configuration.
+        - **preprocessor_overrides** (`dict[str, Any] | None`) -- A dictionary of overrides for the
+          preprocessor configuration.
+        - **postprocessor_overrides** (`dict[str, Any] | None`) -- A dictionary of overrides for the
+          postprocessor configuration.
+        - **dataset_stats** (`dict[str, dict[str, torch.Tensor]] | None`) -- Dataset statistics for
+          normalization.
     """
 
     preprocessor_config_filename: str | None
diff --git a/src/lerobot/policies/rtc/action_queue.py b/src/lerobot/policies/rtc/action_queue.py
index 199257b12..8c52ebece 100644
--- a/src/lerobot/policies/rtc/action_queue.py
+++ b/src/lerobot/policies/rtc/action_queue.py
@@ -46,10 +46,11 @@ class ActionQueue:
     Args:
         cfg (RTCConfig): Configuration for Real-Time Chunking behavior.
 
-    Attributes:
-        queue (Tensor | None): Processed actions for robot rollout (time_steps, action_dim).
-        original_queue (Tensor | None): Original actions for RTC computation (time_steps, action_dim).
-        last_index (int): Current consumption index in the queue.
+    **Attributes**:
+        - **queue** (`Tensor | None`) -- Processed actions for robot rollout (time_steps, action_dim).
+        - **original_queue** (`Tensor | None`) -- Original actions for RTC computation (time_steps,
+          action_dim).
+        - **last_index** (`int`) -- Current consumption index in the queue.
     """
 
     def __init__(self, cfg: RTCConfig):
diff --git a/src/lerobot/policies/rtc/debug_tracker.py b/src/lerobot/policies/rtc/debug_tracker.py
index f143c223b..735958976 100644
--- a/src/lerobot/policies/rtc/debug_tracker.py
+++ b/src/lerobot/policies/rtc/debug_tracker.py
@@ -27,19 +27,19 @@ from torch import Tensor
 class DebugStep:
     """Container for debug information from a single denoising step.
 
-    Attributes:
-        step_idx (int): Step index/counter.
-        x_t (Tensor | None): Current latent/state tensor.
-        v_t (Tensor | None): Velocity from denoiser.
-        x1_t (Tensor | None): Denoised prediction (x_t - time * v_t).
-        correction (Tensor | None): Correction gradient tensor.
-        err (Tensor | None): Weighted error term.
-        weights (Tensor | None): Prefix attention weights.
-        guidance_weight (float | Tensor | None): Applied guidance weight.
-        time (float | Tensor | None): Time parameter.
-        inference_delay (int | None): Inference delay parameter.
-        execution_horizon (int | None): Execution horizon parameter.
-        metadata (dict[str, Any]): Additional metadata.
+    **Attributes**:
+        - **step_idx** (`int`) -- Step index/counter.
+        - **x_t** (`Tensor | None`) -- Current latent/state tensor.
+        - **v_t** (`Tensor | None`) -- Velocity from denoiser.
+        - **x1_t** (`Tensor | None`) -- Denoised prediction (x_t - time * v_t).
+        - **correction** (`Tensor | None`) -- Correction gradient tensor.
+        - **err** (`Tensor | None`) -- Weighted error term.
+        - **weights** (`Tensor | None`) -- Prefix attention weights.
+        - **guidance_weight** (`float | Tensor | None`) -- Applied guidance weight.
+        - **time** (`float | Tensor | None`) -- Time parameter.
+        - **inference_delay** (`int | None`) -- Inference delay parameter.
+        - **execution_horizon** (`int | None`) -- Execution horizon parameter.
+        - **metadata** (`dict[str, Any]`) -- Additional metadata.
     """
 
     step_idx: int = 0
diff --git a/src/lerobot/processor/batch_processor.py b/src/lerobot/processor/batch_processor.py
index b91ce77e0..95a309fb7 100644
--- a/src/lerobot/processor/batch_processor.py
+++ b/src/lerobot/processor/batch_processor.py
@@ -217,10 +217,12 @@ class AddBatchDimensionProcessorStep(ProcessorStep):
     This step combines individual processors for actions, observations, and complementary data
     to create a batched transition (batch size 1) from a single-instance transition.
 
-    Attributes:
-        to_batch_action_processor: Processor for the action component.
-        to_batch_observation_processor: Processor for the observation component.
-        to_batch_complementary_data_processor: Processor for the complementary data component.
+    **Attributes**:
+        - **to_batch_action_processor** (`AddBatchDimensionActionStep`) -- Processor for the action component.
+        - **to_batch_observation_processor** (`AddBatchDimensionObservationStep`) -- Processor for the
+          observation component.
+        - **to_batch_complementary_data_processor** (`AddBatchDimensionComplementaryDataStep`) -- Processor
+          for the complementary data component.
     """
 
     to_batch_action_processor: AddBatchDimensionActionStep = field(
diff --git a/src/lerobot/processor/delta_action_processor.py b/src/lerobot/processor/delta_action_processor.py
index 6af0d8c36..20fc18e83 100644
--- a/src/lerobot/processor/delta_action_processor.py
+++ b/src/lerobot/processor/delta_action_processor.py
@@ -32,9 +32,8 @@ class MapTensorToDeltaActionDictStep(ActionProcessorStep):
     It decomposes the vector into named components for delta movements of the
     end-effector (x, y, z) and optionally the gripper.
 
-    Attributes:
-        use_gripper: If True, assumes the 4th element of the tensor is the
-                     gripper action.
+    **Attributes**:
+        - **use_gripper** (`bool`) -- If True, assumes the 4th element of the tensor is the gripper action.
     """
 
     use_gripper: bool = True
@@ -81,10 +80,10 @@ class MapDeltaActionToRobotActionStep(RobotActionProcessorStep):
     into a target action format that includes an "enabled" flag and target
     end-effector positions. It also handles scaling and noise filtering.
 
-    Attributes:
-        position_scale: A factor to scale the delta position inputs.
-        noise_threshold: The magnitude below which delta inputs are considered noise
-                         and do not trigger an "enabled" state.
+    **Attributes**:
+        - **position_scale** (`float`) -- A factor to scale the delta position inputs.
+        - **noise_threshold** (`float`) -- The magnitude below which delta inputs are considered noise and do
+          not trigger an "enabled" state.
     """
 
     # Scale factors for delta movements
diff --git a/src/lerobot/processor/device_processor.py b/src/lerobot/processor/device_processor.py
index 2064b37fd..9b7b4ba22 100644
--- a/src/lerobot/processor/device_processor.py
+++ b/src/lerobot/processor/device_processor.py
@@ -40,10 +40,10 @@ class DeviceProcessorStep(ProcessorStep):
 
     This is crucial for preparing data for model training or inference on hardware like GPUs.
 
-    Attributes:
-        device: The target device for tensors (e.g., "cpu", "cuda", "cuda:0").
-        float_dtype: The target floating-point dtype as a string (e.g., "float32", "float16", "bfloat16").
-                     If None, the dtype is not changed.
+    **Attributes**:
+        - **device** (`str`) -- The target device for tensors (e.g., "cpu", "cuda", "cuda:0").
+        - **float_dtype** (`str | None`) -- The target floating-point dtype as a string (e.g., "float32",
+          "float16", "bfloat16"). If None, the dtype is not changed.
     """
 
     device: str = "cpu"
diff --git a/src/lerobot/processor/gym_action_processor.py b/src/lerobot/processor/gym_action_processor.py
index 549e2b1e0..3b058c502 100644
--- a/src/lerobot/processor/gym_action_processor.py
+++ b/src/lerobot/processor/gym_action_processor.py
@@ -33,10 +33,9 @@ class Torch2NumpyActionProcessorStep(ActionProcessorStep):
     This step is useful when the output of a policy (typically a torch.Tensor)
     needs to be passed to an environment or component that expects a NumPy array.
 
-    Attributes:
-        squeeze_batch_dim: If True, removes the first dimension of the array
-                           if it is of size 1. This is useful for converting a
-                           batched action of size (1, D) to a single action of size (D,).
+    **Attributes**:
+        - **squeeze_batch_dim** (`bool`) -- If True, removes the first dimension of the array if it is of size
+          1. This is useful for converting a batched action of size (1, D) to a single action of size (D,).
     """
 
     squeeze_batch_dim: bool = True
diff --git a/src/lerobot/processor/hil_processor.py b/src/lerobot/processor/hil_processor.py
index e0c9fe733..0a4a5ca53 100644
--- a/src/lerobot/processor/hil_processor.py
+++ b/src/lerobot/processor/hil_processor.py
@@ -101,8 +101,8 @@ class AddTeleopActionAsComplimentaryDataStep(ComplementaryDataProcessorStep):
     be available to downstream processors, for example, to override a policy's action
     during an intervention.
 
-    Attributes:
-        teleop_device: The teleoperator instance to get the action from.
+    **Attributes**:
+        - **teleop_device** (`Teleoperator`) -- The teleoperator instance to get the action from.
     """
 
     teleop_device: "Teleoperator"
@@ -137,9 +137,9 @@ class AddTeleopEventsAsInfoStep(InfoProcessorStep):
     This step extracts control events from teleoperators that support event-based
     interaction, making these signals available to other parts of the system.
 
-    Attributes:
-        teleop_device: An instance of a teleoperator that implements the
-                       `HasTeleopEvents` protocol.
+    **Attributes**:
+        - **teleop_device** (`TeleopWithEvents`) -- An instance of a teleoperator that implements the
+          `HasTeleopEvents` protocol.
     """
 
     teleop_device: TeleopWithEvents
@@ -180,10 +180,10 @@ class ImageCropResizeProcessorStep(ObservationProcessorStep):
     the specified transformations. It handles device placement, moving tensors to the
     CPU if necessary for operations not supported on certain accelerators like MPS.
 
-    Attributes:
-        crop_params_dict: A dictionary mapping image keys to cropping parameters
-                          (top, left, height, width).
-        resize_size: A tuple (height, width) to resize all images to.
+    **Attributes**:
+        - **crop_params_dict** (`dict[str, tuple[int, int, int, int]] | None`) -- A dictionary mapping image
+          keys to cropping parameters (top, left, height, width).
+        - **resize_size** (`tuple[int, int] | None`) -- A tuple (height, width) to resize all images to.
     """
 
     crop_params_dict: dict[str, tuple[int, int, int, int]] | None = None
@@ -267,9 +267,9 @@ class TimeLimitProcessorStep(TruncatedProcessorStep):
     """
     Tracks episode steps and enforces a time limit by truncating the episode.
 
-    Attributes:
-        max_episode_steps: The maximum number of steps allowed per episode.
-        current_step: The current step count for the active episode.
+    **Attributes**:
+        - **max_episode_steps** (`int`) -- The maximum number of steps allowed per episode.
+        - **current_step** (`int`) -- The current step count for the active episode.
     """
 
     max_episode_steps: int
@@ -358,11 +358,11 @@ class GripperPenaltyProcessorStep(ProcessorStep):
     This discourages gripper oscillation while leaving "stay" and saturating-further
     commands unpenalized.
 
-    Attributes:
-        penalty: The negative reward value to apply.
-        max_gripper_pos: The maximum position value for the gripper, used for normalization.
-        open_threshold: Normalized state below which the gripper is considered "open".
-        closed_threshold: Normalized state above which the gripper is considered "closed".
+    **Attributes**:
+        - **penalty** (`float`) -- The negative reward value to apply.
+        - **max_gripper_pos** (`float`) -- The maximum position value for the gripper, used for normalization.
+        - **open_threshold** (`float`) -- Normalized state below which the gripper is considered "open".
+        - **closed_threshold** (`float`) -- Normalized state above which the gripper is considered "closed".
     """
 
     penalty: float = -0.02
@@ -456,10 +456,10 @@ class InterventionActionProcessorStep(ProcessorStep):
     this step replaces the policy's action with the human's teleoperated action.
     It also processes signals to terminate the episode or flag success.
 
-    Attributes:
-        use_gripper: Whether to include the gripper in the teleoperated action.
-        terminate_on_success: If True, automatically sets the `done` flag when a
-                              `success` event is received.
+    **Attributes**:
+        - **use_gripper** (`bool`) -- Whether to include the gripper in the teleoperated action.
+        - **terminate_on_success** (`bool`) -- If True, automatically sets the `done` flag when a `success`
+          event is received.
     """
 
     use_gripper: bool = False
@@ -557,13 +557,13 @@ class RewardClassifierProcessorStep(ProcessorStep):
     This step uses a model to determine if the current state is successful, updating
     the reward and potentially terminating the episode.
 
-    Attributes:
-        pretrained_path: Path to the pretrained reward classifier model.
-        device: The device to run the classifier on.
-        success_threshold: The probability threshold to consider a prediction as successful.
-        success_reward: The reward value to assign on success.
-        terminate_on_success: If True, terminates the episode upon successful classification.
-        reward_classifier: The loaded classifier model instance.
+    **Attributes**:
+        - **pretrained_path** (`str | None`) -- Path to the pretrained reward classifier model.
+        - **device** (`str`) -- The device to run the classifier on.
+        - **success_threshold** (`float`) -- The probability threshold to consider a prediction as successful.
+        - **success_reward** (`float`) -- The reward value to assign on success.
+        - **terminate_on_success** (`bool`) -- If True, terminates the episode upon successful classification.
+        - **reward_classifier** (`Any`) -- The loaded classifier model instance.
     """
 
     pretrained_path: str | None = None
diff --git a/src/lerobot/processor/normalize_processor.py b/src/lerobot/processor/normalize_processor.py
index 73c8922b6..1003573d1 100644
--- a/src/lerobot/processor/normalize_processor.py
+++ b/src/lerobot/processor/normalize_processor.py
@@ -71,22 +71,23 @@ class _NormalizationMixin:
         )
         ```
 
-    Attributes:
-        features: A dictionary mapping feature names to `PolicyFeature` objects, defining
-            the data structure to be processed.
-        norm_map: A dictionary mapping `FeatureType` to `NormalizationMode`, specifying
-            which normalization method to use for each type of feature.
-        stats: A dictionary containing the normalization statistics (e.g., mean, std,
-            min, max) for each feature.
-        device: The PyTorch device on which to store and perform tensor operations.
-        eps: A small epsilon value to prevent division by zero in normalization
-            calculations.
-        normalize_observation_keys: An optional set of keys to selectively apply
-            normalization to specific observation features.
-        _tensor_stats: An internal dictionary holding the normalization statistics as
-            PyTorch tensors.
-        _stats_explicitly_provided: Internal flag tracking whether stats were explicitly
-            provided during construction (used for override preservation).
+    **Attributes**:
+        - **features** (`dict[str, PolicyFeature]`) -- A dictionary mapping feature names to `PolicyFeature`
+          objects, defining the data structure to be processed.
+        - **norm_map** (`dict[FeatureType, NormalizationMode]`) -- A dictionary mapping `FeatureType` to
+          `NormalizationMode`, specifying which normalization method to use for each type of feature.
+        - **stats** (`dict[str, dict[str, Any]] | None`) -- A dictionary containing the normalization
+          statistics (e.g., mean, std, min, max) for each feature.
+        - **device** (`torch.device | str | None`) -- The PyTorch device on which to store and perform tensor
+          operations.
+        - **eps** (`float`) -- A small epsilon value to prevent division by zero in normalization
+          calculations.
+        - **normalize_observation_keys** (`set[str] | None`) -- An optional set of keys to selectively apply
+          normalization to specific observation features.
+        - **_tensor_stats** (`dict[str, dict[str, Tensor]]`) -- An internal dictionary holding the
+          normalization statistics as PyTorch tensors.
+        - **_stats_explicitly_provided** (`bool`) -- Internal flag tracking whether stats were explicitly
+          provided during construction (used for override preservation).
     """
 
     features: dict[str, PolicyFeature]
diff --git a/src/lerobot/processor/pipeline.py b/src/lerobot/processor/pipeline.py
index 0c0534572..de424fbac 100644
--- a/src/lerobot/processor/pipeline.py
+++ b/src/lerobot/processor/pipeline.py
@@ -269,13 +269,18 @@ class DataProcessorPipeline[TInput, TOutput](HubMixin):
     data processing workflow. It's generic, allowing for custom input and output types,
     which are handled by the `to_transition` and `to_output` converters.
 
-    Attributes:
-        steps: A sequence of `ProcessorStep` objects that make up the pipeline.
-        name: A descriptive name for the pipeline.
-        to_transition: A function to convert raw input data into the standardized `EnvTransition` format.
-        to_output: A function to convert the final `EnvTransition` into the desired output format.
-        before_step_hooks: A list of functions to be called before each step is executed.
-        after_step_hooks: A list of functions to be called after each step is executed.
+    **Attributes**:
+        - **steps** (`Sequence[ProcessorStep]`) -- A sequence of `ProcessorStep` objects that make up the
+          pipeline.
+        - **name** (`str`) -- A descriptive name for the pipeline.
+        - **to_transition** (`Callable[[TInput], EnvTransition]`) -- A function to convert raw input data into
+          the standardized `EnvTransition` format.
+        - **to_output** (`Callable[[EnvTransition], TOutput]`) -- A function to convert the final
+          `EnvTransition` into the desired output format.
+        - **before_step_hooks** (`list[Callable[[int, EnvTransition], None]]`) -- A list of functions to be
+          called before each step is executed.
+        - **after_step_hooks** (`list[Callable[[int, EnvTransition], None]]`) -- A list of functions to be
+          called after each step is executed.
     """
 
     steps: Sequence[ProcessorStep] = field(default_factory=list)
diff --git a/src/lerobot/processor/relative_action_processor.py b/src/lerobot/processor/relative_action_processor.py
index 4fe007f79..0a649e61b 100644
--- a/src/lerobot/processor/relative_action_processor.py
+++ b/src/lerobot/processor/relative_action_processor.py
@@ -91,11 +91,11 @@ class RelativeActionsProcessorStep(ProcessorStep):
     Caches the last seen state so a paired AbsoluteActionsProcessorStep can reverse
     the conversion during postprocessing.
 
-    Attributes:
-        enabled: Whether to apply the relative conversion.
-        exclude_joints: Joint names to keep absolute (not converted to relative).
-        action_names: Action dimension names from dataset metadata, used to build
-            the mask from exclude_joints. If None, all dims are converted.
+    **Attributes**:
+        - **enabled** (`bool`) -- Whether to apply the relative conversion.
+        - **exclude_joints** (`list[str]`) -- Joint names to keep absolute (not converted to relative).
+        - **action_names** (`list[str] | None`) -- Action dimension names from dataset metadata, used to build
+          the mask from exclude_joints. If None, all dims are converted.
     """
 
     enabled: bool = False
@@ -168,9 +168,10 @@ class AbsoluteActionsProcessorStep(ProcessorStep):
     predicted relative offsets are converted back to absolute positions for execution.
     Reads the cached state from its paired RelativeActionsProcessorStep.
 
-    Attributes:
-        enabled: Whether to apply the absolute conversion.
-        relative_step: Reference to the paired RelativeActionsProcessorStep that caches state.
+    **Attributes**:
+        - **enabled** (`bool`) -- Whether to apply the absolute conversion.
+        - **relative_step** (`RelativeActionsProcessorStep | None`) -- Reference to the paired
+          RelativeActionsProcessorStep that caches state.
     """
 
     enabled: bool = False
diff --git a/src/lerobot/processor/rename_processor.py b/src/lerobot/processor/rename_processor.py
index 5ffec6868..9aaf911d0 100644
--- a/src/lerobot/processor/rename_processor.py
+++ b/src/lerobot/processor/rename_processor.py
@@ -32,10 +32,9 @@ class RenameObservationsProcessorStep(ObservationProcessorStep):
     from an environment's format to the format expected by a LeRobot policy or
     other downstream components.
 
-    Attributes:
-        rename_map: A dictionary mapping from old key names to new key names.
-                    Keys present in an observation that are not in this map will
-                    be kept with their original names.
+    **Attributes**:
+        - **rename_map** (`dict[str, str]`) -- A dictionary mapping from old key names to new key names. Keys
+          present in an observation that are not in this map will be kept with their original names.
     """
 
     rename_map: dict[str, str] = field(default_factory=dict)
diff --git a/src/lerobot/processor/tokenizer_processor.py b/src/lerobot/processor/tokenizer_processor.py
index ae226b6fb..c6ceabb6e 100644
--- a/src/lerobot/processor/tokenizer_processor.py
+++ b/src/lerobot/processor/tokenizer_processor.py
@@ -65,15 +65,17 @@ class TokenizerProcessorStep(ObservationProcessorStep):
 
     Requires the `transformers` library to be installed.
 
-    Attributes:
-        tokenizer_name: The name of a pretrained tokenizer from the Hugging Face Hub (e.g., "bert-base-uncased").
-        tokenizer: A pre-initialized tokenizer object. If provided, `tokenizer_name` is ignored.
-        max_length: The maximum length to pad or truncate sequences to.
-        task_key: The key in `complementary_data` where the task string is stored.
-        padding_side: The side to pad on ('left' or 'right').
-        padding: The padding strategy ('max_length', 'longest', etc.).
-        truncation: Whether to truncate sequences longer than `max_length`.
-        input_tokenizer: The internal tokenizer instance, loaded during initialization.
+    **Attributes**:
+        - **tokenizer_name** (`str | None`) -- The name of a pretrained tokenizer from the Hugging Face Hub
+          (e.g., "bert-base-uncased").
+        - **tokenizer** (`Any | None`) -- A pre-initialized tokenizer object. If provided, `tokenizer_name` is
+          ignored.
+        - **max_length** (`int`) -- The maximum length to pad or truncate sequences to.
+        - **task_key** (`str`) -- The key in `complementary_data` where the task string is stored.
+        - **padding_side** (`str`) -- The side to pad on ('left' or 'right').
+        - **padding** (`str`) -- The padding strategy ('max_length', 'longest', etc.).
+        - **truncation** (`bool`) -- Whether to truncate sequences longer than `max_length`.
+        - **input_tokenizer** (`Any`) -- The internal tokenizer instance, loaded during initialization.
     """
 
     tokenizer_name: str | None = None
@@ -346,12 +348,17 @@ class ActionTokenizerProcessorStep(ActionProcessorStep):
 
     Requires the `transformers` library to be installed.
 
