diff --git a/src/lerobot/robots/koch_follower/koch_follower.py b/src/lerobot/robots/koch_follower/koch_follower.py
index 1cfc6cf08b7..c40c3649b44 100644
--- a/src/lerobot/robots/koch_follower/koch_follower.py
+++ b/src/lerobot/robots/koch_follower/koch_follower.py
@@ -107,6 +107,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors:
diff --git a/src/lerobot/robots/lekiwi/lekiwi.py b/src/lerobot/robots/lekiwi/lekiwi.py
index ff1465d8bea..7af47e0946b 100644
--- a/src/lerobot/robots/lekiwi/lekiwi.py
+++ b/src/lerobot/robots/lekiwi/lekiwi.py
@@ -127,6 +127,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
 
         motors = self.arm_motors + self.base_motors
diff --git a/src/lerobot/robots/so100_follower/so100_follower.py b/src/lerobot/robots/so100_follower/so100_follower.py
index e5da6bc1a8e..3018ea069ec 100644
--- a/src/lerobot/robots/so100_follower/so100_follower.py
+++ b/src/lerobot/robots/so100_follower/so100_follower.py
@@ -105,6 +105,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors:
diff --git a/src/lerobot/robots/so101_follower/so101_follower.py b/src/lerobot/robots/so101_follower/so101_follower.py
index 3ae3c3967d2..d6d29420809 100644
--- a/src/lerobot/robots/so101_follower/so101_follower.py
+++ b/src/lerobot/robots/so101_follower/so101_follower.py
@@ -105,6 +105,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors:
diff --git a/src/lerobot/teleoperators/koch_leader/koch_leader.py b/src/lerobot/teleoperators/koch_leader/koch_leader.py
index 8eb076faeec..27c64e3ef24 100644
--- a/src/lerobot/teleoperators/koch_leader/koch_leader.py
+++ b/src/lerobot/teleoperators/koch_leader/koch_leader.py
@@ -85,6 +85,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors:
diff --git a/src/lerobot/teleoperators/so100_leader/so100_leader.py b/src/lerobot/teleoperators/so100_leader/so100_leader.py
index 18dad44d4d0..1b8beee6a23 100644
--- a/src/lerobot/teleoperators/so100_leader/so100_leader.py
+++ b/src/lerobot/teleoperators/so100_leader/so100_leader.py
@@ -82,6 +82,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors:
diff --git a/src/lerobot/teleoperators/so101_leader/so101_leader.py b/src/lerobot/teleoperators/so101_leader/so101_leader.py
index 2ce28d2e46c..a09dfe778c2 100644
--- a/src/lerobot/teleoperators/so101_leader/so101_leader.py
+++ b/src/lerobot/teleoperators/so101_leader/so101_leader.py
@@ -83,6 +83,13 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:  # from local file
+            logger.info(
+                "Using existing calibration file. "
+                f"If you wish to create a new one, please delete {self.calibration_fpath}"
+            )
+            self.bus.write_calibration(self.calibration)
+            return
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors: