diff --git a/docs/source/rebot_b601.mdx b/docs/source/rebot_b601.mdx index 4d7a817c8..95287a8ef 100644 --- a/docs/source/rebot_b601.mdx +++ b/docs/source/rebot_b601.mdx @@ -154,9 +154,9 @@ lerobot-teleoperate \ - The leader and follower share the same joint names - (`shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_yaw, wrist_roll, gripper`), - so leader actions map directly onto the follower. + The leader and follower share the same joint names (`shoulder_pan, + shoulder_lift, elbow_flex, wrist_flex, wrist_yaw, wrist_roll, gripper`), so + leader actions map directly onto the follower. If the motion of a joint is reversed, flip its sign in the leader's `joint_directions` (the gripper also carries a scale to widen its range to the follower):