-    Attributes:
-        tokenizer_name: The name of a pretrained processor from the Hugging Face Hub (e.g., "lerobot/fast-action-tokenizer").
-        tokenizer: A pre-initialized processor/tokenizer object. If provided, `tokenizer_name` is ignored.
-        trust_remote_code: Whether to trust remote code when loading the tokenizer (required for some tokenizers).
-        action_tokenizer: The internal tokenizer/processor instance, loaded during initialization.
-        paligemma_tokenizer_name: The name of a pretrained PaliGemma tokenizer from the Hugging Face Hub (e.g., "google/paligemma-3b-pt-224").
+    **Attributes**:
+        - **tokenizer_name** -- The name of a pretrained processor from the Hugging Face Hub (e.g.,
+          "lerobot/fast-action-tokenizer").
+        - **tokenizer** -- A pre-initialized processor/tokenizer object. If provided, `tokenizer_name` is
+          ignored.
+        - **trust_remote_code** (`bool`) -- Whether to trust remote code when loading the tokenizer (required
+          for some tokenizers).
+        - **action_tokenizer** (`Any`) -- The internal tokenizer/processor instance, loaded during
+          initialization.
+        - **paligemma_tokenizer_name** (`str`) -- The name of a pretrained PaliGemma tokenizer from the
+          Hugging Face Hub (e.g., "google/paligemma-3b-pt-224").
     """
 
     action_tokenizer_name: str | None = None
diff --git a/src/lerobot/rl/joint_observations_processor.py b/src/lerobot/rl/joint_observations_processor.py
index dc677e26c..05cd3c29c 100644
--- a/src/lerobot/rl/joint_observations_processor.py
+++ b/src/lerobot/rl/joint_observations_processor.py
@@ -38,11 +38,11 @@ class JointVelocityProcessorStep(ObservationProcessorStep):
     difference between the current and the last observed joint positions. The
     resulting velocity vector is then concatenated to the original state vector.
 
-    Attributes:
-        dt: The time step (delta time) in seconds between observations, used for
-            calculating velocity.
-        last_joint_positions: Stores the joint positions from the previous step
-                              to enable velocity calculation.
+    **Attributes**:
+        - **dt** (`float`) -- The time step (delta time) in seconds between observations, used for calculating
+          velocity.
+        - **last_joint_positions** (`torch.Tensor | None`) -- Stores the joint positions from the previous
+          step to enable velocity calculation.
     """
 
     dt: float = 0.1
@@ -138,9 +138,9 @@ class MotorCurrentProcessorStep(ObservationProcessorStep):
     This step queries the robot's hardware interface to get the present current
     for each motor and concatenates this information to the existing state vector.
 
-    Attributes:
-        robot: An instance of a `lerobot` Robot class that provides access to
-               the hardware bus.
+    **Attributes**:
+        - **robot** (`Robot | None`) -- An instance of a `lerobot` Robot class that provides access to the
+          hardware bus.
     """
 
     robot: Robot | None = None
diff --git a/src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py b/src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py
index b92632627..8a151d366 100644
--- a/src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py
+++ b/src/lerobot/robots/bi_openarm_follower/bi_openarm_follower.py
@@ -29,14 +29,18 @@ logger = logging.getLogger(__name__)
 
 
 class BiOpenArmFollower(BimanualMixin, Robot):
-    """
-    Bimanual OpenArm Follower Arms
-    """
+    """A bimanual pair of OpenArm follower arms driven as one robot."""
 
     config_class = BiOpenArmFollowerConfig
     name = "bi_openarm_follower"
 
     def __init__(self, config: BiOpenArmFollowerConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`BiOpenArmFollowerConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
 
@@ -114,19 +118,43 @@ class BiOpenArmFollower(BimanualMixin, Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         raise NotImplementedError(
             "Motor ID configuration is typically done via manufacturer tools for CAN motors."
         )
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         obs_dict: RobotObservation = {}
 
         # Add "left_" prefix to per-arm keys; keep top-level camera keys unprefixed.
@@ -146,6 +174,23 @@ class BiOpenArmFollower(BimanualMixin, Robot):
         custom_kp: dict[str, float] | None = None,
         custom_kd: dict[str, float] | None = None,
     ) -> RobotAction:
+        """Command both arms to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`], i.e. prefixed `left_` and
+                `right_`.
+            custom_kp (`dict[str, float]`, *optional*):
+                Per-motor proportional gains for this step only. Defaults to each arm's `position_kp`.
+            custom_kd (`dict[str, float]`, *optional*):
+                Per-motor derivative gains for this step only. Defaults to each arm's `position_kd`.
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         # Remove "left_" prefix
         left_action = {
             key.removeprefix("left_"): value for key, value in action.items() if key.startswith("left_")
diff --git a/src/lerobot/robots/bi_openarm_follower/config_bi_openarm_follower.py b/src/lerobot/robots/bi_openarm_follower/config_bi_openarm_follower.py
index d1c9335a0..f0cd9d205 100644
--- a/src/lerobot/robots/bi_openarm_follower/config_bi_openarm_follower.py
+++ b/src/lerobot/robots/bi_openarm_follower/config_bi_openarm_follower.py
@@ -25,7 +25,28 @@ from ..openarm_follower import OpenArmFollowerConfigBase
 @RobotConfig.register_subclass("bi_openarm_follower")
 @dataclass(kw_only=True)
 class BiOpenArmFollowerConfig(RobotConfig):
-    """Configuration class for Bi OpenArm Follower robots."""
+    """Configuration for a bimanual pair of OpenArm follower arms.
+
+    The two arms are configured independently, then driven as one robot: observation and action keys from
+    each arm are prefixed with `left_` and `right_`.
+
+    Calibration is per arm, taken from each arm config's own settings.
+
+    Args:
+        id (`str`, *optional*, defaults to `"bi_openarm_follower"`):
+            Identifier for the pair as a whole.
+        calibration_dir (`Path`, *optional*):
+            Unused at this level; each arm calibrates through its own config.
+        left_arm_config (`OpenArmFollowerConfigBase`):
+            Configuration for the left arm, including its own CAN interface. Set its `side` to `"left"` so
+            the correct joint limits apply.
+        right_arm_config (`OpenArmFollowerConfigBase`):
+            Configuration for the right arm, including its own CAN interface. Set its `side` to `"right"`.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras not attached to either arm, such as an overhead view. These keys appear in
+            observations unchanged, whereas cameras declared on an arm config are prefixed with that
+            arm's side.
+    """
 
     id: str | None = "bi_openarm_follower"
 
diff --git a/src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py b/src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py
index 704fd9382..567efbf91 100644
--- a/src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py
+++ b/src/lerobot/robots/bi_rebot_b601_follower/bi_rebot_b601_follower.py
@@ -39,6 +39,12 @@ class BiRebotB601Follower(BimanualMixin, Robot):
     name = "bi_rebot_b601_follower"
 
     def __init__(self, config: BiRebotB601FollowerConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`BiRebotB601FollowerConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
 
@@ -120,14 +126,33 @@ class BiRebotB601Follower(BimanualMixin, Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         obs_dict: RobotObservation = {}
         for k, v in self.left_arm.get_observation().items():
             obs_dict[k if k in self._top_level_cam_keys else f"left_{k}"] = v
@@ -137,6 +162,18 @@ class BiRebotB601Follower(BimanualMixin, Robot):
 
     @check_if_not_connected
     def send_action(self, action: RobotAction) -> RobotAction:
+        """Command the robot to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`].
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         left_action = {
             key.removeprefix("left_"): value for key, value in action.items() if key.startswith("left_")
         }
diff --git a/src/lerobot/robots/bi_rebot_b601_follower/config_bi_rebot_b601_follower.py b/src/lerobot/robots/bi_rebot_b601_follower/config_bi_rebot_b601_follower.py
index fce2967a8..2f9d8505d 100644
--- a/src/lerobot/robots/bi_rebot_b601_follower/config_bi_rebot_b601_follower.py
+++ b/src/lerobot/robots/bi_rebot_b601_follower/config_bi_rebot_b601_follower.py
@@ -25,7 +25,27 @@ from ..rebot_b601_follower import RebotB601FollowerConfig
 @RobotConfig.register_subclass("bi_rebot_b601_follower")
 @dataclass
 class BiRebotB601FollowerConfig(RobotConfig):
-    """Configuration class for the bimanual reBot B601-DM follower robot."""
+    """Configuration for a bimanual pair of reBot B601-DM follower arms.
+
+    The two arms are configured independently, then driven as one robot: observation and action keys from
+    each arm are prefixed with `left_` and `right_`.
+
+    Calibration is per arm, taken from each arm config's own `id` and `calibration_dir`.
+
+    Args:
+        left_arm_config (`RebotB601FollowerConfig`):
+            Configuration for the left arm, including its own `port` and CAN settings.
+        right_arm_config (`RebotB601FollowerConfig`):
+            Configuration for the right arm, including its own `port` and CAN settings.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras not attached to either arm, such as an overhead view. These keys appear in
+            observations unchanged, whereas cameras declared on an arm config are prefixed with that
+            arm's side.
+        id (`str`, *optional*):
+            Identifier for the pair as a whole.
+        calibration_dir (`Path`, *optional*):
+            Unused at this level; each arm calibrates through its own config.
+    """
 
     left_arm_config: RebotB601FollowerConfig
     right_arm_config: RebotB601FollowerConfig
diff --git a/src/lerobot/robots/bi_so_follower/bi_so_follower.py b/src/lerobot/robots/bi_so_follower/bi_so_follower.py
index de963d4d0..87563d9ec 100644
--- a/src/lerobot/robots/bi_so_follower/bi_so_follower.py
+++ b/src/lerobot/robots/bi_so_follower/bi_so_follower.py
@@ -29,14 +29,18 @@ logger = logging.getLogger(__name__)
 
 
 class BiSOFollower(BimanualMixin, Robot):
-    """
-    [Bimanual SO Follower Arms](https://github.com/TheRobotStudio/SO-ARM100) designed by TheRobotStudio
-    """
+    """A bimanual pair of [SO follower arms](https://github.com/TheRobotStudio/SO-ARM100) by TheRobotStudio."""
 
     config_class = BiSOFollowerConfig
     name = "bi_so_follower"
 
     def __init__(self, config: BiSOFollowerConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`BiSOFollowerConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
 
@@ -107,18 +111,42 @@ class BiSOFollower(BimanualMixin, Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         self.left_arm.setup_motors()
         self.right_arm.setup_motors()
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         obs_dict: RobotObservation = {}
 
         # Add "left_" prefix to per-arm keys; keep top-level camera keys unprefixed.
@@ -134,6 +162,18 @@ class BiSOFollower(BimanualMixin, Robot):
     @check_if_not_connected
     def send_action(self, action: RobotAction) -> RobotAction:
         # Remove "left_" prefix
+        """Command the robot to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`].
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         left_action = {
             key.removeprefix("left_"): value for key, value in action.items() if key.startswith("left_")
         }
diff --git a/src/lerobot/robots/bi_so_follower/config_bi_so_follower.py b/src/lerobot/robots/bi_so_follower/config_bi_so_follower.py
index 0c68e7cb1..f94d1f641 100644
--- a/src/lerobot/robots/bi_so_follower/config_bi_so_follower.py
+++ b/src/lerobot/robots/bi_so_follower/config_bi_so_follower.py
@@ -25,7 +25,27 @@ from ..so_follower import SOFollowerConfig
 @RobotConfig.register_subclass("bi_so_follower")
 @dataclass
 class BiSOFollowerConfig(RobotConfig):
-    """Configuration class for Bi SO Follower robots."""
+    """Configuration for a bimanual pair of SO follower arms.
+
+    The two arms are configured independently, then driven as one robot: observation and action keys from
+    each arm are prefixed with `left_` and `right_`.
+
+    Calibration is per arm, taken from each arm config's own `id` and `calibration_dir`.
+
+    Args:
+        left_arm_config (`SOFollowerConfig`):
+            Configuration for the left arm, including its own `port`.
+        right_arm_config (`SOFollowerConfig`):
+            Configuration for the right arm, including its own `port`.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras not attached to either arm, such as an overhead view. These keys appear in
+            observations unchanged, whereas cameras declared on an arm config are prefixed with that
+            arm's side.
+        id (`str`, *optional*):
+            Identifier for the pair as a whole.
+        calibration_dir (`Path`, *optional*):
+            Unused at this level; each arm calibrates through its own config.
+    """
 
     left_arm_config: SOFollowerConfig
     right_arm_config: SOFollowerConfig
diff --git a/src/lerobot/robots/config.py b/src/lerobot/robots/config.py
index a85a83169..1d5b62fa3 100644
--- a/src/lerobot/robots/config.py
+++ b/src/lerobot/robots/config.py
@@ -21,12 +21,33 @@ import draccus
 
 @dataclass(kw_only=True)
 class RobotConfig(draccus.ChoiceRegistry, abc.ABC):
+    """Base configuration shared by every robot.
+
+    Concrete robots subclass this and register themselves with
+    `@RobotConfig.register_subclass("name")`, which is what makes `--robot.type=name` work on the command
+    line. Subclasses inherit the two fields below and must document them alongside their own.
+
+    Args:
+        id (`str`, *optional*):
+            Identifier for this particular unit, used to tell apart several robots of the same type. It
+            also names the calibration file, so keep it stable for a given piece of hardware.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to a per-robot directory under the
+            LeRobot calibration home.
+    """
+
     # Allows to distinguish between different robots of the same type
     id: str | None = None
     # Directory to store calibration file
     calibration_dir: Path | None = None
 
     def __post_init__(self):
+        """Validate that every configured camera specifies the fields a robot requires.
+
+        Raises:
+            ValueError: If a camera does not set `width`, `height` and `fps`. A robot records frames at a
+                fixed shape, so these cannot be left to the driver's defaults.
+        """
         if hasattr(self, "cameras") and self.cameras:
             for _, config in self.cameras.items():
                 for attr in ["width", "height", "fps"]:
@@ -37,4 +58,10 @@ class RobotConfig(draccus.ChoiceRegistry, abc.ABC):
 
     @property
     def type(self) -> str:
+        """The registered name of this robot type.
+
+        Returns:
+            `str`: The name passed to `@RobotConfig.register_subclass`, e.g. `"so101_follower"`. This is
+            what `make_robot_from_config` dispatches on and what a user writes as `--robot.type=...`.
+        """
         return self.get_choice_name(self.__class__)
diff --git a/src/lerobot/robots/earthrover_mini_plus/config_earthrover_mini_plus.py b/src/lerobot/robots/earthrover_mini_plus/config_earthrover_mini_plus.py
index 5ed80476b..e34b05c94 100644
--- a/src/lerobot/robots/earthrover_mini_plus/config_earthrover_mini_plus.py
+++ b/src/lerobot/robots/earthrover_mini_plus/config_earthrover_mini_plus.py
@@ -23,13 +23,18 @@ from ..config import RobotConfig
 @RobotConfig.register_subclass("earthrover_mini_plus")
 @dataclass
 class EarthRoverMiniPlusConfig(RobotConfig):
-    """Configuration for EarthRover Mini Plus robot using Frodobots SDK.
+    """Configuration for the EarthRover Mini Plus rover.
 
-    This robot uses cloud-based control via the Frodobots SDK HTTP API.
-    Camera frames are accessed directly through SDK HTTP endpoints.
+    This robot is driven over the cloud through the Frodobots SDK's HTTP API rather than a local bus, so
+    there is no serial port and no LeRobot calibration file. Camera frames come from SDK HTTP endpoints.
 
-    Attributes:
-        sdk_url: URL of the Frodobots SDK server (default: http://localhost:8000)
+    Args:
+        sdk_url (`str`, *optional*, defaults to `"http://localhost:8000"`):
+            Base URL of the Frodobots SDK server. Commands and camera frames both go through it.
+        id (`str`, *optional*):
+            Identifier for this particular rover.
+        calibration_dir (`Path`, *optional*):
+            Unused: the rover exposes no calibration.
     """
 
     sdk_url: str = "http://localhost:8000"
diff --git a/src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py b/src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py
index 250e28d43..542c3bba5 100644
--- a/src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py
+++ b/src/lerobot/robots/earthrover_mini_plus/robot_earthrover_mini_plus.py
@@ -70,8 +70,7 @@ OBS_WHEEL_RPM_3 = "wheel_rpm_3"
 
 
 class EarthRoverMiniPlus(Robot):
-    """
-    EarthRover Mini Plus robot controlled via Frodobots SDK HTTP API.
+    """EarthRover Mini Plus robot controlled via Frodobots SDK HTTP API.
 
     This robot uses cloud-based control through the Frodobots SDK instead of direct
     hardware connection. Cameras stream via WebRTC through Agora cloud, and control
@@ -82,9 +81,9 @@ class EarthRoverMiniPlus(Robot):
     - Linear and angular velocity control
     - Battery and orientation telemetry
 
-    Attributes:
-        config: Robot configuration
-        sdk_base_url: URL of the Frodobots SDK server (default: http://localhost:8000)
+    **Attributes**:
+        - **config** -- Robot configuration
+        - **sdk_base_url** -- URL of the Frodobots SDK server (default: http://localhost:8000)
     """
 
     config_class = EarthRoverMiniPlusConfig
@@ -130,7 +129,6 @@ class EarthRoverMiniPlus(Robot):
             DeviceAlreadyConnectedError: If robot is already connected
             DeviceNotConnectedError: If cannot connect to SDK server
         """
-
         # Verify SDK is running and accessible
         try:
             response = requests.get(f"{self.sdk_base_url}/data", timeout=10.0)
@@ -280,7 +278,6 @@ class EarthRoverMiniPlus(Robot):
             Robot telemetry is retrieved from /data endpoint.
             All SDK values are normalized to appropriate ranges for dataset recording.
         """
-
         observation = {}
 
         # Get camera images from SDK
@@ -370,7 +367,6 @@ class EarthRoverMiniPlus(Robot):
         Raises:
             DeviceNotConnectedError: If robot is not connected
         """
-
         # Stop the robot before disconnecting
         try:
             self._send_command_to_sdk(0.0, 0.0)
diff --git a/src/lerobot/robots/hope_jr/config_hope_jr.py b/src/lerobot/robots/hope_jr/config_hope_jr.py
index f2af5f47c..c1255b4d9 100644
--- a/src/lerobot/robots/hope_jr/config_hope_jr.py
+++ b/src/lerobot/robots/hope_jr/config_hope_jr.py
@@ -24,6 +24,27 @@ from ..config import RobotConfig
 @RobotConfig.register_subclass("hope_jr_hand")
 @dataclass
 class HopeJrHandConfig(RobotConfig):
+    """Configuration for one Hope Jr hand.
+
+    Each hand is a separate robot, so a two-handed setup uses two of these with different `side` and
+    `port` values.
+
+    Args:
+        port (`str`):
+            Serial port the hand is connected to. Run `lerobot-find-port` to identify it.
+        side (`str`):
+            Which hand this is, `"left"` or `"right"`. Determines the motor layout, so it must match the
+            hardware.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the hand's joint positions.
+        id (`str`, *optional*):
+            Identifier for this particular hand; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
+
     port: str  # Port to connect to the hand
     side: str  # "left" / "right"
 
@@ -32,6 +53,12 @@ class HopeJrHandConfig(RobotConfig):
     cameras: dict[str, CameraConfig] = field(default_factory=dict)
 
     def __post_init__(self):
+        """Validate the camera settings and the hand side.
+
+        Raises:
+            ValueError: If `side` is not `"left"` or `"right"`, or if a camera omits `width`, `height` or
+                `fps`.
+        """
         super().__post_init__()
         if self.side not in ["right", "left"]:
             raise ValueError(self.side)
@@ -40,6 +67,26 @@ class HopeJrHandConfig(RobotConfig):
 @RobotConfig.register_subclass("hope_jr_arm")
 @dataclass
 class HopeJrArmConfig(RobotConfig):
+    """Configuration for one Hope Jr arm.
+
+    Args:
+        port (`str`):
+            Serial port the arm is connected to. Run `lerobot-find-port` to identify it.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect. Leave `True` unless the arm is holding a load it
+            must not drop.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, as a safety limit. A
+            scalar applies to every motor; a dict maps motor name to a per-motor cap. `None` disables
+            clipping.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the arm's joint positions.
+        id (`str`, *optional*):
+            Identifier for this particular arm; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
+
     port: str  # Port to connect to the hand
     disable_torque_on_disconnect: bool = True
 
diff --git a/src/lerobot/robots/hope_jr/hope_jr_arm.py b/src/lerobot/robots/hope_jr/hope_jr_arm.py
index 735e190af..12d38cc26 100644
--- a/src/lerobot/robots/hope_jr/hope_jr_arm.py
+++ b/src/lerobot/robots/hope_jr/hope_jr_arm.py
@@ -35,10 +35,22 @@ logger = logging.getLogger(__name__)
 
 
 class HopeJrArm(Robot):
+    """One arm of the Hope Jr humanoid.
+
+    The arm and the hand are separate robots; pair this with [`~robots.hope_jr.HopeJrHand`] for a full
+    limb. See [`~robots.Robot`] for the contract every method here implements.
+    """
+
     config_class = HopeJrArmConfig
     name = "hope_jr_arm"
 
     def __init__(self, config: HopeJrArmConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`HopeJrArmConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
         self.bus = FeetechMotorsBus(
@@ -77,23 +89,47 @@ class HopeJrArm(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """
-        We assume that at connection time, arm is in a rest position,
-        and torque can be safely disabled to run calibration.
-        """
+        """Connect the motor bus and cameras, calibrating and configuring the arm.
 
