diff --git a/minigrid/envs/babyai/goto.py b/minigrid/envs/babyai/goto.py
index 2a94e3cac..ba2332502 100644
--- a/minigrid/envs/babyai/goto.py
+++ b/minigrid/envs/babyai/goto.py
@@ -363,7 +363,7 @@ class GoTo(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -453,7 +453,7 @@ class GoToImpUnlock(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -558,7 +558,7 @@ class GoToSeq(LevelGen):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
diff --git a/minigrid/envs/babyai/open.py b/minigrid/envs/babyai/open.py
index 3c2a3ea73..5d27335e8 100644
--- a/minigrid/envs/babyai/open.py
+++ b/minigrid/envs/babyai/open.py
@@ -39,7 +39,7 @@ class Open(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -109,7 +109,7 @@ class OpenRedDoor(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -171,7 +171,7 @@ class OpenDoor(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -241,7 +241,7 @@ class OpenTwoDoors(RoomGridLevel):
 
     ## Mission Space
 
-    "open the {color} door, the open the {color} door"
+    "open the {color} door, then open the {color} door"
 
     {color} is the color of the box. Can be "red", "green", "blue", "purple",
     "yellow" or "grey".
@@ -255,7 +255,7 @@ class OpenTwoDoors(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -355,7 +355,7 @@ class OpenDoorsOrder(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
diff --git a/minigrid/envs/babyai/other.py b/minigrid/envs/babyai/other.py
index c912f215a..1797346a8 100644
--- a/minigrid/envs/babyai/other.py
+++ b/minigrid/envs/babyai/other.py
@@ -52,7 +52,7 @@ class ActionObjDoor(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -130,7 +130,7 @@ class FindObjS5(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -198,7 +198,7 @@ class KeyCorridor(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
diff --git a/minigrid/envs/babyai/pickup.py b/minigrid/envs/babyai/pickup.py
index 3a1fe1b86..1eb802e68 100644
--- a/minigrid/envs/babyai/pickup.py
+++ b/minigrid/envs/babyai/pickup.py
@@ -35,7 +35,7 @@ class Pickup(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -98,7 +98,7 @@ class UnblockPickup(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -316,7 +316,7 @@ class PickupAbove(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
diff --git a/minigrid/envs/babyai/putnext.py b/minigrid/envs/babyai/putnext.py
index 4b28a2c8f..7dc626291 100644
--- a/minigrid/envs/babyai/putnext.py
+++ b/minigrid/envs/babyai/putnext.py
@@ -34,7 +34,7 @@ class PutNextLocal(RoomGridLevel):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
+    | 4   | drop         | Drops held item   |
     | 5   | toggle       | Unused            |
     | 6   | done         | Unused            |
 
@@ -106,7 +106,7 @@ class PutNext(RoomGridLevel):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
+    | 4   | drop         | Drops held item   |
     | 5   | toggle       | Unused            |
     | 6   | done         | Unused            |
 
diff --git a/minigrid/envs/babyai/synth.py b/minigrid/envs/babyai/synth.py
index 5338c6c3d..a90217c08 100644
--- a/minigrid/envs/babyai/synth.py
+++ b/minigrid/envs/babyai/synth.py
@@ -50,8 +50,8 @@ class Synth(LevelGen):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 4   | drop         | Drops held item   |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -138,8 +138,8 @@ class SynthLoc(LevelGen):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 4   | drop         | Drops held item   |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -243,8 +243,8 @@ class SynthSeq(LevelGen):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 4   | drop         | Drops held item   |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -345,8 +345,8 @@ class MiniBossLevel(LevelGen):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 4   | drop         | Drops held item   |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -448,8 +448,8 @@ class BossLevel(LevelGen):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 4   | drop         | Drops held item   |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -544,8 +544,8 @@ class BossLevelNoUnlock(LevelGen):
     | 1   | right        | Turn right        |
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
-    | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 4   | drop         | Drops held item   |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
diff --git a/minigrid/envs/babyai/unlock.py b/minigrid/envs/babyai/unlock.py
index 1848f09aa..707227f35 100644
--- a/minigrid/envs/babyai/unlock.py
+++ b/minigrid/envs/babyai/unlock.py
@@ -36,7 +36,7 @@ class Unlock(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -132,7 +132,7 @@ class UnlockLocal(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -195,7 +195,7 @@ class KeyInBox(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -265,7 +265,7 @@ class UnlockPickup(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -340,7 +340,7 @@ class BlockedUnlockPickup(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding
@@ -413,7 +413,7 @@ class UnlockToUnlock(RoomGridLevel):
     | 2   | forward      | Move forward      |
     | 3   | pickup       | Pick up an object |
     | 4   | drop         | Unused            |
-    | 5   | toggle       | Unused            |
+    | 5   | toggle       | Open/closes door  |
     | 6   | done         | Unused            |
 
     ## Observation Encoding