Loads calibration file if it exists

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:

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

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:

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:

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:

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:

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: