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Attach the handle to the leader holder approximation3D stand-in Loading 3D view…
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Hold the handle under the leader holder and drive one M2x6 screw M2x6. A screw size. 2 mm thread, 6 mm long.General meaning, not a kit fact. src lerobot/docs/source/so101.mdx#gripper--handle — Leader: "Attach the handle to the leader holder using 1 M2x6mm screw." check — Handle held by 1 M2x6, driven into the tab under the holder. instructions — The screw's hole is known from the upstream part files: Handle_SO101.step and Wrist_Roll_SO101.step are authored in one frame, and the handle's single M2 clearance hole (r=1.1, on a tilted face under the grip mount) lies on the axis of an r=0.6 pilot hole in the holder. The handle is therefore placed with the holder's own transform; the pose is exact relative to the holder, which is itself a recess match (approximation). The grip should hang below the wrist and point back toward the base. src huggingface.co @ 0:14 — leader assembly animation: handle already on the holder before the gripper servo goes in; grip hangs below, pointing toward the base Done when The handle is held by its one screw and the grip hangs below the holder.
lerobot/docs/source/so101.mdx#gripper--handle Leader: "Attach the handle to the leader holder using 1 M2x6mm screw." SO-ARM100/STEP/SO101/Leader_Specific/Handle_SO101.step r=1.1 hole from (-24.86, 0, 39.21) to (-27.26, 0, 40.0), axis (-0.951, 0, 0.309) SO-ARM100/STEP/SO101/Leader_Specific/Wrist_Roll_SO101.step r=0.6 pilot hole from (-25.69, 0, 39.49) to (-17.75, 0, 36.91): same axis, same frame (D-005) waveshare.com Leader step 19: joystick L11 onto wrist L9 huggingface.co @ 0:14 leader assembly animation: handle already on the holder before the gripper servo goes in; grip hangs below, pointing toward the base huggingface.co @ 0:24 finished leader: handle under the wrist Notes: The screw's hole is known from the upstream part files: Handle_SO101.step and Wrist_Roll_SO101.step are authored in one frame, and the handle's single M2 clearance hole (r=1.1, on a tilted face under the grip mount) lies on the axis of an r=0.6 pilot hole in the holder. The handle is therefore placed with the holder's own transform; the pose is exact relative to the holder, which is itself a recess match (approximation).
Check: Handle held by 1 M2x6, driven into the tab under the holder.
You need Leader handle Leader handle handle-so101 approximation3D stand-in Stand-in shape: the 3D geometry or placement is not measured from the real part.
LeRobot Gripper/Handle (Leader): "attach the handle". Waveshare calls it "joystick L11". Not found by name in SO101 Assembly.step (D-005). Handle_SO101.step shares the authoring frame of Wrist_Roll_SO101.step: its M2 hole is coaxial with a pilot hole in the holder, so it is placed with the holder's transform (the video pose at 0:14 and 0:24 agrees: grip hanging below the holder).
details Leader holder Leader wrist roll (leader holder) wrist-roll-so101 details M2x6 screw M2x6 screw m2x6 ×1 details Phillips screwdriver #0 · PH0 tool details Phillips screwdriver #1 · PH1 tool details Sources (6) lerobot/docs/source/so101.mdx#gripper--handle — Leader: "Attach the handle to the leader holder using 1 M2x6mm screw." SO-ARM100/STEP/SO101/Leader_Specific/Handle_SO101.step — r=1.1 hole from (-24.86, 0, 39.21) to (-27.26, 0, 40.0), axis (-0.951, 0, 0.309) SO-ARM100/STEP/SO101/Leader_Specific/Wrist_Roll_SO101.step — r=0.6 pilot hole from (-25.69, 0, 39.49) to (-17.75, 0, 36.91): same axis, same frame (D-005) waveshare.com (retrieved 2026-09-07) — Leader step 19: joystick L11 onto wrist L9 huggingface.co @ 0:14 — leader assembly animation: handle already on the holder before the gripper servo goes in; grip hangs below, pointing toward the base huggingface.co @ 0:24 — finished leader: handle under the wrist