diff --git a/lerobot/common/robots/so101_follower/so101.mdx b/lerobot/common/robots/so101_follower/so101.mdx
index 5d39a17801..36bd4fc703 100644
--- a/lerobot/common/robots/so101_follower/so101.mdx
+++ b/lerobot/common/robots/so101_follower/so101.mdx
@@ -22,11 +22,11 @@ The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however,
 
 | Leader-Arm Axis | Motor | Gear Ratio |
 |-----------------|:-------:|:----------:|
-| Base / Shoulder Yaw | 1 | 1 / 191 |
-| Shoulder Pitch      | 2 | 1 / 345 |
-| Elbow               | 3 | 1 / 191 |
-| Wrist Roll          | 4 | 1 / 147 |
-| Wrist Pitch         | 5 | 1 / 147 |
+| Base / Shoulder Pan | 1 | 1 / 191 |
+| Shoulder Lift       | 2 | 1 / 345 |
+| Elbow Flex          | 3 | 1 / 191 |
+| Wrist Flex          | 4 | 1 / 147 |
+| Wrist Roll          | 5 | 1 / 147 |
 | Gripper             | 6 | 1 / 147 |
 
 ### Clean Parts