diff --git a/docs/source/integrate_hardware.mdx b/docs/source/integrate_hardware.mdx
index 83db273d..f7de1cec 100644
--- a/docs/source/integrate_hardware.mdx
+++ b/docs/source/integrate_hardware.mdx
@@ -20,7 +20,7 @@ If you're using Feetech or Dynamixel motors, LeRobot provides built-in bus inter
 Please refer to the [`MotorsBus`](https://github.com/huggingface/lerobot/blob/main/lerobot/common/motors/motors_bus.py) abstract class to learn about its API.
 For a good example of how it can be used, you can have a look at our own [SO101 follower implementation](https://github.com/huggingface/lerobot/blob/main/lerobot/common/robots/so101_follower/so101_follower.py)
 
-Use these if compatible! Otherwise, you'll need to find or write a Python interface (not covered in this tutorial):
+Use these if compatible. Otherwise, you'll need to find or write a Python interface (not covered in this tutorial):
 - Find an existing SDK in Python (or use bindings to C/C++)
 - Or implement a basic communication wrapper (e.g., via pyserial, socket, or CANopen)
 
@@ -32,7 +32,7 @@ For Feetech and Dynamixel, we currently support these servos:
         - SCS series (protocol 1): `scs0009`
     - Dynamixel (protocol 2.0 only): `xl330-m077`, `xl330-m288`, `xl430-w250`, `xm430-w350`, `xm540-w270`, `xc430-w150`
 
-If you are using Feetech or Dynamixel servos that are not in this list, you can add those in the [Feetech table](https://github.com/huggingface/lerobot/blob/main/lerobot/common/motors/feetech/tables.py) or [Dynamixel table](https://github.com/huggingface/lerobot/blob/main/lerobot/common/motors/dynamixel/tables.py). Depending on the model, this will require you to add model-specific information. In most cases though, there should be a lot of additions to do.
+If you are using Feetech or Dynamixel servos that are not in this list, you can add those in the [Feetech table](https://github.com/huggingface/lerobot/blob/main/lerobot/common/motors/feetech/tables.py) or [Dynamixel table](https://github.com/huggingface/lerobot/blob/main/lerobot/common/motors/dynamixel/tables.py). Depending on the model, this will require you to add model-specific information. In most cases though, there shouldn't be a lot of additions to do.
 
 In the next sections, we'll use a `FeetechMotorsBus` as the motors interface for the examples. Replace it and adapt to your motors if necessary.
 
@@ -158,7 +158,7 @@ def is_connected(self) -> bool:
 
 ### `connect()`
 
-This method should establish communication with the hardware. Moreover, if your robot needs calibration is not calibrated, it should start a calibration procedure by default. If your robot needs some specific configuration, this should also be called here.
+This method should establish communication with the hardware. Moreover, if your robot needs calibration and is not calibrated, it should start a calibration procedure by default. If your robot needs some specific configuration, this should also be called here.
 
 ```python
 def connect(self, calibrate: bool = True) -> None:
@@ -272,30 +272,31 @@ Returns a dictionary of sensor values from the robot. These typically include mo
 ```python
 def get_observation(self) -> dict[str, Any]:
     if not self.is_connected:
-        raise RuntimeError("Robot is not connected")
+        raise ConnectionError(f"{self} is not connected.")
 
-    joint_pos = self.motor_interface.read_joint_positions()
-    gripper = self.motor_interface.read_gripper_state()
-    image = self.camera.get_frame()
+    # Read arm position
+    obs_dict = self.bus.sync_read("Present_Position")
+    obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
 
-    return {
-        "joint_positions": joint_pos,
-        "gripper_open": gripper,
-        "camera_image": image,
-    }
+    # Capture images from cameras
+    for cam_key, cam in self.cameras.items():
+        obs_dict[cam_key] = cam.async_read()
+
+    return obs_dict
 ```
 
 ### `send_action()`
 
 Takes a dictionary that matches `action_features`, and sends it to your hardware. You can add safety limits (clipping, smoothing) and return what was actually sent.
 
+For simplicity, we won't be adding any modification of the actions in our example here.
+
 ```python
 def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
-    if not self.is_connected:
-        raise RuntimeError("Robot is not connected")
+    goal_pos = {key.removesuffix(".pos"): val for key, val in action.items()}
 
-    self.motor_interface.set_joint_positions(action["joint_position_goals"])
-    self.motor_interface.set_gripper(action["gripper_command"])
+    # Send goal position to the arm
+    self.bus.sync_write("Goal_Position", goal_pos)
 
     return action
 ```