+        > [!WARNING]
+        > The arm is assumed to be at rest when this is called, because torque is disabled to run
+        > calibration.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration if the arm is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.bus.connect(handshake=False)
         if not self.is_calibrated and calibrate:
             self.calibrate()
@@ -107,9 +143,18 @@ class HopeJrArm(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         groups = {
             "all": list(self.bus.motors.keys()),
             "shoulder": ["shoulder_pitch", "shoulder_yaw", "shoulder_roll"],
@@ -122,11 +167,17 @@ class HopeJrArm(Robot):
         print("Calibration saved to", self.calibration_fpath)
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         with self.bus.torque_disabled():
             self.bus.configure_motors(maximum_acceleration=30, acceleration=30)
 
     def setup_motors(self) -> None:
         # TODO: add docstring
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -135,6 +186,14 @@ class HopeJrArm(Robot):
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
         # Read arm position
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         start = time.perf_counter()
         obs_dict = self.bus.sync_read("Present_Position", self.other_motors)
         obs_dict[self.shoulder_pitch] = self.bus.read("Present_Position", self.shoulder_pitch)
@@ -160,6 +219,18 @@ class HopeJrArm(Robot):
 
     @check_if_not_connected
     def send_action(self, action: RobotAction) -> RobotAction:
+        """Command the robot to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`].
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
 
         # Cap goal position when too far away from present position.
@@ -174,6 +245,11 @@ class HopeJrArm(Robot):
 
     @check_if_not_connected
     def disconnect(self):
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
             cam.disconnect()
diff --git a/src/lerobot/robots/hope_jr/hope_jr_hand.py b/src/lerobot/robots/hope_jr/hope_jr_hand.py
index 9f2de6d20..643bbf17a 100644
--- a/src/lerobot/robots/hope_jr/hope_jr_hand.py
+++ b/src/lerobot/robots/hope_jr/hope_jr_hand.py
@@ -59,10 +59,22 @@ LEFT_HAND_INVERSIONS = [
 
 
 class HopeJrHand(Robot):
+    """One hand of the Hope Jr humanoid.
+
+    Each hand is its own robot, so a two-handed setup uses two of these with different `side` values. See
+    [`~robots.Robot`] for the contract every method here implements.
+    """
+
     config_class = HopeJrHandConfig
     name = "hope_jr_hand"
 
     def __init__(self, config: HopeJrHandConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`HopeJrHandConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
         self.bus = FeetechMotorsBus(
@@ -113,18 +125,43 @@ class HopeJrHand(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
+        """Connect to the robot and its cameras, then apply the configured settings.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration if the robot is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             self.calibrate()
@@ -138,9 +175,18 @@ class HopeJrHand(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         fingers = {}
         for finger in ["thumb", "index", "middle", "ring", "pinky"]:
             fingers[finger] = [motor for motor in self.bus.motors if motor.startswith(finger)]
@@ -152,11 +198,17 @@ class HopeJrHand(Robot):
         print("Calibration saved to", self.calibration_fpath)
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         with self.bus.torque_disabled():
             self.bus.configure_motors()
 
     def setup_motors(self) -> None:
         # TODO: add docstring
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         for motor in self.bus.motors:
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -164,6 +216,14 @@ class HopeJrHand(Robot):
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         obs_dict = {}
 
         # Read hand position
@@ -191,12 +251,29 @@ class HopeJrHand(Robot):
 
     @check_if_not_connected
     def send_action(self, action: RobotAction) -> RobotAction:
+        """Command the robot to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`].
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
         self.bus.sync_write("Goal_Position", goal_pos)
         return action
 
     @check_if_not_connected
     def disconnect(self):
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
             cam.disconnect()
diff --git a/src/lerobot/robots/koch_follower/config_koch_follower.py b/src/lerobot/robots/koch_follower/config_koch_follower.py
index 02a95ef4e..8e305b95e 100644
--- a/src/lerobot/robots/koch_follower/config_koch_follower.py
+++ b/src/lerobot/robots/koch_follower/config_koch_follower.py
@@ -22,6 +22,30 @@ from ..config import RobotConfig
 @RobotConfig.register_subclass("koch_follower")
 @dataclass
 class KochFollowerConfig(RobotConfig):
+    """Configuration for the Koch v1.1 follower arm.
+
+    Args:
+        port (`str`):
+            Serial port the arm is connected to, e.g. `/dev/ttyACM0` on Linux or `COM3` on Windows. Run
+            `lerobot-find-port` to identify it.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect. Leave `True` unless the arm is holding a load it
+            must not drop.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, as a safety limit. A
+            scalar applies to every motor; a dict maps motor name to a per-motor cap. `None` disables
+            clipping.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the arm's joint positions, keyed by the name they appear under in
+            observations. Each must specify `width`, `height` and `fps`.
+        use_degrees (`bool`, *optional*, defaults to `False`):
+            Whether to report and accept joint positions in degrees rather than as a normalised range.
+        id (`str`, *optional*):
+            Identifier for this particular arm; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
+
     # Port to connect to the arm
     port: str
 
diff --git a/src/lerobot/robots/koch_follower/koch_follower.py b/src/lerobot/robots/koch_follower/koch_follower.py
index f72521d87..e5a1b8ad6 100644
--- a/src/lerobot/robots/koch_follower/koch_follower.py
+++ b/src/lerobot/robots/koch_follower/koch_follower.py
@@ -35,16 +35,24 @@ logger = logging.getLogger(__name__)
 
 
 class KochFollower(Robot):
-    """
-    - [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the wrist-to-elbow
-        expansion, developed by Alexander Koch from [Tau Robotics](https://tau-robotics.com)
-    - [Koch v1.1](https://github.com/jess-moss/koch-v1-1) developed by Jess Moss
+    """The Koch follower arm, in either of its two revisions.
+
+    - [Koch v1.0](https://github.com/AlexanderKoch-Koch/low_cost_robot), with and without the
+      wrist-to-elbow expansion, developed by Alexander Koch from
+      [Tau Robotics](https://tau-robotics.com).
+    - [Koch v1.1](https://github.com/jess-moss/koch-v1-1), developed by Jess Moss.
     """
 
     config_class = KochFollowerConfig
     name = "koch_follower"
 
     def __init__(self, config: KochFollowerConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`KochFollowerConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -79,23 +87,47 @@ class KochFollower(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """
-        We assume that at connection time, arm is in a rest position,
-        and torque can be safely disabled to run calibration.
-        """
+        """Connect the motor bus and cameras, calibrating and configuring the arm.
 
+        > [!WARNING]
+        > The arm is assumed to be at rest when this is called, because torque is disabled to run
+        > calibration.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration if the arm is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -111,9 +143,18 @@ class KochFollower(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         self.bus.disable_torque()
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
@@ -157,6 +198,7 @@ class KochFollower(Robot):
         logger.info(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         with self.bus.torque_disabled():
             self.bus.configure_motors()
             # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
@@ -181,6 +223,11 @@ class KochFollower(Robot):
             self.bus.write("Position_D_Gain", "elbow_flex", 600)
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -189,6 +236,14 @@ class KochFollower(Robot):
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
         # Read arm position
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         start = time.perf_counter()
         obs_dict = self.bus.sync_read("Present_Position")
         obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
@@ -225,7 +280,6 @@ class KochFollower(Robot):
         Returns:
             RobotAction: The action sent to the motors, potentially clipped.
         """
-
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
 
         # Cap goal position when too far away from present position.
@@ -241,6 +295,11 @@ class KochFollower(Robot):
 
     @check_if_not_connected
     def disconnect(self):
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
             cam.disconnect()
diff --git a/src/lerobot/robots/lekiwi/config_lekiwi.py b/src/lerobot/robots/lekiwi/config_lekiwi.py
index 79f7bd647..664c7b64e 100644
--- a/src/lerobot/robots/lekiwi/config_lekiwi.py
+++ b/src/lerobot/robots/lekiwi/config_lekiwi.py
@@ -21,6 +21,12 @@ from ..config import RobotConfig
 
 
 def lekiwi_cameras_config() -> dict[str, CameraConfig]:
+    """Build the default camera set for a LeKiwi base.
+
+    Returns:
+        `dict[str, CameraConfig]`: The `front` and `wrist` OpenCV cameras at the device paths and
+        rotations of a standard LeKiwi build. Override the `cameras` field if yours is wired differently.
+    """
     return {
         "front": OpenCVCameraConfig(
             index_or_path="/dev/video0",
@@ -44,6 +50,34 @@ def lekiwi_cameras_config() -> dict[str, CameraConfig]:
 @RobotConfig.register_subclass("lekiwi")
 @dataclass
 class LeKiwiConfig(RobotConfig):
+    """Configuration for LeKiwi, running on the robot itself.
+
+    This is the config used by the process on the LeKiwi's own computer. To drive one from another machine,
+    use [`LeKiwiClientConfig`] instead.
+
+    Args:
+        port (`str`, *optional*, defaults to `"/dev/ttyACM0"`):
+            Serial port of the motor bus on the robot's computer.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, as a safety limit. A
+            scalar applies to every motor; a dict maps motor name to a per-motor cap. `None` disables
+            clipping.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the joint positions. Defaults to the standard `front` and `wrist`
+            build; see [`lekiwi_cameras_config`].
+        use_degrees (`bool`, *optional*, defaults to `True`):
+            Whether to report and accept arm joint positions in degrees.
+        num_read_retries (`int`, *optional*, defaults to 2):
+            Extra attempts when a `sync_read` fails. Feetech buses occasionally return a corrupted status
+            packet, which would otherwise abort the control loop.
+        id (`str`, *optional*):
+            Identifier for this particular robot; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
+
     port: str = "/dev/ttyACM0"  # port to connect to the bus
 
     disable_torque_on_disconnect: bool = True
@@ -67,6 +101,22 @@ class LeKiwiConfig(RobotConfig):
 
 @dataclass
 class LeKiwiHostConfig:
+    """Configuration for the host process that serves a LeKiwi over the network.
+
+    Args:
+        port_zmq_cmd (`int`, *optional*, defaults to 5555):
+            ZMQ port the host listens on for actions.
+        port_zmq_observations (`int`, *optional*, defaults to 5556):
+            ZMQ port the host publishes observations on.
+        connection_time_s (`int`, *optional*, defaults to 30):
+            How long the host stays up before shutting down.
+        watchdog_timeout_ms (`int`, *optional*, defaults to 500):
+            Stop the robot if no command arrives within this window. Guards against a dropped client
+            leaving the base driving.
+        max_loop_freq_hz (`int`, *optional*, defaults to 30):
+            Control loop frequency. Lower it if the robot jitters, and watch CPU load with `top`.
+    """
+
     # Network Configuration
     port_zmq_cmd: int = 5555
     port_zmq_observations: int = 5556
@@ -84,6 +134,32 @@ class LeKiwiHostConfig:
 @RobotConfig.register_subclass("lekiwi_client")
 @dataclass
 class LeKiwiClientConfig(RobotConfig):
+    """Configuration for driving a LeKiwi from another machine.
+
+    Presents the same [`~robots.Robot`] interface as the robot-side [`LeKiwiConfig`], but every call goes
+    over ZMQ to the host process. Calibration lives on the robot, so nothing here configures it.
+
+    Args:
+        remote_ip (`str`):
+            IP address of the LeKiwi's computer on the network.
+        port_zmq_cmd (`int`, *optional*, defaults to 5555):
+            ZMQ port to send actions to. Must match the host's `port_zmq_cmd`.
+        port_zmq_observations (`int`, *optional*, defaults to 5556):
+            ZMQ port to receive observations on. Must match the host's `port_zmq_observations`.
+        teleop_keys (`dict[str, str]`, *optional*):
+            Keyboard bindings for driving the base: movement, rotation, speed control and quit.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras expected in the observation stream. Defaults to the standard `front` and `wrist` build.
+        polling_timeout_ms (`int`, *optional*, defaults to 15):
+            How long to wait for an observation before giving up on that step.
+        connect_timeout_s (`int`, *optional*, defaults to 5):
+            How long to wait for the host to answer when connecting.
+        id (`str`, *optional*):
+            Identifier for this particular robot.
+        calibration_dir (`Path`, *optional*):
+            Unused by the client: calibration is held on the robot.
+    """
+
     # Network Configuration
     remote_ip: str
     port_zmq_cmd: int = 5555
diff --git a/src/lerobot/robots/lekiwi/lekiwi.py b/src/lerobot/robots/lekiwi/lekiwi.py
index 16b922519..864b9b264 100644
--- a/src/lerobot/robots/lekiwi/lekiwi.py
+++ b/src/lerobot/robots/lekiwi/lekiwi.py
@@ -39,17 +39,25 @@ logger = logging.getLogger(__name__)
 
 
 class LeKiwi(Robot):
-    """
-    The robot includes a three omniwheel mobile base and a remote follower arm.
-    The leader arm is connected locally (on the laptop) and its joint positions are recorded and then
-    forwarded to the remote follower arm (after applying a safety clamp).
-    In parallel, keyboard teleoperation is used to generate raw velocity commands for the wheels.
+    """A three-omniwheel mobile base with a follower arm on top, running on the robot itself.
+
+    The leader arm is connected to the operator's laptop; its joint positions are recorded and forwarded
+    to this follower arm after a safety clamp. In parallel, keyboard teleoperation generates raw velocity
+    commands for the wheels.
+
+    To drive one of these from another machine, use [`~robots.lekiwi.LeKiwiClient`].
     """
 
     config_class = LeKiwiConfig
     name = "lekiwi"
 
     def __init__(self, config: LeKiwiConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`LeKiwiConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -105,18 +113,43 @@ class LeKiwi(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._state_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._state_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
+        """Connect to the robot and its cameras, then apply the configured settings.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration if the robot is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -132,9 +165,18 @@ class LeKiwi(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
             user_input = input(
@@ -189,6 +231,7 @@ class LeKiwi(Robot):
         # Set-up arm actuators (position mode)
         # We assume that at connection time, arm is in a rest position,
         # and torque can be safely disabled to run calibration.
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         self.bus.disable_torque()
         self.bus.configure_motors()
         for name in self.arm_motors:
@@ -205,6 +248,11 @@ class LeKiwi(Robot):
         self.bus.enable_torque()
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         for motor in chain(reversed(self.arm_motors), reversed(self.base_motors)):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -238,8 +286,7 @@ class LeKiwi(Robot):
         base_radius: float = 0.125,
         max_raw: int = 3000,
     ) -> dict:
-        """
-        Convert desired body-frame velocities into wheel raw commands.
+        """Convert desired body-frame velocities into wheel raw commands.
 
         Parameters:
           x_cmd      : Linear velocity in x (m/s).
@@ -302,8 +349,7 @@ class LeKiwi(Robot):
         wheel_radius: float = 0.05,
         base_radius: float = 0.125,
     ) -> dict[str, Any]:
-        """
-        Convert wheel raw command feedback back into body-frame velocities.
+        """Convert wheel raw command feedback back into body-frame velocities.
 
         Parameters:
           wheel_raw   : Vector with raw wheel commands ("base_left_wheel", "base_back_wheel", "base_right_wheel").
@@ -313,7 +359,6 @@ class LeKiwi(Robot):
         Returns:
           A dict (x.vel, y.vel, theta.vel) all in m/s
         """
-
         # Convert each raw command back to an angular speed in deg/s.
         wheel_degps = np.array(
             [
@@ -346,6 +391,14 @@ class LeKiwi(Robot):
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
         # Read actuators position for arm and vel for base
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         start = time.perf_counter()
         arm_pos = self.bus.sync_read(
             "Present_Position", self.arm_motors, num_retry=self.config.num_read_retries
@@ -390,7 +443,6 @@ class LeKiwi(Robot):
         Returns:
             RobotAction: the action sent to the motors, potentially clipped.
         """
-
         arm_goal_pos = {k: v for k, v in action.items() if k.endswith(".pos")}
         base_goal_vel = {k: v for k, v in action.items() if k.endswith(".vel")}
 
@@ -419,11 +471,17 @@ class LeKiwi(Robot):
         return {**arm_goal_pos, **base_goal_vel}
 
     def stop_base(self):
+        """Bring the mobile base to a halt by commanding zero velocity on its wheels."""
         self.bus.sync_write("Goal_Velocity", dict.fromkeys(self.base_motors, 0), num_retry=5)
         logger.info("Base motors stopped")
 
     @check_if_not_connected
     def disconnect(self):
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.stop_base()
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
diff --git a/src/lerobot/robots/lekiwi/lekiwi_client.py b/src/lerobot/robots/lekiwi/lekiwi_client.py
index c2d1e0ba2..fc8b374c6 100644
--- a/src/lerobot/robots/lekiwi/lekiwi_client.py
+++ b/src/lerobot/robots/lekiwi/lekiwi_client.py
@@ -31,10 +31,23 @@ from .config_lekiwi import LeKiwiClientConfig
 
 
 class LeKiwiClient(Robot):
+    """Drives a LeKiwi over the network from another machine.
+
+    Presents the same [`~robots.Robot`] interface as [`~robots.lekiwi.LeKiwi`], but every observation and
+    action crosses a ZMQ connection to the host process running on the robot. Calibration stays on the
+    robot, so this class does not perform it.
+    """
+
     config_class = LeKiwiClientConfig
     name = "lekiwi_client"
 
     def __init__(self, config: LeKiwiClientConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`LeKiwiClientConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         import zmq
 
         self._zmq = zmq
@@ -105,24 +118,50 @@ class LeKiwiClient(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._state_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._state_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self._is_connected
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         pass
 
     @check_if_already_connected
     def connect(self) -> None:
-        """Establishes ZMQ sockets with the remote mobile robot"""
+        """Open the ZMQ command and observation sockets to the LeKiwi host.
 
+        Takes no `calibrate` argument: calibration lives on the robot, not on the client.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the client is already connected.
+        """
         zmq = self._zmq
         self.zmq_context = zmq.Context()
         self.zmq_cmd_socket = self.zmq_context.socket(zmq.PUSH)
@@ -146,6 +185,10 @@ class LeKiwiClient(Robot):
         self._is_connected = True
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         pass
 
     def _poll_and_get_latest_message(self) -> list[bytes] | None:
@@ -203,7 +246,6 @@ class LeKiwiClient(Robot):
         self, observation: RobotObservation
     ) -> tuple[dict[str, np.ndarray], RobotObservation]:
         """Extracts frames, and state from the parsed observation."""
-
         flat_state = {key: observation.get(key, 0.0) for key in self._state_order}
 
         state_vec = np.array([flat_state[key] for key in self._state_order], dtype=np.float32)
@@ -222,14 +264,12 @@ class LeKiwiClient(Robot):
         return current_frames, obs_dict
 
     def _get_data(self) -> tuple[dict[str, np.ndarray], RobotObservation]:
-        """
-        Polls the video socket for the latest observation data.
+        """Polls the video socket for the latest observation data.
 
         Attempts to retrieve and decode the latest message within a short timeout.
         If successful, updates and returns the new frames, speed, and arm state.
         If no new data arrives or decoding fails, returns the last known values.
         """
-
         # 1. Get the latest message's frames from the socket
         latest_frames = self._poll_and_get_latest_message()
 
@@ -258,12 +298,17 @@ class LeKiwiClient(Robot):
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
-        """
-        Capture observations from the remote robot: current follower arm positions,
-        present wheel speeds (converted to body-frame velocities: x, y, theta),
-        and a camera frame. Receives over ZMQ, translate to body-frame vel
-        """
+        """Receive one observation from the remote robot over ZMQ.
 
+        Wheel speeds arrive as raw motor velocities and are converted here to body-frame `x`, `y` and
+        `theta`.
+
+        Returns:
+            `dict[str, Any]`: Follower arm positions, body-frame base velocities and camera frames.
+
+        Raises:
+            DeviceNotConnectedError: If the client is not connected.
+        """
         frames, obs_dict = self._get_data()
 
         # Loop over each configured camera
@@ -308,21 +353,24 @@ class LeKiwiClient(Robot):
         }
 
     def configure(self):
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         pass
 
     @check_if_not_connected
     def send_action(self, action: RobotAction) -> RobotAction:
-        """Command lekiwi to move to a target joint configuration. Translates to motor space + sends over ZMQ
+        """Send a target configuration to the remote robot over ZMQ.
+
+        Body-frame base velocities are translated into wheel velocities before sending.
 
         Args:
-            action (RobotAction): array containing the goal positions for the motors.
+            action (`dict[str, Any]`): Goal positions for the arm and body-frame velocities for the base.
+
         Raises:
             RobotDeviceNotConnectedError: if robot is not connected.
 
         Returns:
             np.ndarray: the action sent to the motors, potentially clipped.
         """
-
         # Action values may be torch tensors (e.g. replayed from a dataset) or numpy
         # scalars; json.dumps only serializes Python primitives, so coerce each value to a
         # plain float before sending.
@@ -338,8 +386,11 @@ class LeKiwiClient(Robot):
 
     @check_if_not_connected
     def disconnect(self):
-        """Cleans ZMQ comms"""
+        """Close the ZMQ sockets and terminate the context.
 
+        Raises:
+            DeviceNotConnectedError: If the client is not connected.
+        """
         self.zmq_observation_socket.close()
         self.zmq_cmd_socket.close()
         self.zmq_context.term()
diff --git a/src/lerobot/robots/lekiwi/lekiwi_host.py b/src/lerobot/robots/lekiwi/lekiwi_host.py
index 8d0b0bd3e..491f8d73a 100644
--- a/src/lerobot/robots/lekiwi/lekiwi_host.py
+++ b/src/lerobot/robots/lekiwi/lekiwi_host.py
@@ -36,7 +36,19 @@ class LeKiwiServerConfig:
 
 
 class LeKiwiHost:
+    """Serves a [`~robots.lekiwi.LeKiwi`] over ZMQ so a client can drive it from another machine.
+
+    Runs on the robot's own computer, receiving actions on one socket and publishing observations on
+    another.
+    """
+
     def __init__(self, config: LeKiwiHostConfig):
+        """Bind the command and observation sockets.
+
+        Args:
+            config (`LeKiwiHostConfig`):
+                Ports, loop frequency and watchdog settings for the host.
+        """
         self.zmq_context = zmq.Context()
         self.zmq_cmd_socket = self.zmq_context.socket(zmq.PULL)
         self.zmq_cmd_socket.setsockopt(zmq.CONFLATE, 1)
@@ -53,6 +65,11 @@ class LeKiwiHost:
         self.max_loop_freq_hz = config.max_loop_freq_hz
 
     def disconnect(self):
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.zmq_observation_socket.close()
         self.zmq_cmd_socket.close()
         self.zmq_context.term()
@@ -60,6 +77,12 @@ class LeKiwiHost:
 
 @draccus.wrap()
 def main(cfg: LeKiwiServerConfig):
+    """Run the LeKiwi host loop until the configured connection time elapses.
+
+    Args:
+        cfg (`LeKiwiServerConfig`):
+            The robot and host configuration to serve.
+    """
     logging.info("Configuring LeKiwi")
     robot = LeKiwi(cfg.robot)
 
diff --git a/src/lerobot/robots/omx_follower/config_omx_follower.py b/src/lerobot/robots/omx_follower/config_omx_follower.py
index db4179fdf..84d5f36c4 100644
--- a/src/lerobot/robots/omx_follower/config_omx_follower.py
+++ b/src/lerobot/robots/omx_follower/config_omx_follower.py
@@ -22,6 +22,30 @@ from ..config import RobotConfig
 @RobotConfig.register_subclass("omx_follower")
 @dataclass
 class OmxFollowerConfig(RobotConfig):
+    """Configuration for the OpenMANIPULATOR-X follower arm.
+
+    Args:
+        port (`str`):
+            Serial port the arm is connected to, e.g. `/dev/ttyUSB0`. Run `lerobot-find-port` to identify
+            it.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect. Leave `True` unless the arm is holding a load it
+            must not drop.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, as a safety limit. A
+            scalar applies to every motor; a dict maps motor name to a per-motor cap. `None` disables
+            clipping.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the arm's joint positions, keyed by the name they appear under in
+            observations. Each must specify `width`, `height` and `fps`.
+        use_degrees (`bool`, *optional*, defaults to `False`):
+            Whether to report and accept joint positions in degrees rather than as a normalised range.
+        id (`str`, *optional*):
+            Identifier for this particular arm; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
+
     # Port to connect to the arm
     port: str
 
diff --git a/src/lerobot/robots/omx_follower/omx_follower.py b/src/lerobot/robots/omx_follower/omx_follower.py
index e6e363235..59c864d3d 100644
--- a/src/lerobot/robots/omx_follower/omx_follower.py
+++ b/src/lerobot/robots/omx_follower/omx_follower.py
@@ -36,15 +36,21 @@ logger = logging.getLogger(__name__)
 
 
 class OmxFollower(Robot):
-    """
-    - [OMX](https://github.com/ROBOTIS-GIT/open_manipulator),
-        expansion, developed by Woojin Wie and Junha Cha from [ROBOTIS](https://ai.robotis.com/)
+    """The [OpenMANIPULATOR-X](https://github.com/ROBOTIS-GIT/open_manipulator) follower arm.
+
+    Developed by Woojin Wie and Junha Cha at [ROBOTIS](https://ai.robotis.com/).
     """
 
     config_class = OmxFollowerConfig
     name = "omx_follower"
 
     def __init__(self, config: OmxFollowerConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`OmxFollowerConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
         norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
@@ -79,25 +85,50 @@ class OmxFollower(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """
-        For OMX robots that come pre-calibrated:
-        - If default calibration from package doesn't match motors, read from motors and save
-        - This allows using pre-calibrated robots without manual calibration
-        - If no calibration file exists, use factory default values (homing_offset=0, range_min=0, range_max=4095)
-        """
+        """Connect the motor bus and cameras, handling the pre-calibrated case.
 
+        OMX arms ship calibrated, so this avoids asking for a manual calibration where possible:
+
+        - if the packaged default calibration does not match the motors, the motors' own values are read
+          and saved;
+        - if no calibration file exists, factory defaults are used (`homing_offset=0`, `range_min=0`,
+          `range_max=4095`).
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to calibrate if the arm is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -113,9 +144,18 @@ class OmxFollower(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         self.bus.disable_torque()
         logger.info(f"\nUsing factory default calibration values for {self}")
         logger.info(f"\nWriting default configuration of {self} to the motors")
@@ -140,6 +180,7 @@ class OmxFollower(Robot):
         logger.info(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         with self.bus.torque_disabled():
             self.bus.configure_motors()
             # Use 'extended position mode' for all motors except gripper, because in joint mode the servos
@@ -164,6 +205,11 @@ class OmxFollower(Robot):
             self.bus.write("Position_D_Gain", "elbow_flex", 600)
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -172,6 +218,14 @@ class OmxFollower(Robot):
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
         # Read arm position
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         start = time.perf_counter()
         obs_dict = self.bus.sync_read("Present_Position")
         obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
@@ -208,7 +262,6 @@ class OmxFollower(Robot):
         Returns:
             RobotAction: The action sent to the motors, potentially clipped.
         """
-
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
 
         # Cap goal position when too far away from present position.
@@ -224,6 +277,11 @@ class OmxFollower(Robot):
 
     @check_if_not_connected
     def disconnect(self):
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
             cam.disconnect()
diff --git a/src/lerobot/robots/openarm_follower/config_openarm_follower.py b/src/lerobot/robots/openarm_follower/config_openarm_follower.py
index 096ec320f..1b0c4b232 100644
--- a/src/lerobot/robots/openarm_follower/config_openarm_follower.py
+++ b/src/lerobot/robots/openarm_follower/config_openarm_follower.py
@@ -45,7 +45,13 @@ RIGHT_DEFAULT_JOINTS_LIMITS: dict[str, tuple[float, float]] = {
 
 @dataclass
 class OpenArmFollowerConfigBase:
-    """Base configuration for the OpenArms follower robot with Damiao motors."""
+    """Field definitions for the OpenArm follower, a 7-DOF arm plus gripper on Damiao CAN motors.
+
+    This class only carries the fields. The registered configuration users instantiate is
+    [`OpenArmFollowerConfig`], which documents them all in one place — doc-builder renders only a class's
+    own docstring, never its bases'. It is also used directly as the per-arm config of
+    [`~robots.bi_openarm_follower.BiOpenArmFollowerConfig`].
+    """
 
     # CAN interfaces - one per arm
     # arm CAN interface (e.g., "can1")
@@ -123,4 +129,57 @@ class OpenArmFollowerConfigBase:
 @RobotConfig.register_subclass("openarm_follower")
 @dataclass
 class OpenArmFollowerConfig(RobotConfig, OpenArmFollowerConfigBase):
+    """Configuration for a single OpenArm follower arm.
+
+    OpenArm is a 7-DOF arm plus gripper on Damiao CAN motors, so `port` names a CAN interface rather than a
+    serial device. Calibration follows the usual LeRobot flow and is stored per `id`.
+
+    > [!WARNING]
+    > `joint_limits` defaults to a deliberately tiny range so an uncalibrated arm cannot swing. Set `side`
+    > to `"left"` or `"right"` to get the real limits for that arm, or pass your own.
+
+    The per-joint lists — `position_kp`, `position_kd` — hold 8 values in motor order: `joint_1` through
+    `joint_7`, then `gripper`.
+
+    Args:
+        port (`str`):
+            CAN interface the arm is on, e.g. `"can0"` on Linux.
+        side (`str`, *optional*):
+            Which arm this is, `"left"` or `"right"`. Selects that side's joint limits. Leaving it `None`
+            keeps the small safety defaults.
+        can_interface (`str`, *optional*, defaults to `"socketcan"`):
+            CAN backend: `"socketcan"` on Linux, `"slcan"` for a serial adapter, or `"auto"` to detect.
+        use_can_fd (`bool`, *optional*, defaults to `True`):
+            Whether to use CAN FD. OpenArm uses it by default.
+        can_bitrate (`int`, *optional*, defaults to 1000000):
+            Nominal CAN bitrate, 1 Mbps.
+        can_data_bitrate (`int`, *optional*, defaults to 5000000):
+            CAN FD data bitrate, 5 Mbps. Only used when `use_can_fd` is `True`.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect. Leave `True` unless the arm is holding a load it
+            must not drop.
+        use_velocity_and_torque (`bool`, *optional*, defaults to `False`):
+            Whether to expose `.vel` and `.torque` per motor in the observation features. Kept `False` by
+            default for compatibility with the position-only `openarm_mini` teleoperator.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, as a safety limit. A
+            scalar applies to every motor; a dict maps motor name to a per-motor cap. `None` disables
+            clipping.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the arm's joint positions.
+        motor_config (`dict[str, tuple[int, int, str]]`, *optional*):
+            Maps motor name to `(send_can_id, recv_can_id, motor_type)`. Defaults to the stock OpenArm
+            layout; change it only if you have rewired or re-addressed the motors.
+        position_kp (`list[float]`, *optional*):
+            MIT-mode proportional gains used by `send_action`, 8 values in motor order.
+        position_kd (`list[float]`, *optional*):
+            MIT-mode derivative gains used by `send_action`, 8 values in motor order.
+        joint_limits (`dict[str, tuple[float, float]]`, *optional*):
+            Soft `(min, max)` limits in degrees per joint, clipped against on every action.
+        id (`str`, *optional*):
+            Identifier for this particular arm; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
+
     pass
diff --git a/src/lerobot/robots/openarm_follower/openarm_follower.py b/src/lerobot/robots/openarm_follower/openarm_follower.py
index 00adf41ab..f51fbb770 100644
--- a/src/lerobot/robots/openarm_follower/openarm_follower.py
+++ b/src/lerobot/robots/openarm_follower/openarm_follower.py
@@ -37,15 +37,22 @@ logger = logging.getLogger(__name__)
 
 
 class OpenArmFollower(Robot):
-    """
-    OpenArms Follower Robot which uses CAN bus communication to control 7 DOF arm with a gripper.
-    The arm uses Damiao motors in MIT control mode.
+    """The OpenArm follower: a 7-DOF arm plus gripper on a CAN bus.
+
+    Uses Damiao motors in MIT control mode. See [`~robots.Robot`] for the contract every method here
+    implements.
     """
 
     config_class = OpenArmFollowerConfig
     name = "openarm_follower"
 
     def __init__(self, config: OpenArmFollowerConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`OpenArmFollowerConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
 
@@ -127,13 +134,11 @@ class OpenArmFollower(Robot):
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """
-        Connect to the robot and optionally calibrate.
+        """Connect to the robot and optionally calibrate.
 
         We assume that at connection time, the arms are in a safe rest position,
         and torque can be safely disabled to run calibration if needed.
         """
-
         # Connect to CAN bus
         logger.info(f"Connecting arm on {self.config.port}...")
         self.bus.connect()
@@ -160,8 +165,7 @@ class OpenArmFollower(Robot):
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
-        """
-        Run calibration procedure for OpenArms robot.
+        """Run calibration procedure for OpenArms robot.
 
         The calibration procedure:
         1. Disable torque
@@ -217,14 +221,18 @@ class OpenArmFollower(Robot):
             self.bus.configure_motors()
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building the robot. Interactive: prompts you to connect the controller board to a
+        single motor at a time.
+        """
         raise NotImplementedError(
             "Motor ID configuration is typically done via manufacturer tools for CAN motors."
         )
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
-        """
-        Get current observation from robot including position, velocity, and torque.
+        """Get current observation from robot including position, velocity, and torque.
 
         Reads all motor states (pos/vel/torque) in one CAN refresh cycle
         instead of 3 separate reads.
@@ -268,8 +276,7 @@ class OpenArmFollower(Robot):
         custom_kp: dict[str, float] | None = None,
         custom_kd: dict[str, float] | None = None,
     ) -> RobotAction:
-        """
-        Send action command to robot.
+        """Send action command to robot.
 
         The action magnitude may be clipped based on safety limits.
 
@@ -281,7 +288,6 @@ class OpenArmFollower(Robot):
         Returns:
             The action actually sent (potentially clipped)
         """
-
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
 
         # Apply joint limit clipping to arm
@@ -343,7 +349,6 @@ class OpenArmFollower(Robot):
     @check_if_not_connected
     def disconnect(self):
         """Disconnect from robot."""
-
         # Disconnect CAN bus
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
 
diff --git a/src/lerobot/robots/reachy2/configuration_reachy2.py b/src/lerobot/robots/reachy2/configuration_reachy2.py
index 8cb67a495..b181405a4 100644
--- a/src/lerobot/robots/reachy2/configuration_reachy2.py
+++ b/src/lerobot/robots/reachy2/configuration_reachy2.py
@@ -23,6 +23,58 @@ from ..config import RobotConfig
 @RobotConfig.register_subclass("reachy2")
 @dataclass
 class Reachy2RobotConfig(RobotConfig):
+    """Configuration for the Reachy 2 humanoid.
+
+    Reachy 2 is driven over the network rather than a serial bus, so `port` is a TCP port on the robot's
+    gRPC service rather than a device path. Calibration is handled by the robot itself and there is no
+    LeRobot calibration file.
+
+    Which joints appear in observations and actions is selected by the `with_*` flags: turning a part off
+    removes its joints entirely. At least one part must stay enabled.
+
+    Args:
+        max_relative_target (`float`, *optional*):
+            Caps how far a single action may move a joint from its present position, as a safety limit.
+            `None` disables clipping.
+        ip_address (`str`, *optional*, defaults to `"localhost"`):
+            Address of the Reachy 2 robot.
+        port (`int`, *optional*, defaults to 50065):
+            TCP port of the robot's service. Not a serial port.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `False`):
+            Whether to call `turn_off_smoothly()` before disconnecting.
+        use_external_commands (`bool`, *optional*, defaults to `False`):
+            Set `True` when another system drives the robot, such as the official
+            [teleoperation app](https://github.com/pollen-robotics/Reachy2Teleoperation). In that mode
+            [`~robots.Robot.send_action`] does not send anything to the robot.
+        with_mobile_base (`bool`, *optional*, defaults to `True`):
+            Whether to include the mobile base's joints.
+        with_l_arm (`bool`, *optional*, defaults to `True`):
+            Whether to include the left arm's joints.
+        with_r_arm (`bool`, *optional*, defaults to `True`):
+            Whether to include the right arm's joints.
+        with_neck (`bool`, *optional*, defaults to `True`):
+            Whether to include the neck's joints.
+        with_antennas (`bool`, *optional*, defaults to `True`):
+            Whether to include the antennas' joints.
+        with_left_teleop_camera (`bool`, *optional*, defaults to `False`):
+            Whether to add the left teleoperation camera to observations.
+        with_right_teleop_camera (`bool`, *optional*, defaults to `False`):
+            Whether to add the right teleoperation camera to observations.
+        with_torso_camera (`bool`, *optional*, defaults to `False`):
+            Whether to add the torso RGB camera to observations.
+        camera_width (`int`, *optional*, defaults to 640):
+            Frame width for the built-in cameras. Their frame rate is fixed at 30 and is not configurable.
+        camera_height (`int`, *optional*, defaults to 480):
+            Frame height for the built-in cameras.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Additional cameras beyond the three built-in ones. The `with_*_camera` flags populate this
+            field, so anything set here is merged with them.
+        id (`str`, *optional*):
+            Identifier for this particular robot.
+        calibration_dir (`Path`, *optional*):
+            Unused: Reachy 2 manages its own calibration.
+    """
+
     # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
     # Set this to a positive scalar to have the same value for all motors.
     max_relative_target: float | None = None
@@ -65,6 +117,11 @@ class Reachy2RobotConfig(RobotConfig):
     cameras: dict[str, CameraConfig] = field(default_factory=dict)
 
     def __post_init__(self) -> None:
+        """Add the built-in cameras selected by the `with_*_camera` flags and validate the part selection.
+
+        Raises:
+            ValueError: If every robot part is disabled, which would leave no joints to control.
+        """
         # Add cameras with same ip_address as the robot
         if self.with_left_teleop_camera:
             self.cameras["teleop_left"] = Reachy2CameraConfig(
diff --git a/src/lerobot/robots/reachy2/robot_reachy2.py b/src/lerobot/robots/reachy2/robot_reachy2.py
index a8bb5e462..3861134f7 100644
--- a/src/lerobot/robots/reachy2/robot_reachy2.py
+++ b/src/lerobot/robots/reachy2/robot_reachy2.py
@@ -73,14 +73,18 @@ REACHY2_VEL = {
 
 
 class Reachy2Robot(Robot):
-    """
-    [Reachy 2](https://www.pollen-robotics.com/reachy/), by Pollen Robotics.
-    """
+    """[Reachy 2](https://www.pollen-robotics.com/reachy/), the humanoid by Pollen Robotics."""
 
     config_class = Reachy2RobotConfig
     name = "reachy2"
 
     def __init__(self, config: Reachy2RobotConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`Reachy2RobotConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         require_package("reachy2_sdk", extra="reachy2")
         super().__init__(config)
 
@@ -97,18 +101,41 @@ class Reachy2Robot(Robot):
 
     @property
     def observation_features(self) -> dict[str, Any]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self.motors_features, **self.camera_features}
 
     @property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self.motors_features
 
     @property
     def camera_features(self) -> dict[str, tuple[int | None, int | None, int]]:
+        """The shape of each configured camera's frames.
+
+        Returns:
+            `dict[str, tuple[int | None, int | None, int]]`: Camera name mapped to
+            `(height, width, channels)`.
+        """
         return {cam: (self.cameras[cam].height, self.cameras[cam].width, 3) for cam in self.cameras}
 
     @property
     def motors_features(self) -> dict[str, type]:
+        """The joints this robot exposes, given which parts are enabled in the config.
+
+        Returns:
+            `dict[str, type]`: Joint name mapped to `float`, including the mobile base's velocity
+            components when `with_mobile_base` is set.
+        """
         if self.config.with_mobile_base:
             return {
                 **dict.fromkeys(
@@ -125,9 +152,23 @@ class Reachy2Robot(Robot):
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.reachy.is_connected() if self.reachy is not None else False
 
     def connect(self, calibrate: bool = False) -> None:
+        """Connect to the robot and its cameras, then apply the configured settings.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `False`):
+                Accepted for interface compatibility and ignored: Reachy 2 manages its own calibration.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.reachy = ReachySDK(self.config.ip_address)
         if not self.is_connected:
             raise ConnectionError()
@@ -138,15 +179,25 @@ class Reachy2Robot(Robot):
         self.configure()
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         if self.reachy is not None:
             self.reachy.turn_on()
             self.reachy.reset_default_limits()
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return True
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         pass
 
     def _generate_joints_dict(self) -> dict[str, str]:
@@ -172,6 +223,14 @@ class Reachy2Robot(Robot):
             return {}
 
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         obs_dict: RobotObservation = {}
 
         # Read Reachy 2 state
@@ -186,6 +245,18 @@ class Reachy2Robot(Robot):
         return obs_dict
 
     def send_action(self, action: RobotAction) -> RobotAction:
+        """Command the robot to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`].
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         if self.reachy is not None:
             if not self.is_connected:
                 raise ConnectionError()
@@ -228,6 +299,11 @@ class Reachy2Robot(Robot):
         return action
 
     def disconnect(self) -> None:
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         if self.reachy is not None:
             for cam in self.cameras.values():
                 cam.disconnect()
diff --git a/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py b/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
index 88af07e59..6f0bc0052 100644
--- a/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
+++ b/src/lerobot/robots/rebot_b601_follower/config_rebot_b601_follower.py
@@ -23,10 +23,12 @@ from ..config import RobotConfig
 
 @dataclass
 class RebotB601FollowerConfig:
-    """Base configuration class for the Seeed Studio reBot B601-DM follower arm.
+    """Field definitions for the Seeed Studio reBot B601-DM follower arm.
 
