From b5bc3d1a25639be21f2034982ad6022bd37a0739 Mon Sep 17 00:00:00 2001
From: Pepijn <pepijn@huggingface.co>
Date: Wed, 19 Feb 2025 16:34:36 +0100
Subject: [PATCH] Move to middle

---
 lerobot/common/robot_devices/robots/configs.py         | 10 ++--------
 .../common/robot_devices/robots/feetech_calibration.py |  5 ++---
 2 files changed, 4 insertions(+), 11 deletions(-)

diff --git a/lerobot/common/robot_devices/robots/configs.py b/lerobot/common/robot_devices/robots/configs.py
index a976f601..13e1cc9d 100644
--- a/lerobot/common/robot_devices/robots/configs.py
+++ b/lerobot/common/robot_devices/robots/configs.py
@@ -429,7 +429,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     leader_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem58760431091",
+                port="/dev/tty.usbmodem585A0077581",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -446,7 +446,7 @@ class So100RobotConfig(ManipulatorRobotConfig):
     follower_arms: dict[str, MotorsBusConfig] = field(
         default_factory=lambda: {
             "main": FeetechMotorsBusConfig(
-                port="/dev/tty.usbmodem585A0076891",
+                port="/dev/tty.usbmodem585A0080521",
                 motors={
                     # name: (index, model)
                     "shoulder_pan": [1, "sts3215"],
@@ -462,12 +462,6 @@ class So100RobotConfig(ManipulatorRobotConfig):
 
     cameras: dict[str, CameraConfig] = field(
         default_factory=lambda: {
-            "laptop": OpenCVCameraConfig(
-                camera_index=0,
-                fps=30,
-                width=640,
-                height=480,
-            ),
             "phone": OpenCVCameraConfig(
                 camera_index=1,
                 fps=30,
diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py
index caf80aac..677b43f6 100644
--- a/lerobot/common/robot_devices/robots/feetech_calibration.py
+++ b/lerobot/common/robot_devices/robots/feetech_calibration.py
@@ -118,10 +118,10 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
 
     print(f"\nRunning calibration of {robot_type} {arm_name} {arm_type}...")
 
-    print("\nMove arm to homing position (zero)")
+    print("\nMove arm to homing position (middle)")
     print(
         "See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
-    )  # TODO(pepijn): replace with new instruction homing pos (all motors in zero) in tutorial
+    )  # TODO(pepijn): replace with new instruction homing pos (all motors in middle) in tutorial
     input("Press Enter to continue...")
 
     start_positions = np.zeros(len(arm.motor_indices))
@@ -147,7 +147,6 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
     print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
 
     # Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0. 1 = clockwise = positive range (0..180), 0 = clockwise = negative range (0..-180)
-    # 
     drive_modes = [0, 1, 0, 0, 1, 0] 
 
     calib_dict = {