lerobot/common/teleoperators/koch_leader/koch_leader.py [97:126]:
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        homing_offsets = self.bus.set_half_turn_homings()

        full_turn_motors = ["shoulder_pan", "wrist_roll"]
        unknown_range_motors = [motor for motor in self.bus.motors if motor not in full_turn_motors]
        print(
            f"Move all joints except {full_turn_motors} sequentially through their "
            "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
        )
        range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
        for motor in full_turn_motors:
            range_mins[motor] = 0
            range_maxes[motor] = 4095

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

        self.bus.write_calibration(self.calibration)
        self._save_calibration()
        logger.info(f"Calibration saved to {self.calibration_fpath}")

    def configure(self) -> None:
        self.bus.disable_torque()
        self.bus.configure_motors()
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lerobot/common/teleoperators/widowx/widowx.py [99:128]:
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        homing_offsets = self.bus.set_half_turn_homings()

        full_turn_motors = ["shoulder_pan", "wrist_roll"]
        unknown_range_motors = [motor for motor in self.bus.motors if motor not in full_turn_motors]
        print(
            f"Move all joints except {full_turn_motors} sequentially through their "
            "entire ranges of motion.\nRecording positions. Press ENTER to stop..."
        )
        range_mins, range_maxes = self.bus.record_ranges_of_motion(unknown_range_motors)
        for motor in full_turn_motors:
            range_mins[motor] = 0
            range_maxes[motor] = 4095

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

        self.bus.write_calibration(self.calibration)
        self._save_calibration()
        logger.info(f"Calibration saved to {self.calibration_fpath}")

    def configure(self) -> None:
        self.bus.disable_torque()
        self.bus.configure_motors()
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