diff --git a/docs/dynamics/aircraft/controller.md b/docs/dynamics/aircraft/controller.md
index 852ac48..9289c6b 100644
--- a/docs/dynamics/aircraft/controller.md
+++ b/docs/dynamics/aircraft/controller.md
@@ -2,7 +2,7 @@
 
 # Control
 
-<!-- All control occurs within the {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle` and is broken 
+All control occurs within the {py:class}`~flyer_env.aircraft.controller.ControlledAircraft` and is broken 
 down into low-level loop-closure based PID controllers and high-level control. Each allowing for increasing level of 
 abstraction in the action space.  -->
 
@@ -17,22 +17,22 @@ follow a PID type controller.
 
 Controllers include:
 
-- Pitch {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.pitch_controller`
-- Roll {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.roll_controller`
-- Speed {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.speed_controller`
+- Pitch {py:class}`~flyer_env.aircraft.controller.ControlledAircraft.pitch_controller`
+- Roll {py:class}`~flyer_env.aircraft.controller.ControlledAircraft.roll_controller`
+- Speed {py:class}`~flyer_env.aircraft.controller.ControlledAircraft.speed_controller`
 
 # High-level control
 
 High-level controllers are used to control higher order functions allowing offloading the problem of decision-making 
 to be a higher-order task. These build on the low level controllers to include:
 
-- Altitude {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.alt_controller`
-- Heading {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.heading_controller`
-- Pursuit {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.pursuit_controller`
+- Altitude {py:class}`~flyer_env.aircraft.controller.ControlledAircraft.alt_controller`
+- Heading {py:class}`~flyer_env.aircraft.controller.ControlledAircraft.heading_controller`
+- Pursuit {py:class}`~flyer_env.aircraft.controller.ControlledKinematicVehicle.pursuit_controller`
 
 ## API
 
 ```{eval-rst}
-.. automodule:: flyer_env.aircraft.contoller
+.. automodule:: flyer_env.aircraft.controller
     :members:
 ```
diff --git a/docs/dynamics/index.md b/docs/dynamics/index.md
index ddef0d8..241a919 100644
--- a/docs/dynamics/index.md
+++ b/docs/dynamics/index.md
@@ -10,10 +10,10 @@ into 2 types of behaviors:
   straight direction over the ground. 
 
 ## World
-<!-- 
+
 A {py:class}`~flyer_env.world.world.World` is composed of a {py:class}`~flyer_env.terrain.terrain.TerrainMap` and a 
 list of {py:class}`~flyer_env.aircraft.objects.DynamicObject` which are usually either {py:class}`~flyer_env.aircraft.
-kinematics.FlyingVehicle` or {py:class}`~flyer_env.aircraft.dynamics.AircraftVehicle`. -->
+kinematics.FlyingVehicle` or {py:class}`~flyer_env.aircraft.dynamics.AircraftVehicle`.
 
 ```{toctree}
 :maxdepth: 1
diff --git a/docs/graphics/index.md b/docs/graphics/index.md
index 4c2fae4..19b401e 100644
--- a/docs/graphics/index.md
+++ b/docs/graphics/index.md
@@ -1,6 +1,6 @@
 (graphics)=
 
-% py:currentmodule::flyer_env.envs.common.graphics
+<!-- % py:currentmodule::flyer_env.envs.common.graphics
 
 # Graphics
 
@@ -20,19 +20,19 @@ env.render()
 
 ## Surface
 
-<!-- The 2.5D simulation is rendered in a {py:class}`~flyer_env.world.graphics.WorldSurface` pygame surface, which 
+The 2.5D simulation is rendered in a {py:class}`~flyer_env.world.graphics.WorldSurface` pygame surface, which 
 provides the location and zoom level of the rendered location. By default, this is centered on the ego-vehicle and 
 can be adjusted using `"scaling"` and `"centering_position"` configurations. This is controlled with {py:class}
-`~flyer_env.envs.common.graphics.EnvViewer`. -->
+`~flyer_env.envs.common.graphics.EnvViewer`.
 
 ## Scene graphics
 
-<!-- - The terrain base layer and static objects are rendered using {~flyer_env.world.graphics.WorldGraphics} class. -->
-<!-- - Aircraft are rendered using {py:class}`~flyer_env.aircraft.graphics.VehicleGraphics` -->
+- The terrain base layer and static objects are rendered using {~flyer_env.world.graphics.WorldGraphics} class.
+- Aircraft are rendered using {py:class}`~flyer_env.aircraft.graphics.VehicleGraphics`
 
 ## API
 
-<!-- ```{eval-rst}
+```{eval-rst}
 .. automodule:: flyer_env.envs.common.graphics
     :members:
 ```
diff --git a/docs/observations/index.md b/docs/observations/index.md
index 18a66c6..7fe5898 100644
--- a/docs/observations/index.md
+++ b/docs/observations/index.md
@@ -21,7 +21,7 @@ env.configure({
 env.reset()
 ```
 
-<!-- # Kinematics
+# Kinematics
 
 The {py:class}`~flyer_env.envs.common.observation.KinematicObservation` is a $V \times F$ array containing a list of 
 $V$ nearby vehicles by a set of features of size $F$, listed in the `"features"` configuration field. For example:
@@ -51,6 +51,6 @@ $V$ nearby vehicles by a set of features of size $F$, listed in the `"features"`
 |   `w`   |    $w$   |   Aircraft's linear velocity in the $z$-axis   |  [$m/s$]  |
 |   `p`   |    $p$   | Aircraft's rotational velocity in the $x$-axis | [$rad/s$] |
 |   `q`   |    $q$   | Aircraft's rotational velocity in the $y$-axis | [$rad/s$] |
-|   `r`   |    $r$   | Aircraft's rotational velocity in the $z$-axis | [$rad/s$] | -->
+|   `r`   |    $r$   | Aircraft's rotational velocity in the $z$-axis | [$rad/s$] |
 
 
diff --git a/docs/rewards/index.md b/docs/rewards/index.md
index 8b477ce..67d1fd4 100644
--- a/docs/rewards/index.md
+++ b/docs/rewards/index.md
@@ -2,8 +2,8 @@
 
 # Rewards
 
-<!-- The reward function is defined in the {py:meth}`~flyer_env.envs.common.abstract.AbstractEnv._reward` method,  -->
-overloaded in every environment.
+The reward function is defined in the {py:meth}`~flyer_env.envs.common.abstract.AbstractEnv._reward` method, 
+over-loaded in every environment.
 
 ```{note}
 The choice of reward function can be difficult in the more complex flyer_envs.