-    The B601-DM is a 6-DOF arm plus gripper driven by Damiao CAN motors. Motor
-    communication goes through the ``motorbridge`` package.
+    This class only carries the fields. The registered configuration users instantiate is
+    [`RebotB601FollowerRobotConfig`], which documents them all in one place — doc-builder renders only a
+    class's own docstring, never its bases'. It is also used directly as the per-arm config of
+    [`~robots.bi_rebot_b601_follower.BiRebotB601FollowerConfig`].
     """
 
     # Communication port. For ``can_adapter="damiao"`` this is the Damiao serial
@@ -104,6 +106,62 @@ class RebotB601FollowerConfig:
 @RobotConfig.register_subclass("rebot_b601_follower")
 @dataclass
 class RebotB601FollowerRobotConfig(RobotConfig, RebotB601FollowerConfig):
-    """Registered configuration for the reBot B601-DM follower robot."""
+    """Configuration for the Seeed Studio reBot B601-DM follower arm.
+
+    The B601-DM is a 6-DOF arm plus gripper on Damiao CAN motors, driven through the `motorbridge`
+    package. What `port` means depends on `can_adapter`. Calibration follows the usual LeRobot flow and is
+    stored per `id`.
+
+    The arm and the gripper are controlled separately: `control_mode` governs the six arm joints and
+    `gripper_control_mode` the gripper, and each mode uses a different subset of the gain fields.
+
+    Per-joint lists hold 7 values in motor order: `shoulder_pan`, `shoulder_lift`, `elbow_flex`,
+    `wrist_flex`, `wrist_yaw`, `wrist_roll`, `gripper`.
+
+    Args:
+        port (`str`):
+            Where the arm is reached. For `can_adapter="damiao"` this is the serial bridge device, e.g.
+            `/dev/ttyACM0`; for `can_adapter="socketcan"` it is the CAN channel name, e.g. `can0`.
+        can_adapter (`str`, *optional*, defaults to `"damiao"`):
+            `"damiao"` for the dedicated Damiao serial bridge, or `"socketcan"` for SocketCAN adapters
+            such as PCAN, slcan and embedded controllers.
+        dm_serial_baud (`int`, *optional*, defaults to 921600):
+            Baud rate of the Damiao serial bridge. Only used when `can_adapter="damiao"`.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect. Leave `True` unless the arm is holding a load it
+            must not drop.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, in degrees. A scalar
+            applies to every motor; a dict maps motor name to a per-motor cap. `None` disables clipping.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the arm's joint positions.
+        motor_can_ids (`dict[str, tuple[int, int]]`, *optional*):
+            Maps motor name to its `(send_can_id, recv_can_id)` pair. Change it only if you have
+            re-addressed the motors.
+        pos_vel_velocity (`float | list[float]`, *optional*):
+            Maximum speed in deg/s per joint, used by the arm in `pos_vel` mode and by the gripper in
+            `force_pos` mode.
+        control_mode (`str`, *optional*, defaults to `"mit"`):
+            How the six arm joints are driven: `"mit"` or `"pos_vel"`.
+        mit_kp (`float | list[float]`, *optional*):
+            MIT-mode proportional gains per arm joint. Unused when `control_mode="pos_vel"`.
+        mit_kd (`float | list[float]`, *optional*):
+            MIT-mode derivative gains per arm joint. Unused when `control_mode="pos_vel"`.
+        gripper_control_mode (`str`, *optional*, defaults to `"force_pos"`):
+            How the gripper is driven: `"force_pos"` or `"mit"`.
+        gripper_torque_ratio (`float`, *optional*, defaults to 0.07):
+            Maximum grip force as a fraction in `[0, 1]`. Only used when
+            `gripper_control_mode="force_pos"`.
+        gripper_mit_kp (`float`, *optional*, defaults to 8.0):
+            Gripper MIT-mode proportional gain. Only used when `gripper_control_mode="mit"`.
+        gripper_mit_kd (`float`, *optional*, defaults to 0.3):
+            Gripper MIT-mode derivative gain. Only used when `gripper_control_mode="mit"`.
+        joint_limits (`dict[str, tuple[float, float]]`, *optional*):
+            Soft `(min, max)` limits in degrees per joint, clipped against on every action.
+        id (`str`, *optional*):
+            Identifier for this particular arm; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+    """
 
     pass
diff --git a/src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py b/src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py
index fc44799f9..d4e542c80 100644
--- a/src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py
+++ b/src/lerobot/robots/rebot_b601_follower/rebot_b601_follower.py
@@ -66,6 +66,12 @@ class RebotB601Follower(Robot):
     name = "rebot_b601_follower"
 
     def __init__(self, config: RebotB601FollowerRobotConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`RebotB601FollowerRobotConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         require_package("motorbridge", extra="rebot")
         super().__init__(config)
         self.config = config
@@ -91,18 +97,43 @@ class RebotB601Follower(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         return self._motors_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         return self.bus is not None and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
+        """Connect to the robot and its cameras, then apply the configured settings.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration if the robot is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         logger.info(f"Connecting {self} on {self.config.port} (adapter={self.config.can_adapter})...")
         if self.config.can_adapter == "damiao":
             self.bus = MotorBridgeController.from_dm_serial(
@@ -133,9 +164,18 @@ class RebotB601Follower(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return bool(self.calibration)
 
     def calibrate(self) -> None:
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         if self.calibration:
             user_input = input(
                 f"Press ENTER to use provided calibration file associated with the id {self.id}, "
@@ -174,6 +214,7 @@ class RebotB601Follower(Robot):
         print(f"Calibration saved to {self.calibration_fpath}")
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         if self.config.control_mode not in ("pos_vel", "mit"):
             raise ValueError(
                 f"Unsupported control_mode '{self.config.control_mode}'. Use 'pos_vel' or 'mit'."
@@ -226,6 +267,14 @@ class RebotB601Follower(Robot):
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         start = time.perf_counter()
         obs_dict = {f"{motor}.pos": pos for motor, pos in self._present_pos().items()}
         dt_ms = (time.perf_counter() - start) * 1e3
@@ -311,6 +360,11 @@ class RebotB601Follower(Robot):
 
     @check_if_not_connected
     def disconnect(self) -> None:
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         for motor in self.motors.values():
             if self.config.disable_torque_on_disconnect:
                 motor.disable()
diff --git a/src/lerobot/robots/robot.py b/src/lerobot/robots/robot.py
index 07d3fd2b8..c2fffa2d0 100644
--- a/src/lerobot/robots/robot.py
+++ b/src/lerobot/robots/robot.py
@@ -28,15 +28,22 @@ from .config import RobotConfig
 # TODO(aliberts): action/obs typing such as Generic[ObsType, ActType] similar to gym.Env ?
 # https://github.com/Farama-Foundation/Gymnasium/blob/3287c869f9a48d99454306b0d4b4ec537f0f35e3/gymnasium/core.py#L23
 class Robot(abc.ABC):
-    """
-    The base abstract class for all LeRobot-compatible robots.
+    """The base abstract class for all LeRobot-compatible robots.
 
-    This class provides a standardized interface for interacting with physical robots.
-    Subclasses must implement all abstract methods and properties to be usable.
+    This class provides a standardized interface for interacting with physical robots. Subclasses must
+    implement all abstract methods and properties to be usable.
 
-    Attributes:
-        config_class (RobotConfig): The expected configuration class for this robot.
-        name (str): The unique robot name used to identify this robot type.
+    Used as a context manager, a robot connects on entry and disconnects on exit even if the body raises:
+
+    ```python
+    >>> with SO101Follower(config) as robot:  # doctest: +SKIP
+    ...     obs = robot.get_observation()
+    ...     robot.send_action(action)
+    ```
+
+    **Attributes**:
+        - **config_class** (`type[RobotConfig]`) -- The expected configuration class for this robot.
+        - **name** (`str`) -- The unique robot name used to identify this robot type.
     """
 
     # Set these in ALL subclasses
@@ -44,6 +51,13 @@ class Robot(abc.ABC):
     name: str
 
     def __init__(self, config: RobotConfig):
+        """Set up identity and calibration paths, loading an existing calibration file if there is one.
+
+        Args:
+            config (`RobotConfig`):
+                The robot's configuration. Its `id` and `calibration_dir` decide where calibration is
+                read from and written to.
+        """
         self.robot_type = self.name
         self.id = config.id
         self.calibration_dir = (
@@ -56,28 +70,24 @@ class Robot(abc.ABC):
             self._load_calibration()
 
     def __str__(self) -> str:
+        """Return this robot's id and class name, e.g. `"my_arm SO101Follower"`.
+
+        Returns:
+            `str`: A short identifier used in log messages.
+        """
         return f"{self.id} {self.__class__.__name__}"
 
     def __enter__(self):
-        """
-        Context manager entry.
-        Automatically connects to the camera.
-        """
+        """Context manager entry. Automatically connects to the robot."""
         self.connect()
         return self
 
     def __exit__(self, exc_type, exc_value, traceback) -> None:
-        """
-        Context manager exit.
-        Automatically disconnects, ensuring resources are released even on error.
-        """
+        """Context manager exit. Disconnects, ensuring resources are released even on error."""
         self.disconnect()
 
     def __del__(self) -> None:
-        """
-        Destructor safety net.
-        Attempts to disconnect if the object is garbage collected without cleanup.
-        """
+        """Destructor safety net. Disconnects if the object is garbage collected without cleanup."""
         try:
             if self.is_connected:
                 self.disconnect()
@@ -88,83 +98,102 @@ class Robot(abc.ABC):
     @property
     @abc.abstractmethod
     def observation_features(self) -> dict:
-        """
-        A dictionary describing the structure and types of the observations produced by the robot.
-        Its structure (keys) should match the structure of what is returned by :pymeth:`get_observation`.
-        Values for the dict should either be:
-            - The type of the value if it's a simple value, e.g. `float` for single proprioceptive value (a joint's position/velocity)
-            - A tuple representing the shape if it's an array-type value, e.g. `(height, width, channel)` for images
+        """A dictionary describing the structure and types of the observations produced by the robot.
 
-        Note: this property should be able to be called regardless of whether the robot is connected or not.
+        Its keys should match the structure of what is returned by [`~robots.Robot.get_observation`]. Values
+        should either be:
+
+        - the type of the value if it's a simple value, e.g. `float` for a single proprioceptive value
+          (a joint's position or velocity)
+        - a tuple representing the shape if it's an array-type value, e.g. `(height, width, channel)` for
+          images
+
+        > [!NOTE]
+        > This property must be callable regardless of whether the robot is connected.
+
+        Returns:
+            `dict`: Observation names mapped to their type or shape.
         """
         pass
 
     @property
     @abc.abstractmethod
     def action_features(self) -> dict:
-        """
-        A dictionary describing the structure and types of the actions expected by the robot. Its structure
-        (keys) should match the structure of what is passed to :pymeth:`send_action`. Values for the dict
-        should be the type of the value if it's a simple value, e.g. `float` for single proprioceptive value
-        (a joint's goal position/velocity)
+        """A dictionary describing the structure and types of the actions expected by the robot.
 
-        Note: this property should be able to be called regardless of whether the robot is connected or not.
+        Its keys should match the structure of what is passed to [`~robots.Robot.send_action`]. Values should
+        be the type of the value if it's a simple value, e.g. `float` for a single proprioceptive value
+        (a joint's goal position or velocity).
+
+        > [!NOTE]
+        > This property must be callable regardless of whether the robot is connected.
+
+        Returns:
+            `dict`: Action names mapped to their type or shape.
         """
         pass
 
     @property
     @abc.abstractmethod
     def is_connected(self) -> bool:
-        """
-        Whether the robot is currently connected or not. If `False`, calling :pymeth:`get_observation` or
-        :pymeth:`send_action` should raise an error.
+        """Whether the robot is currently connected.
+
+        If `False`, calling [`~robots.Robot.get_observation`] or [`~robots.Robot.send_action`] should raise
+        an error.
+
+        Returns:
+            `bool`: `True` if communication with the robot is established.
         """
         pass
 
     @abc.abstractmethod
     def connect(self, calibrate: bool = True) -> None:
-        """
-        Establish communication with the robot.
+        """Establish communication with the robot.
 
         Args:
-            calibrate (bool): If True, automatically calibrate the robot after connecting if it's not
-                calibrated or needs calibration (this is hardware-dependant).
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to automatically calibrate the robot after connecting, if it is not calibrated or
+                needs recalibration. Whether calibration is needed is hardware-dependent.
         """
         pass
 
     @property
     @abc.abstractmethod
     def is_calibrated(self) -> bool:
-        """Whether the robot is currently calibrated or not. Should be always `True` if not applicable"""
+        """Whether the robot is currently calibrated.
+
+        Returns:
+            `bool`: `True` if the robot is calibrated. Always `True` for robots where calibration does not
+            apply.
+        """
         pass
 
     @abc.abstractmethod
     def calibrate(self) -> None:
-        """
-        Calibrate the robot if applicable. If not, this should be a no-op.
+        """Calibrate the robot if applicable. If not, this should be a no-op.
 
-        This method should collect any necessary data (e.g., motor offsets) and update the
-        :pyattr:`calibration` dictionary accordingly.
+        This method should collect any necessary data (e.g. motor offsets) and update the `calibration`
+        dictionary accordingly.
         """
         pass
 
     def _load_calibration(self, fpath: Path | None = None) -> None:
-        """
-        Helper to load calibration data from the specified file.
+        """Helper to load calibration data from the specified file.
 
         Args:
-            fpath (Path | None): Optional path to the calibration file. Defaults to `self.calibration_fpath`.
+            fpath (`Path`, *optional*):
+                Path to the calibration file. Defaults to `self.calibration_fpath`.
         """
         fpath = self.calibration_fpath if fpath is None else fpath
         with open(fpath) as f, draccus.config_type("json"):
             self.calibration = draccus.load(dict[str, MotorCalibration], f)
 
     def _save_calibration(self, fpath: Path | None = None) -> None:
-        """
-        Helper to save calibration data to the specified file.
+        """Helper to save calibration data to the specified file.
 
         Args:
-            fpath (Path | None): Optional path to save the calibration file. Defaults to `self.calibration_fpath`.
+            fpath (`Path`, *optional*):
+                Path to save the calibration file to. Defaults to `self.calibration_fpath`.
         """
         fpath = self.calibration_fpath if fpath is None else fpath
         with open(fpath, "w") as f, draccus.config_type("json"):
@@ -172,36 +201,39 @@ class Robot(abc.ABC):
 
     @abc.abstractmethod
     def configure(self) -> None:
-        """
-        Apply any one-time or runtime configuration to the robot.
+        """Apply any one-time or runtime configuration to the robot.
+
         This may include setting motor parameters, control modes, or initial state.
         """
         pass
 
     @abc.abstractmethod
     def get_observation(self) -> RobotObservation:
-        """
-        Retrieve the current observation from the robot.
+        """Retrieve the current observation from the robot.
 
         Returns:
-            RobotObservation: A flat dictionary representing the robot's current sensory state. Its structure
-                should match :pymeth:`observation_features`.
-        """
+            `dict[str, Any]`: A flat dictionary representing the robot's current sensory state. Its structure
+            should match [`~robots.Robot.observation_features`].
 
+        Raises:
+            DeviceNotConnectedError: If [`~robots.Robot.connect`] has not been called.
+        """
         pass
 
     @abc.abstractmethod
     def send_action(self, action: RobotAction) -> RobotAction:
-        """
-        Send an action command to the robot.
+        """Send an action command to the robot.
 
         Args:
-            action (RobotAction): Dictionary representing the desired action. Its structure should match
-                :pymeth:`action_features`.
+            action (`dict[str, Any]`):
+                The desired action. Its structure should match [`~robots.Robot.action_features`].
 
         Returns:
-            RobotAction: The action actually sent to the motors potentially clipped or modified, e.g. by
-                safety limits on velocity.
+            `dict[str, Any]`: The action actually sent to the motors, potentially clipped or modified, e.g.
+            by safety limits on velocity. Prefer this over the requested action when logging or recording.
+
+        Raises:
+            DeviceNotConnectedError: If [`~robots.Robot.connect`] has not been called.
         """
         pass
 
diff --git a/src/lerobot/robots/so_follower/config_so_follower.py b/src/lerobot/robots/so_follower/config_so_follower.py
index af4dda782..fd99af065 100644
--- a/src/lerobot/robots/so_follower/config_so_follower.py
+++ b/src/lerobot/robots/so_follower/config_so_follower.py
@@ -23,7 +23,12 @@ from ..config import RobotConfig
 
 @dataclass
 class SOFollowerConfig:
-    """Base configuration class for SO Follower robots."""
+    """Field definitions shared by the SO-family follower arms.
+
+    This class only carries the fields. The registered configuration users instantiate is
+    [`SOFollowerRobotConfig`], which combines these with [`~robots.RobotConfig`] and documents them all in
+    one place — doc-builder renders only a class's own docstring, never its bases'.
+    """
 
     # Port to connect to the arm
     port: str
@@ -57,6 +62,51 @@ class SOFollowerConfig:
 @RobotConfig.register_subclass("so100_follower")
 @dataclass
 class SOFollowerRobotConfig(RobotConfig, SOFollowerConfig):
+    """Configuration for the SO-100 and SO-101 follower arms.
+
+    Both arms share this class; `SO100FollowerConfig` and `SO101FollowerConfig` are aliases for it. They
+    differ in their calibration and gearing, not in their control code.
+
+    Args:
+        port (`str`):
+            Serial port the arm is connected to, e.g. `/dev/ttyACM0` on Linux or `COM3` on Windows. Run
+            `lerobot-find-port` to identify it.
+        disable_torque_on_disconnect (`bool`, *optional*, defaults to `True`):
+            Whether to release the motors on disconnect. Leave `True` unless the arm is holding a load it
+            must not drop.
+        max_relative_target (`float | dict[str, float]`, *optional*):
+            Caps how far a single action may move the arm from its present position, as a safety limit. A
+            scalar applies to every motor; a dict maps motor name to a per-motor cap. `None` disables
+            clipping. Enabling this costs an extra read of the present position on every step.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            Cameras to read alongside the arm's joint positions, keyed by the name they appear under in
+            observations. Each must specify `width`, `height` and `fps`.
+        use_degrees (`bool`, *optional*, defaults to `True`):
+            Whether to report and accept joint positions in degrees. Keep `True` for compatibility with
+            existing policies and datasets.
+        position_p_coefficient (`int`, *optional*, defaults to 16):
+            Proportional gain written to the Feetech STS3215 motors at connect time.
+        position_i_coefficient (`int`, *optional*, defaults to 0):
+            Integral gain written to the motors at connect time.
+        position_d_coefficient (`int`, *optional*, defaults to 32):
+            Derivative gain written to the motors at connect time.
+        num_read_retries (`int`, *optional*, defaults to 2):
+            Extra attempts when a `sync_read` fails. Feetech buses occasionally return a corrupted status
+            packet, especially when several joints move at once, which would otherwise abort the control
+            loop. Retries are immediate and only happen on failure, so steady-state read cost is unchanged.
+        id (`str`, *optional*):
+            Identifier for this particular arm; also names its calibration file.
+        calibration_dir (`Path`, *optional*):
+            Where to read and write the calibration file. Defaults to the LeRobot calibration home.
+
+    Example:
+        ```python
+        >>> from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
+        >>> config = SO101FollowerConfig(port="/dev/ttyACM0", max_relative_target=5.0)  # doctest: +SKIP
+        >>> robot = SO101Follower(config)  # doctest: +SKIP
+        ```
+    """
+
     pass
 
 
diff --git a/src/lerobot/robots/so_follower/robot_kinematic_processor.py b/src/lerobot/robots/so_follower/robot_kinematic_processor.py
index 98bb54f67..885e59538 100644
--- a/src/lerobot/robots/so_follower/robot_kinematic_processor.py
+++ b/src/lerobot/robots/so_follower/robot_kinematic_processor.py
@@ -40,8 +40,7 @@ logger = logging.getLogger(__name__)
 @ProcessorStepRegistry.register("ee_reference_and_delta")
 @dataclass
 class EEReferenceAndDelta(RobotActionProcessorStep):
-    """
-    Computes a target end-effector pose from a relative delta command.
+    """Computes a target end-effector pose from a relative delta command.
 
     This step takes a desired change in position and orientation (`target_*`) and applies it to a
     reference end-effector pose to calculate an absolute target pose. The reference pose is derived
@@ -53,15 +52,16 @@ class EEReferenceAndDelta(RobotActionProcessorStep):
     2.  `use_latched_reference=False`: The reference pose is updated to the robot's current pose at
         every step.
 
