From 674e784aa9b16b3c14a472f4b33e00ccc53ea434 Mon Sep 17 00:00:00 2001
From: Pepijn <138571049+pkooij@users.noreply.github.com>
Date: Tue, 29 Apr 2025 11:17:02 +0200
Subject: [PATCH] Add description motor order SO-101 leader (#1051)

---
 examples/12_use_so101.md | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/examples/12_use_so101.md b/examples/12_use_so101.md
index 161712c3b..5b8797b7c 100644
--- a/examples/12_use_so101.md
+++ b/examples/12_use_so101.md
@@ -225,6 +225,18 @@ Here is a video of the process:
 
 ## Step-by-Step Assembly Instructions
 
+The follower arm uses 6x STS3215 motors with 1/345 gearing. The leader however uses three differently geared motors to make sure it can both sustain its own weight and it can be moved without requiring much force. Which motor is needed for which joint is shown in table below.
+
+| 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 |
+| Gripper             | 6 | 1 / 147 |
+
+
 ### Clean Parts
 Remove all support material from the 3D-printed parts.