diff --git a/.cache/calibration/so100/main_follower.json b/.cache/calibration/so100/main_follower.json
deleted file mode 100644
index 7279b79b..00000000
--- a/.cache/calibration/so100/main_follower.json
+++ /dev/null
@@ -1 +0,0 @@
-{"homing_offset": [-1985, 1915, 1984, 2008, 1765, 0], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [0, 0, 0, 0, 0, 1007], "end_pos": [0, 0, 0, 0, 0, 2448], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}
diff --git a/.cache/calibration/so100/main_leader.json b/.cache/calibration/so100/main_leader.json
deleted file mode 100644
index 70516c1c..00000000
--- a/.cache/calibration/so100/main_leader.json
+++ /dev/null
@@ -1 +0,0 @@
-{"homing_offset": [1433, 4, 1917, -263, 972, 0], "drive_mode": [0, 0, 0, 0, 0, 0], "start_pos": [0, 0, 0, 0, 0, 1534], "end_pos": [0, 0, 0, 0, 0, 2590], "calib_mode": ["DEGREE", "DEGREE", "DEGREE", "DEGREE", "DEGREE", "LINEAR"], "motor_names": ["shoulder_pan", "shoulder_lift", "elbow_flex", "wrist_flex", "wrist_roll", "gripper"]}
diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py
index 73e718e8..c1734c09 100644
--- a/lerobot/common/robot_devices/robots/feetech_calibration.py
+++ b/lerobot/common/robot_devices/robots/feetech_calibration.py
@@ -121,7 +121,7 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
     print("\nMove arm to homing position")
     print(
         "See: " + URL_TEMPLATE.format(robot=robot_type, arm=arm_type, position="zero")
-    )  # TODO: replace with new instruction homing pos (all motors in center)
+    )  # TODO(pepijn): replace with new instruction homing pos (all motors in center)
     input("Press Enter to continue...")
 
     start_positions = np.zeros(len(arm.motor_indices))
@@ -138,6 +138,9 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
             start_positions[i] = 0
             end_positions[i] = 0
 
+    print("\nMove arm to rest position")
+    input("Press Enter to continue...")
+
     print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
 
     calib_dict = {