diff --git a/docs/02_notebooks/01_library_example.ipynb b/docs/02_notebooks/01_library_example.ipynb
deleted file mode 100644
index c25188a..0000000
--- a/docs/02_notebooks/01_library_example.ipynb
+++ /dev/null
@@ -1,128 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "# The role of notebooks\n",
-    "\n",
-    "Notebooks are great for illustrations and examples that at the same time serve as integration tests.\n",
-    "In this library template, notebooks will be executed with pytest (thus on every\n",
-    "commit in your CI/CD pipeline). The results of the executions will be saved to the docs directory and converted to\n",
-    "static websites through nbconvert. The static websites are then added to the documentation under the\n",
-    "_Guides and Tutorials_ section. These websites will be deployed to Github pages on push to develop."
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Before running the notebook\n",
-    "\n",
-    "Install the library and its dependencies with, if you haven't done so already\n",
-    "```\n",
-    "poetry install\n",
-    "```\n",
-    "from the root directory. You can also execute this command directly in the notebook but will need to reload the\n",
-    "kernel afterwards"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {
-    "pycharm": {
-     "name": "#%%\n"
-    }
-   },
-   "outputs": [],
-   "source": [
-    "# Here an illustration of your library\n",
-    "from armscan_env.sample_package.sample_module import hello_stranger\n",
-    "\n",
-    "hello_stranger()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "pycharm": {
-     "name": "#%% md\n"
-    }
-   },
-   "source": [
-    "## Interactive Documentation\n",
-    "\n",
-    "Note that since notebooks are rendered to html+javascript, you can embed interactive components like maps, videos and\n",
-    "widgets into your documentation, as long as the interaction does not require re-execution of cells.\n",
-    "Below an example of an interactive map created with plotly {cite}`PlotlyMaps`."
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {
-    "pycharm": {
-     "name": "#%%\n"
-    }
-   },
-   "outputs": [],
-   "source": [
-    "# slightly adjusted example from https://plotly.com/python/mapbox-layers/\n",
-    "import pandas as pd\n",
-    "import plotly.express as px\n",
-    "\n",
-    "us_cities = pd.read_csv(\n",
-    "    \"https://raw.githubusercontent.com/plotly/datasets/master/us-cities-top-1k.csv\",\n",
-    ")\n",
-    "\n",
-    "fig = px.scatter_mapbox(\n",
-    "    us_cities,\n",
-    "    lat=\"lat\",\n",
-    "    lon=\"lon\",\n",
-    "    hover_name=\"City\",\n",
-    "    hover_data=[\"State\", \"Population\"],\n",
-    "    color_discrete_sequence=[\"fuchsia\"],\n",
-    "    zoom=3,\n",
-    "    height=300,\n",
-    ")\n",
-    "\n",
-    "fig.update_layout(mapbox_style=\"open-street-map\", margin={\"r\": 0, \"t\": 0, \"l\": 0, \"b\": 0})\n",
-    "fig.show()"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "source": [
-    "```{bibliography}\n",
-    ":style: unsrtalpha\n",
-    ":filter: docname in docnames\n",
-    "```"
-   ],
-   "metadata": {
-    "collapsed": false
-   }
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Python 3",
-   "language": "python",
-   "name": "python3"
-  },
-  "language_info": {
-   "codemirror_mode": {
-    "name": "ipython",
-    "version": 2
-   },
-   "file_extension": ".py",
-   "mimetype": "text/x-python",
-   "name": "python",
-   "nbconvert_exporter": "python",
-   "pygments_lexer": "ipython2",
-   "version": "2.7.6"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
-}
diff --git a/docs/spelling_wordlist.txt b/docs/spelling_wordlist.txt
index 1936276..6fd4ed4 100644
--- a/docs/spelling_wordlist.txt
+++ b/docs/spelling_wordlist.txt
@@ -17,4 +17,21 @@ pydocstyle
 submodules
 subpackages
 utils
-webpage
\ No newline at end of file
+webpage
+util
+bbox
+pos
+img
+yx
+hw
+param
+urandom
+envs
+labelmap
+labelmaps
+generalised
+unnormalizes
+unnormalize
+unnormalized
+args
+dev
diff --git a/src/armscan_env/envs/base.py b/src/armscan_env/envs/base.py
index 208fa7f..60c6b6e 100644
--- a/src/armscan_env/envs/base.py
+++ b/src/armscan_env/envs/base.py
@@ -217,6 +217,7 @@ def reset(self, **kwargs: Any) -> tuple[TObs, dict[str, Any]]:
         return self.cur_observation, self.get_info_dict()
 
     def step(self, action: TAction) -> tuple[TObs, float, bool, bool, dict[str, Any]]:
+        """Step through the environment to navigate to the next state."""
         self._go_to_next_state(action)
         self._cur_episode_len += 1
         assert self.cur_observation is not None
diff --git a/src/armscan_env/envs/env_wrappers/__init__.py b/src/armscan_env/envs/env_wrappers/__init__.py
deleted file mode 100644
index e69de29..0000000