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Insert the gripper motor Loading 3D view…
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Take the motor you labelled 6. src servos.yaml · follower/gripper — ID 6 · STS3215 1:345 · Feetech STS3215 servo, 7.4V, 1:345 gear (C001) F-002 · check — Each motor answers on its own ID 1–6, bottom joint = 1, gripper = 6; leader and follower motors are labelled and kept apart. Slide it into the gripper body and fix it with 2 small self-tapping screws Self-tapping screw. A screw that cuts its own thread into the plastic as you drive it. These are the smallest screws in the kit and hold each motor in its printed bracket. No public source confirms the exact size yet (D-001).Source: lerobot/docs/source/so101.mdx#joint-1 · waveshare.com src Connect motor 6 to motor 5 with its cable. src check — 2 motor-tab screws on each side; cable connects to motor 5. servos.yaml · follower/gripper — ID 6 · STS3215 1:345 · Feetech STS3215 servo, 7.4V, 1:345 gear (C001) Done when 2 screws on each side; the cable goes to motor 5.
lerobot/docs/source/so101.mdx#gripper--handle Follower: "Insert the gripper motor and secure it with 2 M2x6mm screws on each side." waveshare.com Follower step 17 SO-ARM100/STEP/SO101/SO101 Assembly.step placement check (viewer/public/geometry/placements.json): Wrist_Roll_Follower_SO101 encloses 100% of servo 6: the gripper body Check: 2 motor-tab screws on each side; cable connects to motor 5.
Motor slot: gripper · ID 6 · 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: Wrist_Roll_Follower_SO101 encloses 100% of servo 6: the gripper body.
You need 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 Gripper body Follower wrist roll (gripper body) wrist-roll-follower-so101 details Small self-tapping screw (motor screw) Motor-tab screw, M2-class self-tapping motor-tab-screw unverifiedno source yet Not checked yet: no public source confirms this. Treat it as a best guess and report what you find.
Sources disagree and no kit has been measured (D-001, open). Upstream default = the assembly STEP, which models 24 positions per arm: 22 x "Type I Cross Recessed Fillister Head Tapping Screw ANSI B18.6.4 1-42 x 0.1875 Type AB" (≈ ø1.9 x 4.8 mm) and, for the two screws that enter motor 1 from above, 2 x "0-48 x 0.1875" (≈ ø1.5 x 4.8 mm). Vendor/doc variants: LeRobot "M2x6mm screws (smallest screws)"; Waveshare "pointed screws". The Feetech datasheet gives no tab screw and ships "No Accessories". Qty = count used across the LeRobot steps (24 + 21 positions); a kit inventory settles the spec and count. Seating per screw is read from the STEP by the pipeline (shank through a hole of which printed part) and drives what the 3D view shows at each step.
×4 details Phillips screwdriver #0 · PH0 tool details Phillips screwdriver #1 · PH1 tool details Cables in the 3D view motor 5 → motor 6 wrist roll → gripper cable-wrist-roll-to-gripper approximation3D stand-in Stand-in shape: the 3D geometry or placement is not measured from the real part.
Sources (3) How we placed it Part role confirmed by placement in the upstream assembly STEP: Wrist_Roll_Follower_SO101 encloses 100% of servo 6: the gripper body.