diff --git a/README.md b/README.md
index 22685525b..8462634f4 100644
--- a/README.md
+++ b/README.md
@@ -23,7 +23,7 @@
 </div>
 
 <h2 align="center">
-    <p><a href="https://github.com/huggingface/lerobot/blob/main/examples/12_use_so101.md">
+    <p><a href="https://huggingface.co/docs/lerobot/so101">
         Build Your Own SO-101 Robot!</a></p>
 </h2>
 
@@ -48,11 +48,11 @@
   <p>Train it in minutes with a few simple moves on your laptop.</p>
   <p>Then sit back and watch your creation act autonomously! 🤯</p>
 
-  <p><a href="https://github.com/huggingface/lerobot/blob/main/examples/12_use_so101.md">
+  <p><a href="https://huggingface.co/docs/lerobot/so101">
       See the full SO-101 tutorial here.</a></p>
 
   <p>Want to take it to the next level? Make your SO-101 mobile by building LeKiwi!</p>
-  <p>Check out the <a href="https://github.com/huggingface/lerobot/blob/main/examples/11_use_lekiwi.md">LeKiwi tutorial</a> and bring your robot to life on wheels.</p>
+  <p>Check out the <a href="https://huggingface.co/docs/lerobot/lekiwi">LeKiwi tutorial</a> and bring your robot to life on wheels.</p>
 
   <img src="media/lekiwi/kiwi.webp?raw=true" alt="LeKiwi mobile robot" title="LeKiwi mobile robot" width="50%">
 </div>
diff --git a/lerobot/common/cameras/opencv/camera_opencv.py b/lerobot/common/cameras/opencv/camera_opencv.py
index 7a2f1b324..3e9370fc4 100644
--- a/lerobot/common/cameras/opencv/camera_opencv.py
+++ b/lerobot/common/cameras/opencv/camera_opencv.py
@@ -225,16 +225,19 @@ class OpenCVCamera(Camera):
     def _validate_width_and_height(self) -> None:
         """Validates and sets the camera's frame capture width and height."""
 
-        success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
-        actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
-        if not success or self.capture_width != actual_width:
-            raise RuntimeError(f"{self} failed to set capture_width={self.capture_width} ({actual_width=}).")
+        width_success = self.videocapture.set(cv2.CAP_PROP_FRAME_WIDTH, float(self.capture_width))
+        height_success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
 
-        success = self.videocapture.set(cv2.CAP_PROP_FRAME_HEIGHT, float(self.capture_height))
-        actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
-        if not success or self.capture_height != actual_height:
+        actual_width = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_WIDTH)))
+        if not width_success or self.capture_width != actual_width:
             raise RuntimeError(
-                f"{self} failed to set capture_height={self.capture_height} ({actual_height})."
+                f"{self} failed to set capture_width={self.capture_width} ({actual_width=}, {width_success=})."
+            )
+
+        actual_height = int(round(self.videocapture.get(cv2.CAP_PROP_FRAME_HEIGHT)))
+        if not height_success or self.capture_height != actual_height:
+            raise RuntimeError(
+                f"{self} failed to set capture_height={self.capture_height} ({actual_height=}, {height_success=})."
             )
 
     @staticmethod
diff --git a/lerobot/common/robots/koch_follower/koch_follower.py b/lerobot/common/robots/koch_follower/koch_follower.py
index 9ba506b4b..64ece25f2 100644
--- a/lerobot/common/robots/koch_follower/koch_follower.py
+++ b/lerobot/common/robots/koch_follower/koch_follower.py
@@ -20,7 +20,6 @@ from functools import cached_property
 from typing import Any
 
 from lerobot.common.cameras.utils import make_cameras_from_configs
-from lerobot.common.constants import OBS_STATE
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 from lerobot.common.motors import Motor, MotorCalibration, MotorNormMode
 from lerobot.common.motors.dynamixel import (
@@ -175,11 +174,9 @@ class KochFollower(Robot):
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
 
-        obs_dict = {}
-
         # Read arm position
         start = time.perf_counter()
-        obs_dict[OBS_STATE] = self.bus.sync_read("Present_Position")
+        obs_dict = self.bus.sync_read("Present_Position")
         obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read state: {dt_ms:.1f}ms")
diff --git a/lerobot/html_dataset_visualizer/src/components/videos-player.tsx b/lerobot/html_dataset_visualizer/src/components/videos-player.tsx
index 69c31b137..ddc1f3187 100644
--- a/lerobot/html_dataset_visualizer/src/components/videos-player.tsx
+++ b/lerobot/html_dataset_visualizer/src/components/videos-player.tsx
@@ -171,7 +171,7 @@ export const VideosPlayer = ({
         }
       }
     };
-  
+
     videoRefs.current.forEach((video) => {
       if (video) {
         // If already ready, call the handler immediately
@@ -182,7 +182,7 @@ export const VideosPlayer = ({
         }
       }
     });
-  
+
     return () => {
       videoRefs.current.forEach((video) => {
         if (video) {
@@ -191,7 +191,7 @@ export const VideosPlayer = ({
       });
     };
   }, []);
-  
+
   return (
     <>
       {/* Error message */}