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Secure the wrist to the motor 4 horns Loading 3D view…
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Turn the wrist holder so its rectangular opening faces the side of motor 4 where the cable plugs in. src orientation note — Rectangular opening of the wrist bracket on the servo-4 wiring-port side (Waveshare). check — 4 M3x6 on both sides; the holder opening faces the motor 4 wiring port. waveshare.com — Follower step 13: rectangular opening of F8 on the same side as the wiring port of servo 4 Screw it to motor 4's horns Horn. The metal disc that fits on the end of a motor; printed parts screw onto it. Each motor ships with two, one with gear teeth around its edge for the driven end and one plain disc for the other end.Source: waveshare.com · lerobot/docs/source/so101.mdx#joint-1 M3x6 M3x6. A screw size. M3 means a 3 mm thread, 6 means 6 mm long. It has a machine thread and goes into the threaded holes of a horn; the same size holds each printed part to its horn.Source: mantech.co.za · lerobot/docs/source/so101.mdx#joint-1 src lerobot/docs/source/so101.mdx#joint-5 — "Secure the wrist to motor 4 using 4 M3x6mm screws on both sides." check — 4 M3x6 on both sides; the holder opening faces the motor 4 wiring port. Done when 4 screws on each side; the opening faces motor 4's cable side.
lerobot/docs/source/so101.mdx#joint-5 "Secure the wrist to motor 4 using 4 M3x6mm screws on both sides." waveshare.com Follower step 13: rectangular opening of F8 on the same side as the wiring port of servo 4 SO-ARM100/STEP/SO101/SO101 Assembly.step placement check (viewer/public/geometry/placements.json): the same wrist holder spans 49% of servo 4: secured to the motor-4 horns Orientation: Rectangular opening of the wrist bracket on the servo-4 wiring-port side (Waveshare).
Check: 4 M3x6 on both sides; the holder opening faces the motor 4 wiring port.
Motor slot: wrist_flex · ID 4 · STS3215 1:345 ·
7.4V servo on a 5V supply; 12V servo on a 12V 5A+ supply (optional variant);
How we placed it: Part role confirmed by placement in the upstream assembly STEP: the same wrist holder spans 49% of servo 4: secured to the motor-4 horns.
You need Wrist holder Wrist roll/pitch (wrist holder) wrist-roll-pitch-so101 details STS3215 motor, 1:345 gear, code C001 Feetech STS3215 servo, 7.4V, 1:345 gear (C001) servo-sts3215-c001-345 approximation3D stand-in Stand-in shape: the 3D geometry or placement is not measured from the real part.
Qty 7 is the two-arm build (6 follower + 1 leader). A 12V variant with 30 kg.cm stall exists for the follower only and needs a 12V 5A+ supply (README). Includes two horns and a 3-pin cable per the assembly texts; kit contents are not itemised upstream. Geometry: the upstream repo's own simplified body `STEP/SO100/STS3215_03a.step` (Apache-2.0, single solid drawn to the datasheet, D-007 for where they differ) with its fused horn plates cut off and the datasheet ø6 x 3.4 output boss added, posed on the embedded vendor model's transform; the vendor mesh is not redistributed.
details M3x6 screw M3x6 screw m3x6 ×8 details Phillips screwdriver #0 · PH0 tool details Phillips screwdriver #1 · PH1 tool details Sources (3) How we placed it Part role confirmed by placement in the upstream assembly STEP: the same wrist holder spans 49% of servo 4: secured to the motor-4 horns.