-    Attributes:
-        kinematics: The robot's kinematic model for forward kinematics.
-        end_effector_step_sizes: A dictionary scaling the input delta commands.
-        motor_names: A list of motor names required for forward kinematics.
-        use_latched_reference: If True, latch the reference pose on enable; otherwise, always use the
-            current pose as the reference.
-        reference_ee_pose: Internal state storing the latched reference pose.
-        _prev_enabled: Internal state to detect the rising edge of the enable signal.
-        _command_when_disabled: Internal state to hold the last command while disabled.
+    **Attributes**:
+        - **kinematics** (`RobotKinematics`) -- The robot's kinematic model for forward kinematics.
+        - **end_effector_step_sizes** (`dict`) -- A dictionary scaling the input delta commands.
+        - **motor_names** (`list[str]`) -- A list of motor names required for forward kinematics.
+        - **use_latched_reference** (`bool`) -- If True, latch the reference pose on enable; otherwise, always
+          use the current pose as the reference.
+        - **reference_ee_pose** (`np.ndarray | None`) -- Internal state storing the latched reference pose.
+        - **_prev_enabled** (`bool`) -- Internal state to detect the rising edge of the enable signal.
+        - **_command_when_disabled** (`np.ndarray | None`) -- Internal state to hold the last command while
+          disabled.
     """
 
     kinematics: RobotKinematics
@@ -77,6 +77,15 @@ class EEReferenceAndDelta(RobotActionProcessorStep):
     _command_when_disabled: np.ndarray | None = field(default=None, init=False, repr=False)
 
     def action(self, action: RobotAction) -> RobotAction:
+        """Transform the action for this step.
+
+        Args:
+            action (`dict[str, Any]`):
+                The incoming robot action.
+
+        Returns:
+            `dict[str, Any]`: The transformed action.
+        """
         raw_observation = self.transition.get(TransitionKey.OBSERVATION)
 
         if raw_observation is None:
@@ -167,6 +176,16 @@ class EEReferenceAndDelta(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         for feat in [
             "enabled",
             "target_x",
@@ -190,21 +209,19 @@ class EEReferenceAndDelta(RobotActionProcessorStep):
 @ProcessorStepRegistry.register("ee_bounds_and_safety")
 @dataclass
 class EEBoundsAndSafety(RobotActionProcessorStep):
-    """
-    Clips the end-effector pose to predefined bounds and checks for unsafe jumps.
+    """Clips the end-effector pose to predefined bounds and checks for unsafe jumps.
 
     This step ensures that the target end-effector pose remains within a safe operational workspace.
     It also moderates the command to prevent large, sudden movements between consecutive steps.
 
-    Attributes:
-        end_effector_bounds: A dictionary with "min" and "max" keys for position clipping.
-        max_ee_step_m: The maximum allowed change in position (in meters) between steps.
-        raise_on_jump: When ``True`` (default) an over-limit per-frame step raises
-            ``ValueError`` (aborting the control loop). When ``False`` the step is
-            rate-limited to ``max_ee_step_m`` and a warning is logged instead — the
-            safer choice for live teleoperation, where a transient tracking glitch
-            should not crash the loop and leave the robot uncontrolled.
-        _last_pos: Internal state storing the last commanded position.
+    **Attributes**:
+        - **end_effector_bounds** (`dict`) -- A dictionary with "min" and "max" keys for position clipping.
+        - **max_ee_step_m** (`float`) -- The maximum allowed change in position (in meters) between steps.
+        - **raise_on_jump** (`bool`) -- When ``True`` (default) an over-limit per-frame step raises
+          ``ValueError`` (aborting the control loop). When ``False`` the step is rate-limited to
+          ``max_ee_step_m`` and a warning is logged instead — the safer choice for live teleoperation, where a
+          transient tracking glitch should not crash the loop and leave the robot uncontrolled.
+        - **_last_pos** (`np.ndarray | None`) -- Internal state storing the last commanded position.
     """
 
     end_effector_bounds: dict
@@ -213,6 +230,15 @@ class EEBoundsAndSafety(RobotActionProcessorStep):
     _last_pos: np.ndarray | None = field(default=None, init=False, repr=False)
 
     def action(self, action: RobotAction) -> RobotAction:
+        """Transform the action for this step.
+
+        Args:
+            action (`dict[str, Any]`):
+                The incoming robot action.
+
+        Returns:
+            `dict[str, Any]`: The transformed action.
+        """
         x = action["ee.x"]
         y = action["ee.y"]
         z = action["ee.z"]
@@ -268,29 +294,39 @@ class EEBoundsAndSafety(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         return features
 
 
 @ProcessorStepRegistry.register("inverse_kinematics_ee_to_joints")
 @dataclass
 class InverseKinematicsEEToJoints(RobotActionProcessorStep):
-    """
-    Computes desired joint positions from a target end-effector pose using inverse kinematics (IK).
+    """Computes desired joint positions from a target end-effector pose using inverse kinematics (IK).
 
     This step translates a Cartesian command (position and orientation of the end-effector) into
     the corresponding joint-space commands for each motor.
 
-    Attributes:
-        kinematics: The robot's kinematic model for inverse kinematics.
-        motor_names: A list of motor names for which to compute joint positions.
-        q_curr: Internal state storing the last joint positions, used as an initial guess for the IK solver.
-        initial_guess_current_joints: If True, use the robot's current joint state as the IK guess.
-            If False, use the solution from the previous step.
-        orientation_weight: Weight for the orientation constraint passed to
-            ``RobotKinematics.inverse_kinematics``. Defaults to ``0.01`` (matching the solver
-            default, so existing callers are unchanged). Set to ``0.0`` for position-only IK on
-            under-actuated arms; a small nonzero weight gives soft-orientation IK on the 5-DOF
-            SO-101, where the wrist tracks orientation only partially (position dominates).
+    **Attributes**:
+        - **kinematics** (`RobotKinematics`) -- The robot's kinematic model for inverse kinematics.
+        - **motor_names** (`list[str]`) -- A list of motor names for which to compute joint positions.
+        - **q_curr** (`np.ndarray | None`) -- Internal state storing the last joint positions, used as an
+          initial guess for the IK solver.
+        - **initial_guess_current_joints** (`bool`) -- If True, use the robot's current joint state as the IK
+          guess. If False, use the solution from the previous step.
+        - **orientation_weight** (`float`) -- Weight for the orientation constraint passed to
+          ``RobotKinematics.inverse_kinematics``. Defaults to ``0.01`` (matching the solver default, so
+          existing callers are unchanged). Set to ``0.0`` for position-only IK on under-actuated arms; a small
+          nonzero weight gives soft-orientation IK on the 5-DOF SO-101, where the wrist tracks orientation
+          only partially (position dominates).
     """
 
     kinematics: RobotKinematics
@@ -300,6 +336,15 @@ class InverseKinematicsEEToJoints(RobotActionProcessorStep):
     orientation_weight: float = 0.01
 
     def action(self, action: RobotAction) -> RobotAction:
+        """Transform the action for this step.
+
+        Args:
+            action (`dict[str, Any]`):
+                The incoming robot action.
+
+        Returns:
+            `dict[str, Any]`: The transformed action.
+        """
         x = action.pop("ee.x")
         y = action.pop("ee.y")
         z = action.pop("ee.z")
@@ -355,6 +400,16 @@ class InverseKinematicsEEToJoints(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         for feat in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]:
             features[PipelineFeatureType.ACTION].pop(f"ee.{feat}", None)
 
@@ -373,20 +428,20 @@ class InverseKinematicsEEToJoints(RobotActionProcessorStep):
 @ProcessorStepRegistry.register("gripper_velocity_to_joint")
 @dataclass
 class GripperVelocityToJoint(RobotActionProcessorStep):
-    """
-    Converts a gripper velocity command into a target gripper joint position.
+    """Converts a gripper velocity command into a target gripper joint position.
 
     This step integrates a normalized velocity command over time to produce a position command,
     taking the current gripper position as a starting point. It also supports a discrete mode
     where integer actions map to open, close, or no-op.
 
-    Attributes:
-        motor_names: A list of motor names, which must include 'gripper'.
-        speed_factor: A scaling factor to convert the normalized velocity command to a position change.
-        clip_min: The minimum allowed gripper joint position.
-        clip_max: The maximum allowed gripper joint position.
-        discrete_gripper: If True, interpret the input as a discrete class index
-            {0 = close, 1 = stay, 2 = open}, matching `GamepadTeleop.GripperAction`.
+    **Attributes**:
+        - **motor_names** -- A list of motor names, which must include 'gripper'.
+        - **speed_factor** (`float`) -- A scaling factor to convert the normalized velocity command to a
+          position change.
+        - **clip_min** (`float`) -- The minimum allowed gripper joint position.
+        - **clip_max** (`float`) -- The maximum allowed gripper joint position.
+        - **discrete_gripper** (`bool`) -- If True, interpret the input as a discrete class index {0 = close,
+          1 = stay, 2 = open}, matching `GamepadTeleop.GripperAction`.
     """
 
     speed_factor: float = 20.0
@@ -395,6 +450,15 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
     discrete_gripper: bool = False
 
     def action(self, action: RobotAction) -> RobotAction:
+        """Transform the action for this step.
+
+        Args:
+            action (`dict[str, Any]`):
+                The incoming robot action.
+
+        Returns:
+            `dict[str, Any]`: The transformed action.
+        """
         raw_observation = self.transition.get(TransitionKey.OBSERVATION)
 
         gripper_vel = action.pop("ee.gripper_vel")
@@ -428,6 +492,16 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         features[PipelineFeatureType.ACTION].pop("ee.gripper_vel", None)
         features[PipelineFeatureType.ACTION]["ee.gripper_pos"] = PolicyFeature(
             type=FeatureType.ACTION, shape=(1,)
@@ -439,6 +513,21 @@ class GripperVelocityToJoint(RobotActionProcessorStep):
 def compute_forward_kinematics_joints_to_ee(
     joints: dict[str, Any], kinematics: RobotKinematics, motor_names: list[str]
 ) -> dict[str, Any]:
+    """Replace joint positions with the end-effector pose they produce.
+
+    Args:
+        joints (`dict[str, Any]`):
+            Joint values keyed `"<motor>.pos"`, including `"gripper.pos"`. Modified in place: the joint
+            keys named in `motor_names` are removed.
+        kinematics (`RobotKinematics`):
+            The arm's kinematic model.
+        motor_names (`list[str]`):
+            The motors, in the order the kinematic model expects them.
+
+    Returns:
+        `dict[str, Any]`: The same dict with `ee.x`, `ee.y`, `ee.z` for position, `ee.wx`, `ee.wy`,
+        `ee.wz` for orientation as a rotation vector, and `ee.gripper_pos` carried through unchanged.
+    """
     motor_joint_values = [joints[f"{n}.pos"] for n in motor_names]
 
     q = np.array(motor_joint_values, dtype=float)
@@ -461,26 +550,44 @@ def compute_forward_kinematics_joints_to_ee(
 @ProcessorStepRegistry.register("forward_kinematics_joints_to_ee_observation")
 @dataclass
 class ForwardKinematicsJointsToEEObservation(ObservationProcessorStep):
-    """
-    Computes the end-effector pose from joint positions using forward kinematics (FK).
+    """Computes the end-effector pose from joint positions using forward kinematics (FK).
 
     This step is typically used to add the robot's Cartesian pose to the observation space,
     which can be useful for visualization or as an input to a policy.
 
-    Attributes:
-        kinematics: The robot's kinematic model.
+    **Attributes**:
+        - **kinematics** (`RobotKinematics`) -- The robot's kinematic model.
     """
 
     kinematics: RobotKinematics
     motor_names: list[str]
 
     def observation(self, observation: RobotObservation) -> RobotObservation:
+        """Replace the observation's joint positions with the end-effector pose.
+
+        Args:
+            observation (`dict[str, Any]`):
+                The incoming observation, containing `"<motor>.pos"` keys.
+
+        Returns:
+            `dict[str, Any]`: The observation with `ee.*` keys in place of the joint positions.
+        """
         return compute_forward_kinematics_joints_to_ee(observation, self.kinematics, self.motor_names)
 
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
         # We only use the ee pose in the dataset, so we don't need the joint positions
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         for n in self.motor_names:
             features[PipelineFeatureType.OBSERVATION].pop(f"{n}.pos", None)
         # We specify the dataset features of this step that we want to be stored in the dataset
@@ -494,26 +601,44 @@ class ForwardKinematicsJointsToEEObservation(ObservationProcessorStep):
 @ProcessorStepRegistry.register("forward_kinematics_joints_to_ee_action")
 @dataclass
 class ForwardKinematicsJointsToEEAction(RobotActionProcessorStep):
-    """
-    Computes the end-effector pose from joint positions using forward kinematics (FK).
+    """Computes the end-effector pose from joint positions using forward kinematics (FK).
 
     This step is typically used to add the robot's Cartesian pose to the observation space,
     which can be useful for visualization or as an input to a policy.
 
-    Attributes:
-        kinematics: The robot's kinematic model.
+    **Attributes**:
+        - **kinematics** (`RobotKinematics`) -- The robot's kinematic model.
     """
 
     kinematics: RobotKinematics
     motor_names: list[str]
 
     def action(self, action: RobotAction) -> RobotAction:
+        """Transform the action for this step.
+
+        Args:
+            action (`dict[str, Any]`):
+                The incoming robot action.
+
+        Returns:
+            `dict[str, Any]`: The transformed action.
+        """
         return compute_forward_kinematics_joints_to_ee(action, self.kinematics, self.motor_names)
 
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
         # We only use the ee pose in the dataset, so we don't need the joint positions
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         for n in self.motor_names:
             features[PipelineFeatureType.ACTION].pop(f"{n}.pos", None)
         # Store end-effector features as actions in the dataset schema
@@ -527,10 +652,21 @@ class ForwardKinematicsJointsToEEAction(RobotActionProcessorStep):
 @ProcessorStepRegistry.register(name="forward_kinematics_joints_to_ee")
 @dataclass
 class ForwardKinematicsJointsToEE(ProcessorStep):
+    """Applies forward kinematics to whichever of the action and observation are present.
+
+    A convenience wrapper over [`ForwardKinematicsJointsToEEAction`] and
+    [`ForwardKinematicsJointsToEEObservation`], so a pipeline needs one step instead of two.
+
+    **Attributes**:
+        - **kinematics** (`RobotKinematics`) -- The arm's kinematic model.
+        - **motor_names** (`list[str]`) -- The motors, in the order the kinematic model expects them.
+    """
+
     kinematics: RobotKinematics
     motor_names: list[str]
 
     def __post_init__(self):
+        """Build the action and observation sub-steps this step delegates to."""
         self.joints_to_ee_action_processor = ForwardKinematicsJointsToEEAction(
             kinematics=self.kinematics, motor_names=self.motor_names
         )
@@ -539,6 +675,15 @@ class ForwardKinematicsJointsToEE(ProcessorStep):
         )
 
     def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Apply forward kinematics to whichever of the action and observation are present.
+
+        Args:
+            transition (`EnvTransition`):
+                The transition to transform.
+
+        Returns:
+            `EnvTransition`: The transition with `ee.*` keys in place of joint positions.
+        """
         if transition.get(TransitionKey.ACTION) is not None:
             transition = self.joints_to_ee_action_processor(transition)
         if transition.get(TransitionKey.OBSERVATION) is not None:
@@ -548,6 +693,16 @@ class ForwardKinematicsJointsToEE(ProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         if features[PipelineFeatureType.ACTION] is not None:
             features = self.joints_to_ee_action_processor.transform_features(features)
         if features[PipelineFeatureType.OBSERVATION] is not None:
@@ -558,8 +713,7 @@ class ForwardKinematicsJointsToEE(ProcessorStep):
 @ProcessorStepRegistry.register("inverse_kinematics_rl_step")
 @dataclass
 class InverseKinematicsRLStep(ProcessorStep):
-    """
-    Computes desired joint positions from a target end-effector pose using inverse kinematics (IK).
+    """Computes desired joint positions from a target end-effector pose using inverse kinematics (IK).
 
     This is modified from the InverseKinematicsEEToJoints step to be used in the RL pipeline.
     """
@@ -570,6 +724,15 @@ class InverseKinematicsRLStep(ProcessorStep):
     initial_guess_current_joints: bool = True
 
     def __call__(self, transition: EnvTransition) -> EnvTransition:
+        """Solve inverse kinematics for the transition's end-effector action.
+
+        Args:
+            transition (`EnvTransition`):
+                The transition to transform.
+
+        Returns:
+            `EnvTransition`: The transition with joint targets in place of the `ee.*` action.
+        """
         new_transition = dict(transition)
         action = new_transition.get(TransitionKey.ACTION)
         if action is None:
@@ -633,6 +796,16 @@ class InverseKinematicsRLStep(ProcessorStep):
     def transform_features(
         self, features: dict[PipelineFeatureType, dict[str, PolicyFeature]]
     ) -> dict[PipelineFeatureType, dict[str, PolicyFeature]]:
+        """Update the feature contract to match what this step does to the data.
+
+        Args:
+            features (`dict[PipelineFeatureType, dict[str, PolicyFeature]]`):
+                The pipeline's feature contract so far.
+
+        Returns:
+            `dict[PipelineFeatureType, dict[str, PolicyFeature]]`: The contract with this step's key changes
+            applied.
+        """
         for feat in ["x", "y", "z", "wx", "wy", "wz", "gripper_pos"]:
             features[PipelineFeatureType.ACTION].pop(f"ee.{feat}", None)
 
diff --git a/src/lerobot/robots/so_follower/so_follower.py b/src/lerobot/robots/so_follower/so_follower.py
index 85dc43dc0..88059d8c2 100644
--- a/src/lerobot/robots/so_follower/so_follower.py
+++ b/src/lerobot/robots/so_follower/so_follower.py
@@ -35,15 +35,35 @@ logger = logging.getLogger(__name__)
 
 
 class SOFollower(Robot):
-    """
-    Generic SO follower base implementing common functionality for SO-100/101/10X.
-    Designed to be subclassed with a per-hardware-model `config_class` and `name`.
+    """The SO-family follower arm: a 5-DOF arm plus gripper on a Feetech bus.
+
+    `SO100Follower` and `SO101Follower` are aliases of this class. The two arms differ in calibration and
+    gearing, not control code, so both are driven through the same implementation with a different
+    `config_class` and `name`.
+
+    Actions and observations are keyed `"<motor>.pos"`; cameras named in the config appear in observations
+    under their own keys. See [`~robots.Robot`] for the contract every method here implements.
+
+    Example:
+        ```python
+        >>> from lerobot.robots.so_follower import SO101Follower, SO101FollowerConfig
+        >>> robot = SO101Follower(SO101FollowerConfig(port="/dev/ttyACM0"))  # doctest: +SKIP
+        >>> with robot:  # doctest: +SKIP
+        ...     observation = robot.get_observation()
+        ...     robot.send_action({"shoulder_pan.pos": 0.0})
+        ```
     """
 
     config_class = SOFollowerRobotConfig
     name = "so_follower"
 
     def __init__(self, config: SOFollowerRobotConfig):
+        """Build the robot from its configuration.
+
+        Args:
+            config (`SOFollowerRobotConfig`):
+                The robot's configuration. Its `port` and `cameras` determine what is connected.
+        """
         super().__init__(config)
         self.config = config
         # choose normalization mode depending on config if available
@@ -78,23 +98,48 @@ class SOFollower(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The arm's joint positions plus one entry per configured camera.
+
+        Returns:
+            `dict[str, type | tuple]`: `"<motor>.pos"` keys mapped to `float`, and one key per camera
+            mapped to its `(height, width, channels)` shape.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The arm's goal joint positions.
+
+        Returns:
+            `dict[str, type]`: `"<motor>.pos"` keys mapped to `float`.
+        """
         return self._motors_ft
 
     @property
     def is_connected(self) -> bool:
+        """Whether the motor bus and every configured camera are connected.
+
+        Returns:
+            `bool`: `True` only when all of them are.
+        """
         return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())
 
     @check_if_already_connected
     def connect(self, calibrate: bool = True) -> None:
-        """
-        We assume that at connection time, arm is in a rest position,
-        and torque can be safely disabled to run calibration.
-        """
+        """Connect the motor bus and cameras, calibrating and configuring the arm.
 
