lerobot/common/robots/so100_follower/so100_follower.py [46:114]:
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        super().__init__(config)
        self.config = config
        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
        self.bus = FeetechMotorsBus(
            port=self.config.port,
            motors={
                "shoulder_pan": Motor(1, "sts3215", norm_mode_body),
                "shoulder_lift": Motor(2, "sts3215", norm_mode_body),
                "elbow_flex": Motor(3, "sts3215", norm_mode_body),
                "wrist_flex": Motor(4, "sts3215", norm_mode_body),
                "wrist_roll": Motor(5, "sts3215", norm_mode_body),
                "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
            },
            calibration=self.calibration,
        )
        self.cameras = make_cameras_from_configs(config.cameras)

    @property
    def _motors_ft(self) -> dict[str, type]:
        return {f"{motor}.pos": float for motor in self.bus.motors}

    @property
    def _cameras_ft(self) -> dict[str, tuple]:
        return {
            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
        }

    @cached_property
    def observation_features(self) -> dict[str, type | tuple]:
        return {**self._motors_ft, **self._cameras_ft}

    @cached_property
    def action_features(self) -> dict[str, type]:
        return self._motors_ft

    @property
    def is_connected(self) -> bool:
        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())

    def connect(self, calibrate: bool = True) -> None:
        """
        We assume that at connection time, arm is in a rest position,
        and torque can be safely disabled to run calibration.
        """
        if self.is_connected:
            raise DeviceAlreadyConnectedError(f"{self} already connected")

        self.bus.connect()
        if not self.is_calibrated and calibrate:
            self.calibrate()

        for cam in self.cameras.values():
            cam.connect()

        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()
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lerobot/common/robots/so101_follower/so101_follower.py [46:114]:
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        super().__init__(config)
        self.config = config
        norm_mode_body = MotorNormMode.DEGREES if config.use_degrees else MotorNormMode.RANGE_M100_100
        self.bus = FeetechMotorsBus(
            port=self.config.port,
            motors={
                "shoulder_pan": Motor(1, "sts3215", norm_mode_body),
                "shoulder_lift": Motor(2, "sts3215", norm_mode_body),
                "elbow_flex": Motor(3, "sts3215", norm_mode_body),
                "wrist_flex": Motor(4, "sts3215", norm_mode_body),
                "wrist_roll": Motor(5, "sts3215", norm_mode_body),
                "gripper": Motor(6, "sts3215", MotorNormMode.RANGE_0_100),
            },
            calibration=self.calibration,
        )
        self.cameras = make_cameras_from_configs(config.cameras)

    @property
    def _motors_ft(self) -> dict[str, type]:
        return {f"{motor}.pos": float for motor in self.bus.motors}

    @property
    def _cameras_ft(self) -> dict[str, tuple]:
        return {
            cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
        }

    @cached_property
    def observation_features(self) -> dict[str, type | tuple]:
        return {**self._motors_ft, **self._cameras_ft}

    @cached_property
    def action_features(self) -> dict[str, type]:
        return self._motors_ft

    @property
    def is_connected(self) -> bool:
        return self.bus.is_connected and all(cam.is_connected for cam in self.cameras.values())

    def connect(self, calibrate: bool = True) -> None:
        """
        We assume that at connection time, arm is in a rest position,
        and torque can be safely disabled to run calibration.
        """
        if self.is_connected:
            raise DeviceAlreadyConnectedError(f"{self} already connected")

        self.bus.connect()
        if not self.is_calibrated and calibrate:
            self.calibrate()

        for cam in self.cameras.values():
            cam.connect()

        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()
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