removed fixed port values in find_joint_limits.py

lerobot/scripts/server/find_joint_limits.py

@@ -26,9 +26,6 @@ from lerobot.common.robot_devices.robots.utils import make_robot_from_config
 from lerobot.configs import parser
 from lerobot.scripts.server.kinematics import RobotKinematics
 
-follower_port = "/dev/tty.usbmodem58760431631"
-leader_port = "/dev/tty.usbmodem585A0077921"
-
 
 def find_joint_bounds(
     robot,
@@ -99,25 +96,6 @@ def find_ee_bounds(
             break
 
 
-def make_robot(robot_type="so100"):
-    """
-    Create a robot instance using the appropriate robot config class.
-
-    Args:
-        robot_type: Robot type string (e.g., "so100", "koch", "aloha")
-
-    Returns:
-        Robot instance
-    """
-
-    # Get the appropriate robot config class based on robot_type
-    robot_config = RobotConfig.get_choice_class(robot_type)(mock=False)
-    robot_config.leader_arms["main"].port = leader_port
-    robot_config.follower_arms["main"].port = follower_port
-
-    return make_robot_from_config(robot_config)
-
-
 if __name__ == "__main__":
     # Create argparse for script-specific arguments
     parser = argparse.ArgumentParser(add_help=False)  # Set add_help=False to avoid conflict
@@ -145,7 +123,8 @@ if __name__ == "__main__":
     args = parser.parse_args()
 
     # Create robot with the appropriate config
-    robot = make_robot(args.robot_type)
+    robot_config = RobotConfig.get_choice_class(args.robot_type)(mock=False)
+    robot = make_robot_from_config(robot_config)
 
     if args.mode == "joint":
         find_joint_bounds(robot, args.control_time_s)