From e0867e10d63c978437dcc8fed5b4542b924e4d27 Mon Sep 17 00:00:00 2001 From: shisyu Date: Thu, 26 Jun 2025 00:38:31 +0900 Subject: [PATCH] update assembly instructions to match outputs from setup motors 'python -m lerobot.setup_motors' script --- lerobot/common/robots/so101_follower/so101.mdx | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) 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