diff --git a/lerobot/common/robots/hope_jr/hope_jr_arm.py b/lerobot/common/robots/hope_jr/hope_jr_arm.py
index 799cbc75..d3bef910 100644
--- a/lerobot/common/robots/hope_jr/hope_jr_arm.py
+++ b/lerobot/common/robots/hope_jr/hope_jr_arm.py
@@ -141,6 +141,12 @@ class HopeJrArm(Robot):
             self.bus.configure_motors()
             # TODO
 
+    def setup_motors(self) -> None:
+        for motor in reversed(self.bus.motors):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
     def get_observation(self) -> dict[str, Any]:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")
diff --git a/lerobot/common/robots/hope_jr/hope_jr_hand.py b/lerobot/common/robots/hope_jr/hope_jr_hand.py
index bdf1e03d..0f358ba3 100644
--- a/lerobot/common/robots/hope_jr/hope_jr_hand.py
+++ b/lerobot/common/robots/hope_jr/hope_jr_hand.py
@@ -151,6 +151,12 @@ class HopeJrHand(Robot):
             self.bus.configure_motors()
             # TODO
 
+    def setup_motors(self) -> None:
+        for motor in self.bus.motors:
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
     def get_observation(self) -> dict[str, Any]:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")