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Militia are units recruited from among the male villagers. They require weapons depending on the militia type. Each militia is made up of 36 men but can have less if there aren't sufficient weapons. Each soldier will try to equip a Helmet if one is available. If their Burgage Plot is level 2 they will also try to equip a Gambeson if one is available, while level 3 Burgage Plots will request a Mail Armor instead. The helmet and body armor are both optional for a troop to form, but both increase the armor of the troop. There are 4 militia types:
Some richer nobles would help equip the milita, but again, providing shields, gambesons and some halberds etc. Not plate. If a peasant stole a plate armor after a battle he would have to hand it to the noble or be flogged. If he got away with it he might try go the Hedge Knight route but that was mostly for professional soldiers and not an untrained farmer.
In some cities it was REQUIRED to have at least a half suit of plate armour for artisans. Those werent poor peasants. And even farmers probably could afford a decent set of armour. If you own a farm you are not poor.
It all depends on the time and place, of course.