Clarification on STS3215 Motor Specs in BOM

Hello! Thank you for sharing this amazing project. I'm currently building the openduckmini and having a great time with it.

I have a quick question regarding the BOM. I noticed that the STS3215 motor is listed, and I ended up using the STS3215-C001 version. However, I'm experiencing an issue where the motor speed is too slow to maintain a proper gait.

Upon checking the hardware limits, the C001 model (1:345 gear ratio) seems to max out at around 2.7 rad/s. It looks like the motion requires a target velocity of around 5.24 rad/s, which my current setup physically cannot reach.

I was wondering if the BOM originally intended for a faster variant, such as the C046 (1:147) or C044 (1:191), instead of the C001?

I wanted to politely check if there might be a minor omission in the BOM regarding the specific sub-model, or if I am perhaps missing some software configuration that allows the C001 to work.

Thank you again for your hard work and contribution to the community!