diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py
index 3c134d64d..1ed13d858 100644
--- a/lerobot/common/robot_devices/motors/feetech.py
+++ b/lerobot/common/robot_devices/motors/feetech.py
@@ -352,14 +352,14 @@ class FeetechMotorsBus:
             print(e)
             return False
 
-    def find_motor_indices(self, possible_ids=None):
+    def find_motor_indices(self, possible_ids=None, num_retry=2):
         if possible_ids is None:
             possible_ids = range(MAX_ID_RANGE)
 
         indices = []
         for idx in tqdm.tqdm(possible_ids):
             try:
-                present_idx = self.read_with_motor_ids(self.motor_models, [idx], "ID")[0]
+                present_idx = self.read_with_motor_ids(self.motor_models, [idx], "ID", num_retry=num_retry)[0]
             except ConnectionError:
                 continue
 
diff --git a/lerobot/common/robot_devices/robots/manipulator.py b/lerobot/common/robot_devices/robots/manipulator.py
index 54c60bac9..46eba1f62 100644
--- a/lerobot/common/robot_devices/robots/manipulator.py
+++ b/lerobot/common/robot_devices/robots/manipulator.py
@@ -335,7 +335,7 @@ class ManipulatorRobot:
 
                     calibration = run_arm_calibration(arm, self.robot_type, name, arm_type)
 
-                elif self.robot_type in ["so100", "moss"]:
+                elif self.robot_type in ["so100"]:
                     from lerobot.common.robot_devices.robots.feetech_calibration import (
                         run_arm_auto_calibration,
                         run_arm_manual_calibration,
@@ -343,12 +343,21 @@ class ManipulatorRobot:
 
                     if arm_type == "leader":
                         calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
-
                     elif arm_type == "follower":
                         calibration = run_arm_auto_calibration(arm, self.robot_type, name, arm_type)
                     else:
                         raise ValueError(arm_type)
 
+                elif self.robot_type in ["moss"]:
+                    from lerobot.common.robot_devices.robots.feetech_calibration import (
+                        run_arm_manual_calibration,
+                    )
+
+                    if arm_type == "leader" or arm_type == "follower":
+                        calibration = run_arm_manual_calibration(arm, self.robot_type, name, arm_type)
+                    else:
+                        raise ValueError(arm_type)
+
                 print(f"Calibration is done! Saving calibration file '{arm_calib_path}'")
                 arm_calib_path.parent.mkdir(parents=True, exist_ok=True)
                 with open(arm_calib_path, "w") as f:
diff --git a/lerobot/configs/robot/moss.yaml b/lerobot/configs/robot/moss.yaml
index c3535d765..8a9019851 100644
--- a/lerobot/configs/robot/moss.yaml
+++ b/lerobot/configs/robot/moss.yaml
@@ -18,7 +18,7 @@ max_relative_target: null
 leader_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
-    port: /dev/tty.usbmodem585A0077581
+    port: /dev/tty.usbmodem58760431091
     motors:
       # name: (index, model)
       shoulder_pan: [1, "sts3215"]
@@ -31,7 +31,7 @@ leader_arms:
 follower_arms:
   main:
     _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
-    port: /dev/tty.usbmodem585A0080971
+    port: /dev/tty.usbmodem58760431191
     motors:
       # name: (index, model)
       shoulder_pan: [1, "sts3215"]
diff --git a/lerobot/scripts/configure_motor.py b/lerobot/scripts/configure_motor.py
index 4459a75f8..4d833c088 100644
--- a/lerobot/scripts/configure_motor.py
+++ b/lerobot/scripts/configure_motor.py
@@ -91,9 +91,7 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
             baudrate_idx = list(SERIES_BAUDRATE_TABLE.values()).index(baudrate_des)
 
             # The write can fail, so we allow retries
-            motor_bus.write_with_motor_ids(
-                motor_bus.motor_models, motor_index, "Baud_Rate", baudrate_idx, num_retry=2
-            )
+            motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Baud_Rate", baudrate_idx)
             time.sleep(0.5)
             motor_bus.set_bus_baudrate(baudrate_des)
             present_baudrate_idx = motor_bus.read_with_motor_ids(
@@ -104,6 +102,7 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
                 raise OSError("Failed to write baudrate.")
 
         print(f"Setting its index to desired index {motor_idx_des}")
+        motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0)
         motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "ID", motor_idx_des)
 
         present_idx = motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx_des, "ID", num_retry=2)
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index 425247e65..031e608e7 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -144,6 +144,9 @@ def calibrate(robot: Robot, arms: list[str] | None):
             robot.home()
         return
 
+    if arms is None:
+        arms = robot.available_arms
+
     unknown_arms = [arm_id for arm_id in arms if arm_id not in robot.available_arms]
     available_arms_str = " ".join(robot.available_arms)
     unknown_arms_str = " ".join(unknown_arms)