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Update assembly instructions to match outputs from 'python -m lerobot.setup_motors' script #1384

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Merged
pkooij merged 1 commit into from
Jun 26, 2025
Merged

Update assembly instructions to match outputs from 'python -m lerobot.setup_motors' script #1384

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10 changes: 5 additions & 5 deletions lerobot/common/robots/so101_follower/so101.mdx
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Expand Up @@ -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
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