Quiero tener una figura con texto envuelto alrededor de ella.

Esto es lo que estoy diciendo:

Installation of Optional Accessories
====================================

.. warning:: Never plug in or unplug a Hand Robot or a Grasp Sensor while the robot is turned on, as the system will not function properly and damage to the robot could occur.

Installing a Hand Robot
-----------------------

.. _`fig-attach-hand-robot`:
.. figure:: attach-hand-robot.*
  :scale: 40%
  :align: right

  Attach Hand Robot

Make sure the robot is turned off as described in the section :ref:`turn-off-robot`. 

Take the hand robot out of the grounded bin that sits on top of the electrical panel (if you have an adjustable height table) or sits on top of the rear table (if you have a fixed height table). Make sure not to touch the pins on the electrical wiring while doing so. Insert the conical protrusion of the hand robot into the conical receptacle (see :ref:`fig-attach-hand-robot`). Once the hand robot is supported by the InMotion Arm Robot, make sure the two knobs below the Hand Robot have engaged and sprung in. If they have not, twist them until they do as shown (see :ref:`fig-knobs-in`).

yEsta captura de pantalla de salida de PDF es lo que estoy recibiendo.

¿Por qué el título de la figura está centrado, en lugar de debajo de la imagen?¿Por qué el texto del cuerpo ("Asegúrate de que ..." y "Toma el ...") está en la IZQUIERDA de la imagen, en lugar de debajo de ella? Quiero que la figura flote a la derecha y tenga el texto a su izquierda.