diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py
index 42a4dd42..2b1654a6 100644
--- a/lerobot/common/robot_devices/motors/feetech.py
+++ b/lerobot/common/robot_devices/motors/feetech.py
@@ -100,9 +100,9 @@ SCS_SERIES_BAUDRATE_TABLE = {
     2: 250_000,
     3: 128_000,
     4: 115_200,
-    # 5: 76_800,
-    # 6: 57_600,
-    # 7: 38_400,
+    5: 57_600,
+    6: 38_400,
+    7: 19_200,
 }
 
 CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py
index 33751976..f32b4a72 100644
--- a/lerobot/common/robot_devices/robots/manipulator.py
+++ b/lerobot/common/robot_devices/robots/manipulator.py
@@ -364,6 +364,7 @@ class ManipulatorRobot:
         for name in self.follower_arms:
             print(f"Connecting {name} follower arm.")
             self.follower_arms[name].connect()
+        for name in self.leader_arms:
             print(f"Connecting {name} leader arm.")
             self.leader_arms[name].connect()