Add calibrate

tests/mocks/mock_robot.py

@@ -67,11 +67,13 @@ class MockRobot(Robot):
     def is_connected(self) -> bool:
         return self._is_connected
 
-    def connect(self) -> None:
+    def connect(self, calibrate: bool = True) -> None:
         if self.is_connected:
             raise DeviceAlreadyConnectedError(f"{self} already connected")
 
         self._is_connected = True
+        if calibrate:
+            self.calibrate()
 
     @property
     def is_calibrated(self) -> bool:

tests/mocks/mock_teleop.py

@@ -51,11 +51,13 @@ class MockTeleop(Teleoperator):
     def is_connected(self) -> bool:
         return self._is_connected
 
-    def connect(self) -> None:
+    def connect(self, calibrate: bool = True) -> None:
         if self.is_connected:
             raise DeviceAlreadyConnectedError(f"{self} already connected")
 
         self._is_connected = True
+        if calibrate:
+            self.calibrate()
 
     @property
     def is_calibrated(self) -> bool:

tests/test_control_robot.py

@@ -1,5 +1,6 @@
 import time
 
+from lerobot.calibrate import CalibrateConfig, calibrate
 from lerobot.record import DatasetRecordConfig, RecordConfig, record
 from lerobot.replay import DatasetReplayConfig, ReplayConfig, replay
 from lerobot.teleoperate import TeleoperateConfig, teleoperate
@@ -8,6 +9,12 @@ from tests.mocks.mock_robot import MockRobotConfig
 from tests.mocks.mock_teleop import MockTeleopConfig
 
 
+def test_calibrate():
+    robot_cfg = MockRobotConfig()
+    cfg = CalibrateConfig(device=robot_cfg)
+    calibrate(cfg)
+
+
 def test_teleoperate():
     robot_cfg = MockRobotConfig()
     teleop_cfg = MockTeleopConfig()