+        > [!WARNING]
+        > The arm is assumed to be at rest when this is called, because torque is disabled to run
+        > calibration. Do not call it with the arm holding a load.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration when the motors disagree with the calibration file, or no file
+                exists yet. Calibration is interactive and prompts on stdin.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         self.bus.connect()
         if not self.is_calibrated and calibrate:
             logger.info(
@@ -110,9 +155,19 @@ class SOFollower(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the motors' stored calibration matches the calibration file.
+
+        Returns:
+            `bool`: `True` when the arm needs no recalibration.
+        """
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        """Calibrate the arm, writing the result to the motors and the calibration file.
+
+        This is interactive: it prompts on stdin to reuse an existing calibration file, and otherwise asks
+        you to move the arm to its middle position and then through each joint's full range.
+        """
         if self.calibration:
             # Calibration file exists, ask user whether to use it or run new calibration
             user_input = input(
@@ -157,6 +212,11 @@ class SOFollower(Robot):
         print("Calibration saved to", self.calibration_fpath)
 
     def configure(self) -> None:
+        """Write the position-mode operating mode and the configured PID gains to every motor.
+
+        The gripper additionally gets reduced torque, current and overload limits so that gripping a rigid
+        object does not burn out its motor.
+        """
         with self.bus.torque_disabled():
             self.bus.configure_motors()
             for motor in self.bus.motors:
@@ -171,6 +231,11 @@ class SOFollower(Robot):
                     self.bus.write("Overload_Torque", motor, 25)  # 25% torque when overloaded
 
     def setup_motors(self) -> None:
+        """Assign each motor its bus ID, one at a time.
+
+        Run this once when building an arm. It is interactive: it prompts you to connect the controller
+        board to a single motor at a time, working from the gripper back to the base.
+        """
         for motor in reversed(self.bus.motors):
             input(f"Connect the controller board to the '{motor}' motor only and press enter.")
             self.bus.setup_motor(motor)
@@ -178,6 +243,14 @@ class SOFollower(Robot):
 
     @check_if_not_connected
     def get_observation(self) -> RobotObservation:
+        """Read the arm's joint positions and one frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         # Read arm position
         start = time.perf_counter()
         obs_dict = self.bus.sync_read("Present_Position", num_retry=self.config.num_read_retries)
@@ -215,7 +288,6 @@ class SOFollower(Robot):
         Returns:
             RobotAction: the action sent to the motors, potentially clipped.
         """
-
         goal_pos = {key.removesuffix(".pos"): val for key, val in action.items() if key.endswith(".pos")}
 
         # Cap goal position when too far away from present position.
@@ -231,6 +303,13 @@ class SOFollower(Robot):
 
     @check_if_not_connected
     def disconnect(self):
+        """Disconnect the motor bus and every camera.
+
+        Torque is released first unless `disable_torque_on_disconnect` is `False`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         self.bus.disconnect(self.config.disable_torque_on_disconnect)
         for cam in self.cameras.values():
             cam.disconnect()
diff --git a/src/lerobot/robots/unitree_g1/config_unitree_g1.py b/src/lerobot/robots/unitree_g1/config_unitree_g1.py
index b786c2a33..80b375885 100644
--- a/src/lerobot/robots/unitree_g1/config_unitree_g1.py
+++ b/src/lerobot/robots/unitree_g1/config_unitree_g1.py
@@ -47,6 +47,42 @@ _DEFAULT_KP, _DEFAULT_KD = _build_gains()
 @RobotConfig.register_subclass("unitree_g1")
 @dataclass
 class UnitreeG1Config(RobotConfig):
+    """Configuration for the Unitree G1 humanoid.
+
+    The G1 is reached over a ZMQ bridge rather than a serial bus, so there is no `port` field and
+    calibration is handled by the robot's own firmware.
+
+    All 29 joints are addressed by index, so `kp`, `kd` and `default_positions` are lists in the G1's joint
+    order: left leg, right leg, waist, left arm, left wrist, right arm, right wrist.
+
+    Args:
+        kp (`list[float]`, *optional*):
+            Per-joint proportional gains, 29 values. Defaults to the per-body-part gains recommended by
+            Unitree.
+        kd (`list[float]`, *optional*):
+            Per-joint derivative gains, 29 values.
+        default_positions (`list[float]`, *optional*):
+            Per-joint home positions, 29 values. Defaults to all zeros.
+        control_dt (`float`, *optional*, defaults to 0.004):
+            Control loop timestep in seconds, i.e. 250 Hz.
+        is_simulation (`bool`, *optional*, defaults to `True`):
+            Whether to drive a MuJoCo simulation instead of the physical robot. Keep `True` until the
+            behaviour is validated in sim.
+        robot_ip (`str`, *optional*, defaults to `"192.168.123.164"`):
+            Address of the robot's ZMQ bridge. The default is the G1's factory address.
+        cameras (`dict[str, CameraConfig]`, *optional*):
+            ZMQ-based remote cameras to read alongside the joint states.
+        gravity_compensation (`bool`, *optional*, defaults to `False`):
+            Whether to compensate for gravity on the arms using the arm IK solver.
+        controller (`str`, *optional*):
+            Class name of the lower-body locomotion controller, e.g. `"GrootLocomotionController"` or
+            `"HolosomaLocomotionController"`. `None` leaves the legs uncontrolled.
+        id (`str`, *optional*):
+            Identifier for this particular robot.
+        calibration_dir (`Path`, *optional*):
+            Unused: the G1 manages its own calibration.
+    """
+
     kp: list[float] = field(default_factory=lambda: _DEFAULT_KP.copy())
     kd: list[float] = field(default_factory=lambda: _DEFAULT_KD.copy())
 
diff --git a/src/lerobot/robots/unitree_g1/g1_kinematics.py b/src/lerobot/robots/unitree_g1/g1_kinematics.py
index f57320a11..42f02b66a 100644
--- a/src/lerobot/robots/unitree_g1/g1_kinematics.py
+++ b/src/lerobot/robots/unitree_g1/g1_kinematics.py
@@ -24,7 +24,17 @@ logger = logging.getLogger(__name__)
 
 
 class WeightedMovingFilter:
+    """A fixed-length weighted moving average over recent samples, used to smooth IK solutions."""
+
     def __init__(self, weights, data_size=14):
+        """Set up the filter.
+
+        Args:
+            weights:
+                Per-sample weights, newest first. Their length sets the window size.
+            data_size (`int`, *optional*, defaults to 14):
+                Number of values in each sample.
+        """
         self._window_size = len(weights)
         self._weights = np.array(weights)
         self._data_size = data_size
@@ -39,6 +49,12 @@ class WeightedMovingFilter:
         return data_array.T @ self._weights
 
     def add_data(self, new_data):
+        """Push a sample into the window and recompute the filtered value.
+
+        Args:
+            new_data:
+                A sample of length `data_size`. Ignored if identical to the newest one already held.
+        """
         assert len(new_data) == self._data_size
 
         if len(self._data_queue) > 0 and np.array_equal(
@@ -51,11 +67,24 @@ class WeightedMovingFilter:
 
     @property
     def filtered_data(self):
+        """The current weighted average.
+
+        Returns:
+            `np.ndarray`: The filtered sample.
+        """
         return self._filtered_data
 
 
 class G1_29_ArmIK:  # noqa: N801
+    """Inverse kinematics for the G1's two arms, solved together as one optimisation problem."""
+
     def __init__(self, unit_test=False):
+        """Build the arm model and the IK solver.
+
+        Args:
+            unit_test (`bool`, *optional*, defaults to `False`):
+                Whether to run in test mode, which visualises the solution instead of driving a robot.
+        """
         import casadi
         import pinocchio as pin
         from huggingface_hub import snapshot_download
@@ -230,6 +259,21 @@ class G1_29_ArmIK:  # noqa: N801
         self.smooth_filter = WeightedMovingFilter(np.array([0.4, 0.3, 0.2, 0.1]), 14)
 
     def solve_ik(self, left_wrist, right_wrist, current_lr_arm_motor_q=None, current_lr_arm_motor_dq=None):
+        """Solve for the arm joint angles that place both wrists at the requested poses.
+
+        Args:
+            left_wrist:
+                Target pose of the left wrist as a 4x4 homogeneous transform.
+            right_wrist:
+                Target pose of the right wrist as a 4x4 homogeneous transform.
+            current_lr_arm_motor_q (*optional*):
+                Present arm joint positions, used as the solver's initial guess.
+            current_lr_arm_motor_dq (*optional*):
+                Present arm joint velocities, used to compute feed-forward torques.
+
+        Returns:
+            `tuple`: The solved joint positions and the corresponding torques.
+        """
         if current_lr_arm_motor_q is not None:
             self.init_data = current_lr_arm_motor_q
         self.opti.set_initial(self.var_q, self.init_data)
@@ -268,6 +312,17 @@ class G1_29_ArmIK:  # noqa: N801
         return sol_q, sol_tauff
 
     def solve_tau(self, current_lr_arm_motor_q=None, current_lr_arm_motor_dq=None):
+        """Compute the gravity-compensating torques for the arms at a given state.
+
+        Args:
+            current_lr_arm_motor_q (*optional*):
+                Present arm joint positions.
+            current_lr_arm_motor_dq (*optional*):
+                Present arm joint velocities.
+
+        Returns:
+            `np.ndarray`: Per-joint torques.
+        """
         try:
             q_g1 = np.array(current_lr_arm_motor_q, dtype=float)
             if q_g1.shape[0] != len(self._arm_joint_names_g1):
diff --git a/src/lerobot/robots/unitree_g1/g1_utils.py b/src/lerobot/robots/unitree_g1/g1_utils.py
index 91f009b26..560c5fe42 100644
--- a/src/lerobot/robots/unitree_g1/g1_utils.py
+++ b/src/lerobot/robots/unitree_g1/g1_utils.py
@@ -44,6 +44,8 @@ def get_gravity_orientation(quaternion: list[float] | np.ndarray) -> np.ndarray:
 
 
 class G1_29_JointArmIndex(IntEnum):
+    """Indices of the G1's arm and wrist joints within its 29-joint state vector."""
+
     # Left arm
     kLeftShoulderPitch = 15
     kLeftShoulderRoll = 16
@@ -79,6 +81,8 @@ def make_locomotion_controller(name: str | None):
 
 
 class G1_29_JointIndex(IntEnum):
+    """Indices of all 29 G1 joints, in the order the robot reports and accepts them."""
+
     # Left leg
     kLeftHipPitch = 0
     kLeftHipRoll = 1
diff --git a/src/lerobot/robots/unitree_g1/gr00t_locomotion.py b/src/lerobot/robots/unitree_g1/gr00t_locomotion.py
index 12fe26073..b98417739 100644
--- a/src/lerobot/robots/unitree_g1/gr00t_locomotion.py
+++ b/src/lerobot/robots/unitree_g1/gr00t_locomotion.py
@@ -83,6 +83,7 @@ class GrootLocomotionController:
     control_dt = CONTROL_DT  # Expose for unitree_g1.py
 
     def __init__(self):
+        """Load the GR00T locomotion policy and set up its observation history."""
         # Load policies
         self.policy_balance, self.policy_walk = load_groot_policies()
 
diff --git a/src/lerobot/robots/unitree_g1/holosoma_locomotion.py b/src/lerobot/robots/unitree_g1/holosoma_locomotion.py
index 3d3bccbdc..fd048f68d 100644
--- a/src/lerobot/robots/unitree_g1/holosoma_locomotion.py
+++ b/src/lerobot/robots/unitree_g1/holosoma_locomotion.py
@@ -101,6 +101,7 @@ class HolosomaLocomotionController:
     control_dt = CONTROL_DT  # Expose for unitree_g1.py
 
     def __init__(self):
+        """Load the HoloSoma locomotion policy and set up its observation history."""
         # Load policy and gains
         self.policy, self.kp, self.kd = load_policy()
 
diff --git a/src/lerobot/robots/unitree_g1/run_g1_server.py b/src/lerobot/robots/unitree_g1/run_g1_server.py
index b5bd0baf8..8da188d0f 100644
--- a/src/lerobot/robots/unitree_g1/run_g1_server.py
+++ b/src/lerobot/robots/unitree_g1/run_g1_server.py
@@ -14,8 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""
-DDS-to-ZMQ bridge server for Unitree G1 robot.
+"""DDS-to-ZMQ bridge server for Unitree G1 robot.
 
 This server runs on the robot and forwards:
 - Robot state (LowState) from DDS to ZMQ (for remote clients)
diff --git a/src/lerobot/robots/unitree_g1/unitree_g1.py b/src/lerobot/robots/unitree_g1/unitree_g1.py
index efbfbbe10..ca4f7467e 100644
--- a/src/lerobot/robots/unitree_g1/unitree_g1.py
+++ b/src/lerobot/robots/unitree_g1/unitree_g1.py
@@ -67,11 +67,27 @@ logger = logging.getLogger(__name__)
 
 @runtime_checkable
 class LocomotionController(Protocol):
+    """The interface a lower-body locomotion controller must provide to drive the G1's legs."""
+
     control_dt: float
 
-    def run_step(self, action: dict, lowstate) -> dict: ...
+    def run_step(self, action: dict, lowstate) -> dict:
+        """Compute one step of leg commands.
 
-    def reset(self) -> None: ...
+        Args:
+            action (`dict`):
+                The upper-body action and locomotion command for this step.
+            lowstate:
+                The robot's most recent low-level state.
+
+        Returns:
+            `dict`: Leg joint targets for this step.
+        """
+        ...
+
+    def reset(self) -> None:
+        """Clear any internal state, e.g. an observation history, before a new episode."""
+        ...
 
 
 # DDS topic names follow Unitree SDK naming conventions
@@ -82,6 +98,8 @@ kTopicLowState = "rt/lowstate"
 
 @dataclass
 class MotorState:
+    """One motor's reported position, velocity and torque."""
+
     q: float | None = None  # position
     dq: float | None = None  # velocity
     tau_est: float | None = None  # estimated torque
@@ -90,6 +108,8 @@ class MotorState:
 
 @dataclass
 class IMUState:
+    """The G1's inertial measurements: orientation, angular velocity and acceleration."""
+
     quaternion: np.ndarray | None = None  # [w, x, y, z]
     gyroscope: np.ndarray | None = None  # [x, y, z] angular velocity (rad/s)
     accelerometer: np.ndarray | None = None  # [x, y, z] linear acceleration (m/s²)
@@ -100,6 +120,8 @@ class IMUState:
 # g1 observation class
 @dataclass
 class G1_29_LowState:  # noqa: N801
+    """A full low-level state frame: every motor's state plus the IMU."""
+
     motor_state: list[MotorState] = field(default_factory=lambda: [MotorState() for _ in G1_29_JointIndex])
     imu_state: IMUState = field(default_factory=IMUState)
     wireless_remote: bytes | None = None  # Raw wireless remote data
@@ -107,10 +129,29 @@ class G1_29_LowState:  # noqa: N801
 
 
 class UnitreeG1(Robot):
+    """The Unitree G1 humanoid, driven over a ZMQ bridge.
+
+    Upper-body joints are commanded directly. The legs are handled by an optional locomotion controller
+    named in the config, which runs its own loop against the robot's low-level state. Set
+    `is_simulation=True` to drive a MuJoCo model instead of the physical robot.
+
+    See [`~robots.Robot`] for the contract every method here implements.
+    """
+
     config_class = UnitreeG1Config
     name = "unitree_g1"
 
     def __init__(self, config: UnitreeG1Config):
+        """Build the robot and, if one is configured, its locomotion controller.
+
+        Args:
+            config (`UnitreeG1Config`):
+                The robot's configuration, including gains, the ZMQ bridge address and whether to run
+                against MuJoCo instead of hardware.
+
+        Raises:
+            ImportError: If the `unitree_g1` extra is not installed.
+        """
         require_package("unitree-sdk2py", extra="unitree_g1", import_name="unitree_sdk2py")
         super().__init__(config)
 
@@ -204,6 +245,18 @@ class UnitreeG1(Robot):
         kd: np.ndarray | list[float] | None = None,
         tau: np.ndarray | list[float] | None = None,
     ) -> None:  # writes robot command whenever requested
+        """Write a low-level command frame to the robot.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target joint positions for this step.
+            kp (`np.ndarray | list[float]`, *optional*):
+                Per-joint proportional gains. Defaults to the config's `kp`.
+            kd (`np.ndarray | list[float]`, *optional*):
+                Per-joint derivative gains. Defaults to the config's `kd`.
+            tau (`np.ndarray | list[float]`, *optional*):
+                Per-joint feed-forward torques. Defaults to zero.
+        """
         for motor in G1_29_JointIndex:
             key = f"{motor.name}.q"
             if key in action:
@@ -233,10 +286,21 @@ class UnitreeG1(Robot):
 
     @cached_property
     def observation_features(self) -> dict[str, type | tuple]:
+        """The values this robot reports, and their types or shapes.
+
+        Returns:
+            `dict`: Keys as returned by [`~robots.Robot.get_observation`], mapped to a scalar type for
+            proprioceptive values or to a `(height, width, channels)` shape for images.
+        """
         return {**self._motors_ft, **self._cameras_ft}
 
     @cached_property
     def action_features(self) -> dict[str, type]:
+        """The values this robot accepts, and their types.
+
+        Returns:
+            `dict`: Keys accepted by [`~robots.Robot.send_action`], mapped to their type.
+        """
         if self.controller is None:
             return {f"{G1_29_JointIndex(motor).name}.q": float for motor in G1_29_JointIndex}
 
@@ -288,13 +352,27 @@ class UnitreeG1(Robot):
 
     def calibrate(self) -> None:
         # TODO: implement g1_29 calibration
+        """Calibrate the robot and store the result.
+
+        Interactive: prompts on stdin and asks you to move the robot through the required positions.
+        """
         pass
 
     def configure(self) -> None:
+        """Apply the operating mode, gains and limits from the configuration to the robot."""
         pass
 
     def connect(self, calibrate: bool = True) -> None:  # connect to DDS
         # Initialize DDS channel and simulation environment
+        """Connect to the robot and its cameras, then apply the configured settings.
+
+        Args:
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to run calibration if the robot is not already calibrated.
+
+        Raises:
+            DeviceAlreadyConnectedError: If the robot is already connected.
+        """
         if self.config.is_simulation:
             from lerobot.envs import make_env
 
@@ -373,6 +451,11 @@ class UnitreeG1(Robot):
 
     def disconnect(self):
         # Put robot in passive mode before stopping threads
+        """Disconnect from the robot and its cameras.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         if not self.config.is_simulation:
             self._send_zero_torque()
 
@@ -417,6 +500,14 @@ class UnitreeG1(Robot):
             cam.disconnect()
 
     def get_observation(self) -> RobotObservation:
+        """Read the robot's current state and a frame from each camera.
+
+        Returns:
+            `dict[str, Any]`: Keys matching [`~robots.Robot.observation_features`].
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         with self._lowstate_lock:
             lowstate = self._lowstate
         if lowstate is None:
@@ -471,6 +562,18 @@ class UnitreeG1(Robot):
         return obs
 
     def send_action(self, action: RobotAction) -> RobotAction:
+        """Command the robot to move towards a target configuration.
+
+        Args:
+            action (`dict[str, Any]`):
+                Target values, keyed as in [`~robots.Robot.action_features`].
+
+        Returns:
+            `dict[str, Any]`: The action actually sent, which may be clipped by `max_relative_target`.
+
+        Raises:
+            DeviceNotConnectedError: If the robot is not connected.
+        """
         action_to_publish = action
         if self.controller is not None:
             # Controller thread owns legs/waist. Here we only update joystick inputs
@@ -511,10 +614,20 @@ class UnitreeG1(Robot):
 
     @property
     def is_calibrated(self) -> bool:
+        """Whether the robot is calibrated.
+
+        Returns:
+            `bool`: `True` when no calibration is needed before use.
+        """
         return True
 
     @property
     def is_connected(self) -> bool:
+        """Whether every device this robot uses is connected.
+
+        Returns:
+            `bool`: `True` only when the robot and all its cameras are connected.
+        """
         with self._lowstate_lock:
             return self._lowstate is not None
 
@@ -525,6 +638,11 @@ class UnitreeG1(Robot):
 
     @property
     def cameras(self) -> dict:
+        """The robot's configured cameras.
+
+        Returns:
+            `dict`: Camera name mapped to its instance.
+        """
         return self._cameras
 
     def reset(
@@ -532,6 +650,18 @@ class UnitreeG1(Robot):
         control_dt: float | None = None,
         default_positions: list[float] | None = None,
     ) -> None:  # move robot to default position
+        """Move the robot smoothly to its default joint positions.
+
+        > [!WARNING]
+        > This drives every joint, legs included. Make sure the robot is supported or in a safe posture
+        > before calling it.
+
+        Args:
+            control_dt (`float`, *optional*):
+                Control loop timestep for the move. Defaults to the config's `control_dt`.
+            default_positions (`list[float]`, *optional*):
+                Target positions, 29 values in joint order. Defaults to the config's `default_positions`.
+        """
         if control_dt is None:
             control_dt = self.config.control_dt
         if default_positions is None:
diff --git a/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py b/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py
index 4f0b787aa..7d74a848c 100644
--- a/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py
+++ b/src/lerobot/robots/unitree_g1/unitree_sdk2_socket.py
@@ -37,8 +37,7 @@ kTopicLowCommand_Debug = "rt/lowcmd"
 
 
 class LowStateMsg:
-    """
-    Wrapper class that mimics the Unitree SDK LowState_ message structure.
+    """Wrapper class that mimics the Unitree SDK LowState_ message structure.
 
     Reconstructs the message from deserialized JSON data to maintain
     compatibility with existing code that expects SDK message objects.
@@ -48,6 +47,12 @@ class LowStateMsg:
         """Motor state data for a single joint."""
 
         def __init__(self, data: dict[str, Any]) -> None:
+            """Build one motor's state from a deserialized JSON frame.
+
+            Args:
+                data (`dict[str, Any]`):
+                    The motor's entry from the robot's state message.
+            """
             self.q: float = data.get("q", 0.0)
             self.dq: float = data.get("dq", 0.0)
             self.tau_est: float = data.get("tau_est", 0.0)
@@ -57,6 +62,12 @@ class LowStateMsg:
         """IMU sensor data."""
 
         def __init__(self, data: dict[str, Any]) -> None:
+            """Build the IMU state from a deserialized JSON frame.
+
+            Args:
+                data (`dict[str, Any]`):
+                    The IMU's entry from the robot's state message.
+            """
             self.quaternion: list[float] = data.get("quaternion", [1.0, 0.0, 0.0, 0.0])
             self.gyroscope: list[float] = data.get("gyroscope", [0.0, 0.0, 0.0])
             self.accelerometer: list[float] = data.get("accelerometer", [0.0, 0.0, 0.0])
@@ -100,15 +111,16 @@ def lowcmd_to_dict(topic: str, msg: Any) -> dict[str, Any]:
 
 
 def ChannelFactoryInitialize(domain_id: int = 0, config: Any = None) -> None:  # noqa: N802
-    """
-    Initialize ZMQ sockets for robot communication.
+    """Initialize ZMQ sockets for robot communication.
 
     This function mimics the Unitree SDK's ChannelFactoryInitialize but uses
     ZMQ sockets to connect to the robot server bridge instead of DDS.
 
