diff --git a/lerobot/scripts/calibration_visualization_so100.py b/lerobot/scripts/calibration_visualization_so100.py
index 33573d8b..10ac7c4d 100644
--- a/lerobot/scripts/calibration_visualization_so100.py
+++ b/lerobot/scripts/calibration_visualization_so100.py
@@ -17,7 +17,8 @@ from dataclasses import dataclass
 
 import draccus
 
-from lerobot.common.motors.feetech.feetech import (
+from lerobot.common.motors import MotorsBus
+from lerobot.common.motors.feetech.feetech_calibration import (
     adjusted_to_homing_ticks,
     adjusted_to_motor_ticks,
     convert_degrees_to_ticks,
@@ -30,7 +31,7 @@ from lerobot.common.teleoperators.so100 import SO100Teleop, SO100TeleopConfig  #
 
 
 @dataclass
-class DebugFeetechConfig:
+class DebugConfig:
     teleop: TeleoperatorConfig | None = None
     robot: RobotConfig | None = None
 
@@ -40,48 +41,52 @@ class DebugFeetechConfig:
 
 
 @draccus.wrap()
-def debug_feetech_positions(cfg: DebugFeetechConfig):
+def debug_device_calibration(cfg: DebugConfig):
+    # TODO(aliberts): make device and automatically get its motors_bus
+    device = SO100Teleop(cfg.teleop) if cfg.teleop else SO100Robot(cfg.robot)
+    visualize_motors_bus(device.arm)
+
+
+def visualize_motors_bus(motor_bus: MotorsBus):
     """
     Reads each joint's (1) raw ticks, (2) homed ticks, (3) degrees, and (4) invert-adjusted ticks.
     """
-    device = SO100Teleop(cfg.teleop) if cfg.teleop else SO100Robot(cfg.robot)
-    device.connect()
+    motor_bus.connect()
 
     # Disable torque on all motors so you can move them freely by hand
-    device.arm.write("Torque_Enable", 0, motor_names=device.arm.motor_names)
-    print("Torque disabled on all joints.")
+    # values_dict = {idx: 0 for idx in motors_bus.motor_ids}
+    # motor_bus.write("Torque_Enable", values_dict)
+    # print("Torque disabled on all joints.")
 
     try:
         print("\nPress Ctrl+C to quit.\n")
         while True:
             # Read *raw* positions (no calibration).
-            raw_positions = device.arm.read_with_motor_ids(
-                device.arm.motor_models, device.arm.motor_indices, data_name="Present_Position"
-            )
+            raw_positions = motor_bus.read("Present_Position")
 
-            # Read *already-homed* positions
-            homed_positions = device.arm.read("Present_Position")
+            # # Read *already-homed* positions
+            # homed_positions = motor_bus.read("Present_Position")
 
-            for i, name in enumerate(device.arm.motor_names):
-                motor_idx, model = device.arm.motors[name]
+            for name, raw_ticks in raw_positions.items():
+                idx = motor_bus.motors[name][0]
+                model = motor_bus.motors[name][1]
 
-                raw_ticks = raw_positions[i]  # 0..4095
-                homed_val = homed_positions[i]  # degrees or % if linear
+                # homed_val = homed_positions[i]  # degrees or % if linear
 
                 # Manually compute "adjusted ticks" from raw ticks
-                manual_adjusted = adjusted_to_homing_ticks(raw_ticks, model, device.arm, motor_idx)
+                manual_adjusted = adjusted_to_homing_ticks(raw_ticks, model, motor_bus, idx)
                 # Convert to degrees
                 manual_degs = convert_ticks_to_degrees(manual_adjusted, model)
 
                 # Convert that deg back to ticks
                 manual_ticks = convert_degrees_to_ticks(manual_degs, model)
                 # Then invert them using offset & bus drive mode
-                inv_ticks = adjusted_to_motor_ticks(manual_ticks, model, device.arm, motor_idx)
+                inv_ticks = adjusted_to_motor_ticks(manual_ticks, model, motor_bus, idx)
 
                 print(
                     f"{name:15s} | "
                     f"RAW={raw_ticks:4d} | "
-                    f"HOMED_FROM_READ={homed_val:7.2f} | "
+                    # f"HOMED_FROM_READ={homed_val:7.2f} | "
                     f"HOMED_TICKS={manual_adjusted:6d} | "
                     f"MANUAL_ADJ_DEG={manual_degs:7.2f} | "
                     f"MANUAL_ADJ_TICKS={manual_ticks:6d} | "
@@ -93,8 +98,8 @@ def debug_feetech_positions(cfg: DebugFeetechConfig):
         pass
     finally:
         print("\nExiting. Disconnecting bus...")
-        device.disconnect()
+        motor_bus.disconnect()
 
 
 if __name__ == "__main__":
-    debug_feetech_positions()
+    debug_device_calibration()