diff --git a/lerobot/common/motors/dynamixel/dynamixel.py b/lerobot/common/motors/dynamixel/dynamixel.py
index bced8775..5208389d 100644
--- a/lerobot/common/motors/dynamixel/dynamixel.py
+++ b/lerobot/common/motors/dynamixel/dynamixel.py
@@ -244,7 +244,8 @@ class DynamixelMotorsBus(MotorsBus):
     """
 
     model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
-    model_resolution = deepcopy(MODEL_RESOLUTION)
+    model_resolution_table = deepcopy(MODEL_RESOLUTION)
+    model_baudrate_table = deepcopy(MODEL_BAUDRATE_TABLE)
 
     def __init__(
         self,
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index 450d3efc..c62f63d6 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -257,7 +257,8 @@ class FeetechMotorsBus(MotorsBus):
     """
 
     model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
-    model_resolution = deepcopy(MODEL_RESOLUTION)
+    model_resolution_table = deepcopy(MODEL_RESOLUTION)
+    model_baudrate_table = deepcopy(MODEL_BAUDRATE_TABLE)
 
     def __init__(
         self,
diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py
index a6a9297e..0a5396d7 100644
--- a/lerobot/common/motors/motors_bus.py
+++ b/lerobot/common/motors/motors_bus.py
@@ -168,6 +168,7 @@ class MotorsBus(abc.ABC):
 
     model_ctrl_table: dict[str, dict]
     model_resolution_table: dict[str, int]
+    model_baudrate_table: dict[str, dict]
 
     def __init__(
         self,