diff --git a/lerobot/common/motors/dynamixel/tables.py b/lerobot/common/motors/dynamixel/tables.py
index 4634d4a7..5589b224 100644
--- a/lerobot/common/motors/dynamixel/tables.py
+++ b/lerobot/common/motors/dynamixel/tables.py
@@ -119,3 +119,23 @@ MODEL_BAUDRATE_TABLE = {
     "xm540-w270": X_SERIES_BAUDRATE_TABLE,
     "xc430-w150": X_SERIES_BAUDRATE_TABLE,
 }
+
+AVAILABLE_BAUDRATES = [
+    9600,
+    19200,
+    38400,
+    57600,
+    115200,
+    230400,
+    460800,
+    500000,
+    576000,
+    921600,
+    1000000,
+    1152000,
+    2000000,
+    2500000,
+    3000000,
+    3500000,
+    4000000,
+]
diff --git a/lerobot/common/motors/feetech/tables.py b/lerobot/common/motors/feetech/tables.py
index 7e7e7e9d..a947611d 100644
--- a/lerobot/common/motors/feetech/tables.py
+++ b/lerobot/common/motors/feetech/tables.py
@@ -83,4 +83,16 @@ MODEL_BAUDRATE_TABLE = {
     "sts3215": SCS_SERIES_BAUDRATE_TABLE,
 }
 
-CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
+AVAILABLE_BAUDRATES = [
+    4800,
+    9600,
+    14400,
+    19200,
+    38400,
+    57600,
+    115200,
+    128000,
+    250000,
+    500000,
+    1000000,
+]
diff --git a/lerobot/common/motors/motors_bus.py b/lerobot/common/motors/motors_bus.py
index 1d9e1af1..1dde8e77 100644
--- a/lerobot/common/motors/motors_bus.py
+++ b/lerobot/common/motors/motors_bus.py
@@ -29,6 +29,7 @@ from typing import Protocol, TypeAlias, overload
 
 import serial
 from deepdiff import DeepDiff
+from tqdm import tqdm
 
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
@@ -379,6 +380,26 @@ class MotorsBus(abc.ABC):
         self.set_timeout()
         logger.debug(f"{self.__class__.__name__} connected.")
 
+    @classmethod
+    def scan_port(cls, port: str) -> dict[int, list[int]]:
+        bus = cls(port, {})
+        try:
+            bus.port_handler.openPort()
+        except (FileNotFoundError, OSError, serial.SerialException) as e:
+            raise ConnectionError(
+                f"Could not connect to port '{port}'. Make sure you are using the correct port."
+                "\nTry running `python lerobot/scripts/find_motors_bus_port.py`\n"
+            ) from e
+        baudrate_ids = {}
+        for baudrate in tqdm(bus.available_baudrates, desc="Scanning port"):
+            bus.set_baudrate(baudrate)
+            ids_models = bus.broadcast_ping()
+            if ids_models:
+                tqdm.write(f"Motors found for {baudrate=}: {pformat(ids_models, indent=4)}")
+                baudrate_ids[baudrate] = list(ids_models)
+
+        return baudrate_ids
+
     @abc.abstractmethod
     def _configure_motors(self) -> None:
         pass