diff --git a/docs/source/reachy2.mdx b/docs/source/reachy2.mdx
index 85c4100ab..12196ef37 100644
--- a/docs/source/reachy2.mdx
+++ b/docs/source/reachy2.mdx
@@ -1,8 +1,10 @@
 # Reachy 2
 
-## Prerequisites
+## Setup
 
-- Check the services images on your robot are meeting the minimal versions:
+### Prerequisites
+
+- On your robot, check the services images are meeting the minimal versions:
   - **reachy2-core >= 1.7.5.2**
   - **webrtc >= 2.0.1.1**
 
@@ -12,9 +14,9 @@ The teleoperation version must be **>=v1.2.0**
 Currently, the teleoperation is done through Pollen Robotics teleoperation, which is not included in LeRobot.  
 We will work on teleoperators directly included soon!  
 
-We advise to have one computer running the teleoperation, while another one is running the record session with LeRobot.   
+We advise to have one computer running the teleoperation, while another one is running the recording session with LeRobot.   
 
-## Install LeRobot
+### Install LeRobot
 
 Follow the [installation instructions](https://github.com/huggingface/lerobot#installation) to install LeRobot.
 
@@ -24,20 +26,31 @@ Install LeRobot with Reachy 2 dependencies (reachy2-sdk is required):
 pip install -e ".[reachy2]"
 ```
 
-## Reachy 2 IP address
+### Get Reachy 2 IP address
 
 Before starting teleoperation and data recording, you need to find the [robot IP address](https://docs.pollen-robotics.com/getting-started/setup-reachy2/connect-reachy2/).  
 We strongly advise to get all your devices (computer, robot) plugged through ethernet cables.
 
+### (Optional but recommended) Install pollen_data_acquisition_server
 
-## Recording
+The installation of the data acquisition server depends on the way you decide to manage your recording sessions for Reachy 2.  
+The easier way in currently to use this server, so that you can control the session directly from the VR teleoperation application.  
+
+In your LeRobot environment, install the server from source:
+```bash
+git clone https://github.com/pollen-robotics/pollen_data_acquisition_server.git
+cd pollen_data_acquisition_server
+pip install -e .
+```
+
+## Step 1: Recording
 
 There are two ways of managing recording sessions using the teleoeperation application for Reachy 2:
 - using the LeRobot record script: LeRobot is in charge of the session management, and decides when to start and stop an episode. The teleoperation application is only used to control the robot's movements.
 - using the included data acquisition server for Reachy 2 (recommended): the teleoperation application does manage the session management, requesting LeRobot to start or stop an episode, in addition to controlling the robot's movements.
 
 
-### Option 1: Teleoperation and lerobot.record
+### Option 1: Using lerobot.record
 
 Reachy 2 is supported as the other robots by the record features.
 
@@ -46,6 +59,7 @@ Here is an example of record, without mobile base:
 python -m lerobot.record \
     --robot.type=reachy2 \
     --robot.ip_address=192.168.0.200 \
+    --robot.id=r2-0000 \
     --robot.use_external_commands=true \
     --robot.with_mobile_base=false \
     --teleop.type=reachy2_fake_teleoperator \
@@ -63,18 +77,48 @@ python -m lerobot.record \
 
 Then get into the teleoperation application and choose "Standard session".
 
-### Option 2: Using data acquisition server (recommended)
+### Option 2: Using Pollen data acquisition server (recommended)
+
+Make sure you have installed pollen_data_acquisition_server, as explained in the Setup section.  
 
 Launch the data acquisition server to be able to manage your session directly from the teleoperation application:
 ```bash
-python -m lerobot.data_acquisition_server \
+python -m data_acquisition_server.launch --display_data=true
+```
+
+Then get into the teleoperation application and choose "Data acquisition session".  
+You can then setup your session by following the screens displayed.
+
+### Choose which parts to use!
+
+From our first tests, we saw that recording all the joints with some policies while only some of them are moving does reduce the quality of the models.  
+That is why you can choose which parts to record / replay using the arguments `--robot.with_{part}=false`, 
+with part being one of : "mobile_base", "l_arm", "r_arm", "neck", "antennas".  
+By default, all parts are recorded.
+
+You can do the same for the cameras, where only the teleop cameras are recording by default.  
+
+An extended setup for Reachy 2 would look like:
+```bash
+python -m lerobot.record \
     --robot.type=reachy2 \
     --robot.ip_address=192.168.0.200 \
     --robot.use_external_commands=true \
-    --robot.with_mobile_base=false \
+    --robot.with_mobile_base=true \
+    --robot.with_l_arm=true \
+    --robot.with_r_arm=true \
+    --robot.with_neck=true \
+    --robot.with_antennas=true \
+    --robot.with_left_teleop_camera=true \
+    --robot.with_right_teleop_camera=true \
+    --robot.with_torso_camera=true \
     --teleop.type=reachy2_fake_teleoperator \
     --teleop.ip_address=192.168.0.200 \
     --teleop.with_mobile_base=false \
+    --teleop.with_l_arm=true \
+    --teleop.with_r_arm=true \
+    --teleop.with_neck=true \
+    --teleop.with_antennas=true \
     --dataset.repo_id=pollen_robotics/record_test \
     --dataset.single_task="Reachy 2 recording test" \
     --dataset.num_episodes=1 \
@@ -85,13 +129,43 @@ python -m lerobot.data_acquisition_server \
     --display_data=true
 ```
 
-### Choose your arguments!
+## Step 2: Replay
 
-From our first tests, we saw that recording all the joints with some policies while only some of them are moving does reduce the quality of the models.  
-So choose with parts to record / replay, using the arguments `--robot.with_{part}=false`, 
-with part being one of : "mobile_base", "l_arm", "r_arm", "neck", "antennas".  
-By default, all parts are recorded.
+Make sure the robot is configured with the same parts as the dataset:
 
-You can do the same for the cameras, where only the teleop cameras are recording by default.
+```bash
+python -m lerobot.replay \
+    --robot.type=reachy2 \
+    --robot.ip_address=192.168.0.200 \
+    --robot.use_external_commands=false \
+    --robot.with_mobile_base=false \
+    --dataset.repo_id=pollen_robotics/record_test \
+    --dataset.episode=0
+    --display_data=true
+```
 
-## Step 3: Record, Replay, Train
+## Step 3: Train
+
+```bash
+python -m lerobot.scripts.train \
+  --dataset.repo_id=pollen_robotics/record_test \
+  --policy.type=act \
+  --output_dir=outputs/train/reachy2_test \
+  --job_name=hopejr \
+  --policy.device=mps \
+  --wandb.enable=true \
+  --policy.repo_id=pollen_robotics/record_test_policy
+```
+
+### Step 4: Evaluate
+
+```bash
+python -m lerobot.record \
+  --robot.type=reachy2 \
+  --robot.ip_address=192.168.0.200 \
+  --display_data=false \
+  --dataset.repo_id=pollen_robotics/eval_record_test \
+  --dataset.single_task="Evaluate reachy2 policy" \
+  --dataset.num_episodes=10 \
+  --policy.path=outputs/train/reachy2_test/checkpoints/last/pretrained_model
+```