lerobot/common/robots/so101_follower/so101_follower.py [100:133]:
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        self.configure()
        logger.info(f"{self} connected.")

    @property
    def is_calibrated(self) -> bool:
        return self.bus.is_calibrated

    def calibrate(self) -> None:
        logger.info(f"\nRunning calibration of {self}")
        self.bus.disable_torque()
        for motor in self.bus.motors:
            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)

        input(f"Move {self} to the middle of its range of motion and press ENTER....")
        homing_offsets = self.bus.set_half_turn_homings()

        print(
            "Move all joints sequentially through their entire ranges "
            "of motion.\nRecording positions. Press ENTER to stop..."
        )
        range_mins, range_maxes = self.bus.record_ranges_of_motion()

        self.calibration = {}
        for motor, m in self.bus.motors.items():
            self.calibration[motor] = MotorCalibration(
                id=m.id,
                drive_mode=0,
                homing_offset=homing_offsets[motor],
                range_min=range_mins[motor],
                range_max=range_maxes[motor],
            )

        self.bus.write_calibration(self.calibration)
        self._save_calibration()
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lerobot/common/teleoperators/so101_leader/so101_leader.py [78:111]:
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        self.configure()
        logger.info(f"{self} connected.")

    @property
    def is_calibrated(self) -> bool:
        return self.bus.is_calibrated

    def calibrate(self) -> None:
        logger.info(f"\nRunning calibration of {self}")
        self.bus.disable_torque()
        for motor in self.bus.motors:
            self.bus.write("Operating_Mode", motor, OperatingMode.POSITION.value)

        input(f"Move {self} to the middle of its range of motion and press ENTER....")
        homing_offsets = self.bus.set_half_turn_homings()

        print(
            "Move all joints sequentially through their entire ranges "
            "of motion.\nRecording positions. Press ENTER to stop..."
        )
        range_mins, range_maxes = self.bus.record_ranges_of_motion()

        self.calibration = {}
        for motor, m in self.bus.motors.items():
            self.calibration[motor] = MotorCalibration(
                id=m.id,
                drive_mode=0,
                homing_offset=homing_offsets[motor],
                range_min=range_mins[motor],
                range_max=range_maxes[motor],
            )

        self.bus.write_calibration(self.calibration)
        self._save_calibration()
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