     Args:
-        domain_id: Ignored (for API compatibility with Unitree SDK)
-        config: UnitreeG1Config instance with robot_ip
+        domain_id (`int`, *optional*, defaults to 0):
+            Ignored. Accepted only for API compatibility with the Unitree SDK.
+        config (`Any`, *optional*):
+            A `UnitreeG1Config` supplying `robot_ip`. Defaults to a fresh `UnitreeG1Config` when `None`.
     """
     global _ctx, _lowcmd_sock, _lowstate_sock
 
@@ -138,6 +150,14 @@ class ChannelPublisher:
     """ZMQ-based publisher that sends commands to the robot server."""
 
     def __init__(self, topic: str, msg_type: type) -> None:
+        """Bind the publisher to a topic.
+
+        Args:
+            topic (`str`):
+                The topic name to publish under.
+            msg_type (`type`):
+                The message class this topic carries.
+        """
         self.topic = topic
         self.msg_type = msg_type
 
@@ -158,6 +178,14 @@ class ChannelSubscriber:
     """ZMQ-based subscriber that receives state from the robot server."""
 
     def __init__(self, topic: str, msg_type: type) -> None:
+        """Bind the subscriber to a topic.
+
+        Args:
+            topic (`str`):
+                The topic name to receive from.
+            msg_type (`type`):
+                The message class this topic carries.
+        """
         self.topic = topic
         self.msg_type = msg_type
 
diff --git a/src/lerobot/robots/utils.py b/src/lerobot/robots/utils.py
index f897a560e..7e072396d 100644
--- a/src/lerobot/robots/utils.py
+++ b/src/lerobot/robots/utils.py
@@ -23,6 +23,21 @@ from .robot import Robot
 
 
 def make_robot_from_config(config: RobotConfig) -> Robot:
+    """Build the robot a configuration selects.
+
+    Dispatches on `config.type`, the name the config registered itself under, so `--robot.type=so101_follower`
+    on the command line produces an `SO101Follower` here.
+
+    Args:
+        config (`RobotConfig`):
+            The configuration to build from.
+
+    Returns:
+        `Robot`: A robot of the type `config` selects, not yet connected.
+
+    Raises:
+        ValueError: If `config.type` matches no built-in robot and no device class can be resolved from it.
+    """
     # TODO(Steven): Consider just using the make_device_from_device_class for all types
     if config.type == "koch_follower":
         from .koch_follower import KochFollower
@@ -91,8 +106,35 @@ def make_robot_from_config(config: RobotConfig) -> Robot:
 def ensure_safe_goal_position(
     goal_present_pos: dict[str, tuple[float, float]], max_relative_target: float | dict[str, float]
 ) -> dict[str, float]:
-    """Caps relative action target magnitude for safety."""
+    """Cap the magnitude of a relative action target for safety.
 
+    Used by [`~robots.Robot.send_action`] implementations to stop a large jump between the present and goal
+    positions from being written straight to the motors.
+
+    Args:
+        goal_present_pos (`dict[str, tuple[float, float]]`):
+            Maps motor name to a `(goal_position, present_position)` pair.
+        max_relative_target (`float | dict[str, float]`):
+            The largest change from the present position that may be applied. A float caps every motor
+            equally; a dict gives a per-motor cap and must have exactly the same keys as
+            `goal_present_pos`.
+
+    Returns:
+        `dict[str, float]`: The capped goal position for each motor.
+
+    Raises:
+        ValueError: If `max_relative_target` is a dict whose keys differ from those of `goal_present_pos`.
+        TypeError: If `max_relative_target` is neither a float nor a dict.
+
+    Example:
+        ```python
+        >>> from lerobot.robots.utils import ensure_safe_goal_position
+        >>> ensure_safe_goal_position({"shoulder_pan": (50.0, 10.0)}, 5.0)
+        {'shoulder_pan': 15.0}
+        >>> ensure_safe_goal_position({"shoulder_pan": (12.0, 10.0)}, 5.0)
+        {'shoulder_pan': 12.0}
+        ```
+    """
     if isinstance(max_relative_target, float):
         diff_cap = dict.fromkeys(goal_present_pos, max_relative_target)
     elif isinstance(max_relative_target, dict):
diff --git a/src/lerobot/teleoperators/keyboard/configuration_keyboard.py b/src/lerobot/teleoperators/keyboard/configuration_keyboard.py
index 158717434..bb54ecc26 100644
--- a/src/lerobot/teleoperators/keyboard/configuration_keyboard.py
+++ b/src/lerobot/teleoperators/keyboard/configuration_keyboard.py
@@ -35,8 +35,8 @@ class KeyboardEndEffectorTeleopConfig(KeyboardTeleopConfig):
 
     Used for controlling robot end-effectors with keyboard inputs.
 
-    Attributes:
-        use_gripper: Whether to include gripper control in actions
+    **Attributes**:
+        - **use_gripper** (`bool`) -- Whether to include gripper control in actions
     """
 
     use_gripper: bool = True
@@ -49,14 +49,14 @@ class KeyboardRoverTeleopConfig(TeleoperatorConfig):
 
     Used for controlling mobile robots like EarthRover Mini Plus with WASD controls.
 
-    Attributes:
-        linear_speed: Default linear velocity magnitude (-1 to 1 range for SDK robots)
-        angular_speed: Default angular velocity magnitude (-1 to 1 range for SDK robots)
-        speed_increment: Amount to increase/decrease speed with +/- keys
-        turn_assist_ratio: Forward motion multiplier when turning with A/D keys (0.0-1.0)
-        angular_speed_ratio: Ratio of angular to linear speed for synchronized adjustments
-        min_linear_speed: Minimum linear speed when decreasing (prevents zero speed)
-        min_angular_speed: Minimum angular speed when decreasing (prevents zero speed)
+    **Attributes**:
+        - **linear_speed** (`float`) -- Default linear velocity magnitude (-1 to 1 range for SDK robots)
+        - **angular_speed** (`float`) -- Default angular velocity magnitude (-1 to 1 range for SDK robots)
+        - **speed_increment** (`float`) -- Amount to increase/decrease speed with +/- keys
+        - **turn_assist_ratio** (`float`) -- Forward motion multiplier when turning with A/D keys (0.0-1.0)
+        - **angular_speed_ratio** (`float`) -- Ratio of angular to linear speed for synchronized adjustments
+        - **min_linear_speed** (`float`) -- Minimum linear speed when decreasing (prevents zero speed)
+        - **min_angular_speed** (`float`) -- Minimum angular speed when decreasing (prevents zero speed)
     """
 
     linear_speed: float = 1.0
diff --git a/src/lerobot/teleoperators/keyboard/teleop_keyboard.py b/src/lerobot/teleoperators/keyboard/teleop_keyboard.py
index 8c60b6599..f43c315d9 100644
--- a/src/lerobot/teleoperators/keyboard/teleop_keyboard.py
+++ b/src/lerobot/teleoperators/keyboard/teleop_keyboard.py
@@ -312,10 +312,10 @@ class KeyboardRoverTeleop(KeyboardTeleop):
         System:
             - ESC: Disconnect teleoperator
 
-    Attributes:
-        config: Teleoperator configuration
-        current_linear_speed: Current linear velocity magnitude
-        current_angular_speed: Current angular velocity magnitude
+    **Attributes**:
+        - **config** -- Teleoperator configuration
+        - **current_linear_speed** -- Current linear velocity magnitude
+        - **current_angular_speed** -- Current angular velocity magnitude
 
     Example:
         ```python
diff --git a/src/lerobot/teleoperators/phone/phone_processor.py b/src/lerobot/teleoperators/phone/phone_processor.py
index c54b6dffe..9822260dd 100644
--- a/src/lerobot/teleoperators/phone/phone_processor.py
+++ b/src/lerobot/teleoperators/phone/phone_processor.py
@@ -35,9 +35,9 @@ class MapPhoneActionToRobotAction(RobotActionProcessorStep):
     necessary axis inversions and swaps. It also interprets platform-specific
     button presses to generate a gripper command.
 
-    Attributes:
-        platform: The operating system of the phone (iOS or Android), used
-            to determine the correct button mappings for the gripper.
+    **Attributes**:
+        - **platform** (`PhoneOS`) -- The operating system of the phone (iOS or Android), used to determine
+          the correct button mappings for the gripper.
     """
 
     # TODO(Steven): Gripper vel could be output of phone_teleop directly
diff --git a/src/lerobot/teleoperators/teleoperator.py b/src/lerobot/teleoperators/teleoperator.py
index 9368c97da..532f81d9a 100644
--- a/src/lerobot/teleoperators/teleoperator.py
+++ b/src/lerobot/teleoperators/teleoperator.py
@@ -27,15 +27,22 @@ from .config import TeleoperatorConfig
 
 
 class Teleoperator(abc.ABC):
-    """
-    The base abstract class for all LeRobot-compatible teleoperation devices.
+    """The base abstract class for all LeRobot-compatible teleoperation devices.
 
-    This class provides a standardized interface for interacting with physical teleoperators.
-    Subclasses must implement all abstract methods and properties to be usable.
+    This class provides a standardized interface for interacting with physical teleoperators. Subclasses
+    must implement all abstract methods and properties to be usable.
 
-    Attributes:
-        config_class (RobotConfig): The expected configuration class for this teleoperator.
-        name (str): The unique name used to identify this teleoperator type.
+    Used as a context manager, a teleoperator connects on entry and disconnects on exit, even on error:
+
+    ```python
+    >>> with SO101Leader(config) as teleop:  # doctest: +SKIP
+    ...     action = teleop.get_action()
+    ```
+
+    **Attributes**:
+        - **config_class** (`type[TeleoperatorConfig]`) -- The expected configuration class for this
+          teleoperator.
+        - **name** (`str`) -- The unique name used to identify this teleoperator type.
     """
 
     # Set these in ALL subclasses
@@ -59,25 +66,16 @@ class Teleoperator(abc.ABC):
         return f"{self.id} {self.__class__.__name__}"
 
     def __enter__(self):
-        """
-        Context manager entry.
-        Automatically connects to the camera.
-        """
+        """Context manager entry. Automatically connects to the teleoperator."""
         self.connect()
         return self
 
     def __exit__(self, exc_type, exc_value, traceback) -> None:
-        """
-        Context manager exit.
-        Automatically disconnects, ensuring resources are released even on error.
-        """
+        """Context manager exit. Disconnects, ensuring resources are released even on error."""
         self.disconnect()
 
     def __del__(self) -> None:
-        """
-        Destructor safety net.
-        Attempts to disconnect if the object is garbage collected without cleanup.
-        """
+        """Destructor safety net. Disconnects if the object is garbage collected without cleanup."""
         try:
             if self.is_connected:
                 self.disconnect()
@@ -87,82 +85,98 @@ class Teleoperator(abc.ABC):
     @property
     @abc.abstractmethod
     def action_features(self) -> dict:
-        """
-        A dictionary describing the structure and types of the actions produced by the teleoperator. Its
-        structure (keys) should match the structure of what is returned by :pymeth:`get_action`. Values for
-        the dict should be the type of the value if it's a simple value, e.g. `float` for single
-        proprioceptive value (a joint's goal position/velocity)
+        """A dictionary describing the structure and types of the actions produced by the teleoperator.
 
-        Note: this property should be able to be called regardless of whether the robot is connected or not.
+        Its keys should match the structure of what is returned by [`~teleoperators.Teleoperator.get_action`].
+        Values should be the type of the value if it's a simple value, e.g. `float` for a single
+        proprioceptive value (a joint's goal position or velocity).
+
+        > [!NOTE]
+        > This property must be callable regardless of whether the teleoperator is connected.
+
+        Returns:
+            `dict`: Action names mapped to their type or shape.
         """
         pass
 
     @property
     @abc.abstractmethod
     def feedback_features(self) -> dict:
-        """
-        A dictionary describing the structure and types of the feedback actions expected by the robot. Its
-        structure (keys) should match the structure of what is passed to :pymeth:`send_feedback`. Values for
-        the dict should be the type of the value if it's a simple value, e.g. `float` for single
-        proprioceptive value (a joint's goal position/velocity)
+        """A dictionary describing the structure and types of the feedback actions the teleoperator accepts.
 
-        Note: this property should be able to be called regardless of whether the robot is connected or not.
+        Its keys should match the structure of what is passed to
+        [`~teleoperators.Teleoperator.send_feedback`]. Values should be the type of the value if it's a
+        simple value, e.g. `float` for a single proprioceptive value (a joint's goal position or velocity).
+
+        > [!NOTE]
+        > This property must be callable regardless of whether the teleoperator is connected.
+
+        Returns:
+            `dict`: Feedback names mapped to their type or shape.
         """
         pass
 
     @property
     @abc.abstractmethod
     def is_connected(self) -> bool:
-        """
-        Whether the teleoperator is currently connected or not. If `False`, calling :pymeth:`get_action`
-        or :pymeth:`send_feedback` should raise an error.
+        """Whether the teleoperator is currently connected.
+
+        If `False`, calling [`~teleoperators.Teleoperator.get_action`] or
+        [`~teleoperators.Teleoperator.send_feedback`] should raise an error.
+
+        Returns:
+            `bool`: `True` if communication with the teleoperator is established.
         """
         pass
 
     @abc.abstractmethod
     def connect(self, calibrate: bool = True) -> None:
-        """
-        Establish communication with the teleoperator.
+        """Establish communication with the teleoperator.
 
         Args:
-            calibrate (bool): If True, automatically calibrate the teleoperator after connecting if it's not
-                calibrated or needs calibration (this is hardware-dependant).
+            calibrate (`bool`, *optional*, defaults to `True`):
+                Whether to automatically calibrate the teleoperator after connecting, if it is not
+                calibrated or needs recalibration. Whether calibration is needed is hardware-dependent.
         """
         pass
 
     @property
     @abc.abstractmethod
     def is_calibrated(self) -> bool:
-        """Whether the teleoperator is currently calibrated or not. Should be always `True` if not applicable"""
+        """Whether the teleoperator is currently calibrated.
+
+        Returns:
+            `bool`: `True` if the teleoperator is calibrated. Always `True` for teleoperators where
+            calibration does not apply.
+        """
         pass
 
     @abc.abstractmethod
     def calibrate(self) -> None:
-        """
-        Calibrate the teleoperator if applicable. If not, this should be a no-op.
+        """Calibrate the teleoperator if applicable. If not, this should be a no-op.
 
-        This method should collect any necessary data (e.g., motor offsets) and update the
-        :pyattr:`calibration` dictionary accordingly.
+        This method should collect any necessary data (e.g. motor offsets) and update the `calibration`
+        dictionary accordingly.
         """
         pass
 
     def _load_calibration(self, fpath: Path | None = None) -> None:
-        """
-        Helper to load calibration data from the specified file.
+        """Helper to load calibration data from the specified file.
 
         Args:
-            fpath (Path | None): Optional path to the calibration file. Defaults to `self.calibration_fpath`.
+            fpath (`Path`, *optional*):
+                Path to the calibration file. Defaults to `self.calibration_fpath`.
         """
         fpath = self.calibration_fpath if fpath is None else fpath
         with open(fpath) as f, draccus.config_type("json"):
             self.calibration = draccus.load(dict[str, MotorCalibration], f)
 
     def _save_calibration(self, fpath: Path | None = None) -> None:
-        """
-        Helper to save calibration data to the specified file.
+        """Helper to save calibration data to the specified file.
 
         Args:
-            fpath (Path | None): Optional path to save the calibration file. Defaults to `self.calibration_fpath`.
+            fpath (`Path`, *optional*):
+                Path to save the calibration file to. Defaults to `self.calibration_fpath`.
         """
         fpath = self.calibration_fpath if fpath is None else fpath
         with open(fpath, "w") as f, draccus.config_type("json"):
@@ -170,35 +184,36 @@ class Teleoperator(abc.ABC):
 
     @abc.abstractmethod
     def configure(self) -> None:
-        """
-        Apply any one-time or runtime configuration to the teleoperator.
+        """Apply any one-time or runtime configuration to the teleoperator.
+
         This may include setting motor parameters, control modes, or initial state.
         """
         pass
 
     @abc.abstractmethod
     def get_action(self) -> RobotAction:
-        """
-        Retrieve the current action from the teleoperator.
+        """Retrieve the current action from the teleoperator.
 
         Returns:
-            RobotAction: A flat dictionary representing the teleoperator's current actions. Its
-                structure should match :pymeth:`observation_features`.
+            `dict[str, Any]`: A flat dictionary representing the teleoperator's current action. Its structure
+            should match [`~teleoperators.Teleoperator.action_features`].
+
+        Raises:
+            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
         """
         pass
 
     @abc.abstractmethod
     def send_feedback(self, feedback: dict[str, Any]) -> None:
-        """
-        Send a feedback action command to the teleoperator.
+        """Send a feedback command to the teleoperator, e.g. force feedback on a leader arm.
 
         Args:
-            feedback (dict[str, Any]): Dictionary representing the desired feedback. Its structure should match
-                :pymeth:`feedback_features`.
+            feedback (`dict[str, Any]`):
+                The desired feedback. Its structure should match
+                [`~teleoperators.Teleoperator.feedback_features`].
 
-        Returns:
-            dict[str, Any]: The action actually sent to the motors potentially clipped or modified, e.g. by
-                safety limits on velocity.
+        Raises:
+            DeviceNotConnectedError: If [`~teleoperators.Teleoperator.connect`] has not been called.
         """
         pass
 
diff --git a/src/lerobot/utils/sample_weighting.py b/src/lerobot/utils/sample_weighting.py
index 83eec3126..4fb4102d7 100644
--- a/src/lerobot/utils/sample_weighting.py
+++ b/src/lerobot/utils/sample_weighting.py
@@ -82,13 +82,13 @@ class SampleWeightingConfig:
     The `type` field determines which implementation to use, and `extra_params`
     contains additional type-specific parameters.
 
-    Attributes:
-        type: Weighting strategy type ("rabc", "uniform", etc.)
-        progress_path: Path to precomputed progress values (for RABC)
-        head_mode: Which model head to use for progress ("sparse" or "dense")
-        kappa: Hard threshold for high-quality samples (RABC-specific)
-        epsilon: Small constant for numerical stability
-        extra_params: Additional type-specific parameters passed to the weighter
+    **Attributes**:
+        - **type** (`str`) -- Weighting strategy type ("rabc", "uniform", etc.)
+        - **progress_path** (`str | None`) -- Path to precomputed progress values (for RABC)
+        - **head_mode** (`str`) -- Which model head to use for progress ("sparse" or "dense")
+        - **kappa** (`float`) -- Hard threshold for high-quality samples (RABC-specific)
+        - **epsilon** (`float`) -- Small constant for numerical stability
+        - **extra_params** (`dict`) -- Additional type-specific parameters passed to the weighter
     """
 
     type: str = "rabc"
diff --git a/utils/check_config_docstrings.py b/utils/check_config_docstrings.py
index 713f40815..4be81b163 100644
--- a/utils/check_config_docstrings.py
+++ b/utils/check_config_docstrings.py
@@ -43,23 +43,8 @@ CALIBRATION_PATTERN = re.compile(r"calibrat", re.IGNORECASE)
 
 MODULES_TO_CHECK = ["lerobot.robots"]
 
-# Configs that document their fields with `#` comments above each field, which doc-builder cannot see.
-# Each entry is removed as that config's comments are converted to an `Args:` block.
-OBJECTS_TO_IGNORE: set[str] = {
-    "BiOpenArmFollowerConfig",
-    "BiRebotB601FollowerConfig",
-    "BiSOFollowerConfig",
-    "EarthRoverMiniPlusConfig",
-    "HopeJrArmConfig",
-    "HopeJrHandConfig",
-    "KochFollowerConfig",
-    "LeKiwiConfig",
-    "OmxFollowerConfig",
-    "OpenArmFollowerConfig",
-    "Reachy2RobotConfig",
-    "RebotB601FollowerRobotConfig",
-    "SOFollowerRobotConfig",
-}
+# Configs that do not yet document these. Empty: every registered robot config is documented.
+OBJECTS_TO_IGNORE: set[str] = set()
 
 
 def documented_args(obj: object) -> set[str]:
diff --git a/utils/check_docstrings.py b/utils/check_docstrings.py
index cc5fe159d..254c7c872 100644
--- a/utils/check_docstrings.py
+++ b/utils/check_docstrings.py
@@ -64,22 +64,7 @@ MODULES_TO_CHECK = [
 
 # Objects that do not yet follow the standard, so the check can be green from day one. Removing an entry
 # and running `--fix_and_overwrite` is how a module gets converted.
-#
-# Every entry below has a bare `Attributes:` section, which this checker reads as an argument section (the
-# same aliasing doc-builder does) and therefore compares against the signature. They are converted in the
-# docstring PR that follows this one, which empties this set.
-OBJECTS_TO_IGNORE: set[str] = {
-    "ChannelFactoryInitialize",
-    "EarthRoverMiniPlus",
-    "EarthRoverMiniPlusConfig",
-    "EEBoundsAndSafety",
-    "EEReferenceAndDelta",
-    "ForwardKinematicsJointsToEEAction",
-    "ForwardKinematicsJointsToEEObservation",
-    "GripperVelocityToJoint",
-    "InverseKinematicsEEToJoints",
-    "Robot",
-}
+OBJECTS_TO_IGNORE: set[str] = set()
 
 OPTIONAL_KEYWORD = "*optional*"
 
diff --git a/utils/documentation_tests.txt b/utils/documentation_tests.txt
index 89e3d5c56..64a7ad5ff 100644
--- a/utils/documentation_tests.txt
+++ b/utils/documentation_tests.txt
@@ -10,3 +10,9 @@
 # `utils/check_doctest_list.py` does not care which way round it is.
 #
 # Keep alphabetically sorted: `make check-doctest-list` enforces it, `make fix-docstrings` sorts it.
+src/lerobot/motors/motors_bus.py
+src/lerobot/robots/robot.py
+src/lerobot/robots/so_follower/config_so_follower.py
+src/lerobot/robots/so_follower/so_follower.py
+src/lerobot/robots/utils.py
+src/lerobot/teleoperators/teleoperator.py