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Slide motor holder 4 onto the forearm Loading 3D view…
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Slide the wrist motor holder onto the end of the forearm, with its wire groove Wire slot. A channel printed into a part for the motor cable to lie in. Turn the part so the channel is on the side the cables run down.Source: waveshare.com src It has no screws of its own: motor 4's screws will clamp it in the next step. src instructions — Like the shoulder holder it has no screws of its own: motor 4's side screws clamp it to the forearm in the next step. Done when The holder is on, with its groove on the cable side.
Upstream numbers the follower's steps; this leader step is the same build step (extends F-041).
lerobot/docs/source/so101.mdx#joint-4 "Slide over motor holder 4." waveshare.com Follower step 11: attach F7 to F6 with the wire groove and harness on the same side SO-ARM100/STEP/SO101/SO101 Assembly.step placement check (viewer/public/geometry/placements.json): Motor_holder_SO101_Wrist sits on the forearm and encloses 44% of servo 4: motor holder 4 SO-ARM100/STEP/SO101/SO101 Assembly.step placement check (pipeline hole test): no fastener passes through this part until motor 4 is fitted Orientation: Wire groove on the harness side (Waveshare).
Notes: Like the shoulder holder it has no screws of its own: motor 4's side screws clamp it to the forearm in the next step.
Check: Holder seated; wire groove on the same side as the cable run.
Motor slot: wrist_flex · ID 4 · STS3215 1:147 ·
7.4V servo on a 5V supply;
How we placed it: Part role confirmed by placement in the upstream assembly STEP: Motor_holder_SO101_Wrist sits on the forearm and encloses 44% of servo 4: motor holder 4.
You need Wrist motor holder Motor holder (wrist side) motor-holder-so101-wrist details Forearm Under arm (forearm) under-arm-so101 details Sources (4) Upstream numbers the follower's steps; this leader step is the same build step (extends F-041).
How we placed it Part role confirmed by placement in the upstream assembly STEP: Motor_holder_SO101_Wrist sits on the forearm and encloses 44% of servo 4: motor holder 4.