chore(scripts): move calibrate to scripts (#2024)

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

src/lerobot/scripts/lerobot_calibrate.py

@@ -0,0 +1,90 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Helper to recalibrate your device (robot or teleoperator).
+
+Example:
+
+```shell
+lerobot-calibrate \
+    --teleop.type=so100_leader \
+    --teleop.port=/dev/tty.usbmodem58760431551 \
+    --teleop.id=blue
+```
+"""
+
+import logging
+from dataclasses import asdict, dataclass
+from pprint import pformat
+
+import draccus
+
+from lerobot.cameras.opencv.configuration_opencv import OpenCVCameraConfig  # noqa: F401
+from lerobot.cameras.realsense.configuration_realsense import RealSenseCameraConfig  # noqa: F401
+from lerobot.robots import (  # noqa: F401
+    Robot,
+    RobotConfig,
+    hope_jr,
+    koch_follower,
+    lekiwi,
+    make_robot_from_config,
+    so100_follower,
+    so101_follower,
+)
+from lerobot.teleoperators import (  # noqa: F401
+    Teleoperator,
+    TeleoperatorConfig,
+    homunculus,
+    koch_leader,
+    make_teleoperator_from_config,
+    so100_leader,
+    so101_leader,
+)
+from lerobot.utils.utils import init_logging
+
+
+@dataclass
+class CalibrateConfig:
+    teleop: TeleoperatorConfig | None = None
+    robot: RobotConfig | None = None
+
+    def __post_init__(self):
+        if bool(self.teleop) == bool(self.robot):
+            raise ValueError("Choose either a teleop or a robot.")
+
+        self.device = self.robot if self.robot else self.teleop
+
+
+@draccus.wrap()
+def calibrate(cfg: CalibrateConfig):
+    init_logging()
+    logging.info(pformat(asdict(cfg)))
+
+    if isinstance(cfg.device, RobotConfig):
+        device = make_robot_from_config(cfg.device)
+    elif isinstance(cfg.device, TeleoperatorConfig):
+        device = make_teleoperator_from_config(cfg.device)
+
+    device.connect(calibrate=False)
+    device.calibrate()
+    device.disconnect()
+
+
+def main():
+    calibrate()
+
+
+if __name__ == "__main__":
+    main()