cleaning up

Co-authored-by: Copilot <copilot@github.com>

src/lerobot/rollout/strategies/dagger.py

@@ -188,7 +188,7 @@ def _teleop_supports_feedback(teleop: Teleoperator) -> bool:
 
 
 def _teleop_smooth_move_to(
-    teleop: Teleoperator, target_pos: dict, duration_s: float = 2.0, fps: int = 50
+    teleop: Teleoperator, target_pos: dict, duration_s: float = 2.0, fps: int = 30
 ) -> None:
     """Smoothly move an actuated teleop to ``target_pos`` via linear interpolation.
 
@@ -212,7 +212,7 @@ def _teleop_smooth_move_to(
 
 
 def _follower_smooth_move_to(
-    robot: ThreadSafeRobot, current: dict, target: dict, duration_s: float = 1.0, fps: int = 50
+    robot: ThreadSafeRobot, current: dict, target: dict, duration_s: float = 1.0, fps: int = 30
 ) -> None:
     """Smoothly move the follower robot from ``current`` to ``target`` action.
 
@@ -464,18 +464,13 @@ class DAggerStrategy(RolloutStrategy):
                     transition = events.consume_transition()
                     if transition is not None:
                         old_phase, new_phase = transition
-                        prev_action = last_action
-                        obs = robot.get_observation()
                         self._apply_transition(
                             old_phase,
                             new_phase,
                             engine,
                             interpolator,
-                            robot,
-                            teleop,
                             ctx,
-                            prev_action,
-                            obs,
+                            last_action,
                         )
                         if new_phase == DAggerPhase.AUTONOMOUS:
                             last_action = None
@@ -630,18 +625,13 @@ class DAggerStrategy(RolloutStrategy):
                     transition = events.consume_transition()
                     if transition is not None:
                         old_phase, new_phase = transition
-                        prev_action = last_action
-                        obs = robot.get_observation()
                         self._apply_transition(
                             old_phase,
                             new_phase,
                             engine,
                             interpolator,
-                            robot,
-                            teleop,
                             ctx,
-                            prev_action,
-                            obs,
+                            last_action,
                         )
                         if new_phase == DAggerPhase.AUTONOMOUS:
                             last_action = None
@@ -738,11 +728,8 @@ class DAggerStrategy(RolloutStrategy):
         new_phase: DAggerPhase,
         engine,
         interpolator,
-        robot: ThreadSafeRobot,
-        teleop: Teleoperator,
         ctx: RolloutContext,
         prev_action: dict | None,
-        obs: dict,
     ) -> None:
         """Execute side-effects for a validated phase transition, including smooth handovers.
 
@@ -761,6 +748,9 @@ class DAggerStrategy(RolloutStrategy):
         PAUSED -> AUTONOMOUS:
             Reset and resume the inference engine.
         """
+        teleop = ctx.hardware.teleop
+        robot = ctx.hardware.robot_wrapper
+
         logger.info("Phase transition: %s -> %s", old_phase.value, new_phase.value)
         if old_phase == DAggerPhase.AUTONOMOUS and new_phase == DAggerPhase.PAUSED:
             logger.info("Pausing engine - robot holds position")
@@ -779,6 +769,7 @@ class DAggerStrategy(RolloutStrategy):
             logger.info("Entering correction mode - human teleop control")
             if not _teleop_supports_feedback(teleop) and prev_action is not None:
                 logger.info("Smooth handover: sliding follower to teleop position")
+                obs = robot.get_observation()
                 teleop_action = teleop.get_action()
                 processed = ctx.processors.teleop_action_processor((teleop_action, obs))
                 target = ctx.processors.robot_action_processor((processed, obs))