I like to place the bar on a wood plank, curved side up. Shim it with a piece of wood/steel that is a bit more than the amount of warp. Work your way down the bar with a dead blow maul or big mallet. It needs to flex about as far past center as it is warped for the warp to be removed. If it is resisting, use a thicker shim. In many cases, I just put a foot on the bar and push down.
Another good method is a straightening/bending fork. Take a 5" piece of square stock the size of your hardy hole. Weld two 5" pieces of 3/4" round stock on opposing sides to make a 3" tall fork. The 2" overlap where the weld is leaves a 3" stub for the hardy. Drop it in the hardy and put the warped bar between the forks. Work your way down the bar and slowly relieve the warp. The same tool is used to make curves, loops, and swirls in blacksmith projects ....or to un-do them. No forger should be without one of these and a hot cut hardy tool.
Another tool is a similar device made by cutting a 3" deep slot about 1/2" wide in the end of a 4X4. A chain saw does this quite well. Either clamp the board in a big vise, or even better, bolt it to the end of a workbench. Use it as above for straightening.