fix: calibration workflow when using robot_id with existing calibration files

src/lerobot/robots/koch_follower/koch_follower.py

@@ -94,6 +94,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         for cam in self.cameras.values():
@@ -107,6 +110,15 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                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

@@ -114,6 +114,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         for cam in self.cameras.values():
@@ -127,6 +130,15 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                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

@@ -92,6 +92,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         for cam in self.cameras.values():
@@ -105,6 +108,16 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                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

@@ -92,6 +92,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         for cam in self.cameras.values():
@@ -105,6 +108,16 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # self.calibration is not empty here
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                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

@@ -75,6 +75,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         self.configure()
@@ -85,6 +88,15 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                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

@@ -72,6 +72,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         self.configure()
@@ -82,6 +85,16 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                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

@@ -73,6 +73,9 @@ def connect(self, calibrate: bool = True) -> None:
 
         self.bus.connect()
         if not self.is_calibrated and calibrate:
+            logger.info(
+                "Mismatch between calibration values in the motor and the calibration file or no calibration file found"
+            )
             self.calibrate()
 
         self.configure()
@@ -83,6 +86,16 @@ def is_calibrated(self) -> bool:
         return self.bus.is_calibrated
 
     def calibrate(self) -> None:
+        if self.calibration:
+            # Calibration file exists, ask user whether to use it or run new calibration
+            user_input = input(
+                f"Press ENTER to use provided calibration file associated with the id {self.id}, or type 'c' and press ENTER to run calibration: "
+            )
+            if user_input.strip().lower() != "c":
+                logger.info(f"Writing calibration file associated with the id {self.id} to the motors")
+                self.bus.write_calibration(self.calibration)
+                return
+
         logger.info(f"\nRunning calibration of {self}")
         self.bus.disable_torque()
         for motor in self.bus.motors: