diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py
index 3cf55684..fb00f18b 100644
--- a/lerobot/common/robot_devices/motors/dynamixel.py
+++ b/lerobot/common/robot_devices/motors/dynamixel.py
@@ -224,7 +224,7 @@ def assert_same_address(model_ctrl_table, motor_models, data_name):
 
 def find_available_ports():
     ports = []
-    for path in Path("/dev").glob("tty*"):
+    for path in Path("/dev").glob("*"):
         ports.append(str(path))
     return ports
 
@@ -286,7 +286,6 @@ class DynamixelMotorsBus:
     >>> The port of this DynamixelMotorsBus is /dev/tty.usbmodem575E0031751.
     >>> Reconnect the usb cable.
     ```
-    To find the motor indices, use [DynamixelWizzard2](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2).
 
     Example of usage for 1 motor connected to the bus:
     ```python
@@ -300,7 +299,9 @@ class DynamixelMotorsBus:
     )
     motors_bus.connect()
 
-    motors_bus.teleop_step()
+    degrees = motors_bus.read("Present_Position")
+
+    motors_bus.write("Goal_Position", degrees + 30)
 
     # when done, consider disconnecting
     motors_bus.disconnect()
@@ -357,7 +358,7 @@ class DynamixelMotorsBus:
 
         self.port_handler.setPacketTimeoutMillis(TIMEOUT_MS)
 
-        # Set expected baud rate for the bus
+        # Set expected baudrate for the bus
         self.set_bus_baudrate(BAUDRATE)
 
         if not self.are_motors_configured():
diff --git a/lerobot/common/robot_devices/robots/koch.py b/lerobot/common/robot_devices/robots/koch.py
index 94f77682..0b508bb6 100644
--- a/lerobot/common/robot_devices/robots/koch.py
+++ b/lerobot/common/robot_devices/robots/koch.py
@@ -371,7 +371,7 @@ class KochRobot:
                     "during manipulation or transportation of your robot. "
                     f"The values and motors: {values} {self.leader_arms[name].motor_names}.\n"
                     "Rotate the arm to fit the range ]-180, 180[ and relaunch the script, or recalibrate all motors by setting a different "
-                    "`calibration_path` during the instatiation of your robot."
+                    "calibration path during the instatiation of your robot (e.g. `--robot-overrides calibration_path=.cache/calibration/koch_v2.pkl`)"
                 )
 
         # Set better PID values to close the gap between recored states and actions
diff --git a/lerobot/configs/robot/koch.yaml b/lerobot/configs/robot/koch.yaml
index 74853b33..224040ab 100644
--- a/lerobot/configs/robot/koch.yaml
+++ b/lerobot/configs/robot/koch.yaml
@@ -1,4 +1,5 @@
 _target_: lerobot.common.robot_devices.robots.koch.KochRobot
+calibration_path: .cache/calibration/koch.pkl
 leader_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus