fix: calibration workflow when using robot_id with existing calibration files

[AdilZouitine]

What this does

This PR improves the calibration workflow when users provide a robot_id that has an associated calibration file. Previously, if there was a mismatch between the calibration values stored in the motors and those in the calibration file, users were forced to recalibrate from scratch. This was problematic in scenarios where:

• Another user had used the arm and overridden the calibration values in the motors
• Motor values had changed over time due to unknown factors

Changes

• Added a calibration parameter to the calibrate() method across all robot and teleoperator classes
• Implemented interactive prompts when calibration mismatches are detected:
• Users can press ENTER to apply the calibration file associated with their robot_id
• Users can type 'c' and press ENTER to run a fresh calibration if needed
• Updated the connect() method calls to pass the loaded calibration to the calibrate() method

Affected Classes

Follower Robots:

• KochFollower
• LeKiwi
• SO100Follower
• SO101Follower
• BiSO100Follower

Leader Teleoperators:

• KochLeader
• SO100Leader
• SO101Leader
• BiSO100Leader

Benefits

• Eliminates unnecessary recalibration when switching between users or calibration profiles
• Provides flexibility to choose between using existing calibration or creating a new one
• Improves user experience by reducing setup time when working with pre-calibrated robots
• Maintains backward compatibility while adding new functionality

This change ensures that users who have already calibrated their robots can quickly restore their calibration settings without going through the entire calibration process again.

[Copilot]

Pull Request Overview

This PR enhances the calibration workflow by allowing use of existing calibration files via an interactive prompt and by passing calibration data through connect() into calibrate().

• Adds a calibration parameter to calibrate() across leader and follower classes
• Prompts user to choose between existing calibration file or fresh calibration
• Updates connect() to forward loaded calibration data

Reviewed Changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
src/lerobot/teleoperators/so101_leader/so101_leader.py	Updated connect() and calibrate() signature, added interactive prompt logic
src/lerobot/teleoperators/so100_leader/so100_leader.py	Same calibration-parameter and prompt changes as above
src/lerobot/teleoperators/koch_leader/koch_leader.py	Same calibration-parameter and prompt changes as above
src/lerobot/robots/so101_follower/so101_follower.py	Added calibration param to follower connect() and interactive prompt in calibrate()
src/lerobot/robots/so100_follower/so100_follower.py	Added calibration param to follower connect() and interactive prompt in calibrate()
src/lerobot/robots/lekiwi/lekiwi.py	Added calibration param to connect() and interactive prompt in calibrate()
src/lerobot/robots/koch_follower/koch_follower.py	Added calibration param to follower connect() and interactive prompt in calibrate()
src/lerobot/robots/bi_so100_follower/bi_so100_follower.py	Updated calibrate() to forward child arms’ calibration parameters

Comments suppressed due to low confidence (3)

src/lerobot/teleoperators/so101_leader/so101_leader.py:87

• [nitpick] This log message may be misleading since no mismatch is actually verified before prompting. Consider changing it to something like "Calibration file provided for robot id {self.id}" to accurately reflect the condition.

            logging.info("Mismatch between calibration values in the motor and the calibration file")

src/lerobot/teleoperators/so101_leader/so101_leader.py:85

• [nitpick] The parameter name calibration shadows the instance attribute and may cause confusion. Consider renaming it to something like provided_calibration.

    def calibrate(self, calibration: dict[str, MotorCalibration] | None = None) -> None:

src/lerobot/teleoperators/so101_leader/so101_leader.py:89

• Add unit tests (with input mocking) to verify both branches of the interactive prompt — using the provided calibration file and running a fresh calibration — to prevent regressions.

            user_input = input(

[aliberts]

LGTM

[imstevenpmwork]

LGTM, thanks!