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Mount the leader holder on the wrist unverifiedno source yet Unverified. Part of this step is not confirmed by any public source yet (see the sources below). Follow the upstream video for this joint and report what you find.
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Set the leader holder onto motor 5's horn 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 Done when The leader holder sits on the motor 5 horn with 4 screws.
lerobot/docs/source/so101.mdx#gripper--handle Leader: "Mount the leader holder onto the wrist and secure it with 4 M3x6mm screws." waveshare.com Leader step 16 Notes: Part identity inferred from STL file name (see part notes); confirmed only when Phase 2 places it in the assembly STEP.
Check: Leader holder seated on the motor 5 horn with 4 M3x6.
Motor slot: wrist_roll · ID 5 · STS3215 1:147 ·
7.4V servo on a 5V supply;
You need Leader holder Leader wrist roll (leader holder) wrist-roll-so101 details STS3215 motor, 1:147 gear, code C046 Feetech STS3215 servo, 7.4V, 1:147 gear (C046) servo-sts3215-c046-147 approximation3D stand-in Stand-in shape: the 3D geometry or placement is not measured from the real part.
Geometry: the upstream repo's own simplified body STEP/SO100/STS3215_03a.step (Apache-2.0, D-007) with its fused horn plates cut off and the datasheet ø6 x 3.4 boss added, posed on the embedded vendor model's transform; the vendor mesh is not redistributed.
details M3x6 screw M3x6 screw m3x6 ×4 details Phillips screwdriver #0 · PH0 tool details Phillips screwdriver #1 · PH1 tool details Sources (2)