diff --git a/examples/10_use_so100.md b/examples/10_use_so100.md
index f4d1214b..6c87aa6e 100644
--- a/examples/10_use_so100.md
+++ b/examples/10_use_so100.md
@@ -45,10 +45,12 @@ conda install -y -c conda-forge "opencv>=4.10.0"
 
 ## Configure the motors
 
+Run this script two times to find the ports (e.g. "/dev/tty.usbmodem58760432961") of your motor buses:
 ```bash
 python lerobot/scripts/find_motors_bus_port.py
 ```
 
+Then plug your first motor, corresponding to "shoulder_pan" and run this script to set its ID to 1 and set its present position and offset to ~2048 (useful for calibration).
 ```bash
 python lerobot/scripts/configure_motor.py \
   --port /dev/tty.usbmodem58760432961 \
@@ -58,15 +60,33 @@ python lerobot/scripts/configure_motor.py \
   --ID 1
 ```
 
+Then unplug your motor and plug the second motor, corresponding to "shoulder lift", and set its ID to 2.
+```bash
+python lerobot/scripts/configure_motor.py \
+  --port /dev/tty.usbmodem58760432961 \
+  --brand feetech \
+  --model sts3215 \
+  --baudrate 1000000 \
+  --ID 2
+```
+
+Redo the process for all your motors until the gripper with ID 6. Do the same for the motors of the leader arm, starting for ID 1 up to 6.
+
 ## Assemble the arms
 
 TODO
 
 ## Calibrate
 
+```bash
+python lerobot/scripts/control_robot.py calibrate \
+    --robot-path lerobot/configs/robot/so100.yaml \
+    --robot-overrides '~cameras'
+```
 
 ## Teleoperate
 
+Without displaying the cameras:
 ```bash
 python lerobot/scripts/control_robot.py teleoperate \
     --robot-path lerobot/configs/robot/so100.yaml \
@@ -74,6 +94,7 @@ python lerobot/scripts/control_robot.py teleoperate \
     --display-cameras 0
 ```
 
+With displaying the cameras:
 ```bash
 python lerobot/scripts/control_robot.py teleoperate \
     --robot-path lerobot/configs/robot/so100.yaml