From 06450c6777c40d828fa5f81524bf4c3cd5140932 Mon Sep 17 00:00:00 2001
From: Krzysztof Skrzypski
 <18378172+KrzysztofSkrzypski@users.noreply.github.com>
Date: Thu, 26 Jun 2025 19:15:35 +0900
Subject: [PATCH] update assembly instructions to match outputs from setup
 motors 'python -m lerobot.setup_motors' script (#1384)

---
 lerobot/common/robots/so101_follower/so101.mdx | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/lerobot/common/robots/so101_follower/so101.mdx b/lerobot/common/robots/so101_follower/so101.mdx
index 5d39a1780..36bd4fc70 100644
--- a/lerobot/common/robots/so101_follower/so101.mdx
+++ b/lerobot/common/robots/so101_follower/so101.mdx
@@ -22,11 +22,11 @@ The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader, however,
 
 | Leader-Arm Axis | Motor | Gear Ratio |
 |-----------------|:-------:|:----------:|
-| Base / Shoulder Yaw | 1 | 1 / 191 |
-| Shoulder Pitch      | 2 | 1 / 345 |
-| Elbow               | 3 | 1 / 191 |
-| Wrist Roll          | 4 | 1 / 147 |
-| Wrist Pitch         | 5 | 1 / 147 |
+| Base / Shoulder Pan | 1 | 1 / 191 |
+| Shoulder Lift       | 2 | 1 / 345 |
+| Elbow Flex          | 3 | 1 / 191 |
+| Wrist Flex          | 4 | 1 / 147 |
+| Wrist Roll          | 5 | 1 / 147 |
 | Gripper             | 6 | 1 / 147 |
 
 ### Clean Parts