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feat(teleoperators): add DAgger/HIL smooth handover support for BiSOLeader (#4028)

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* fix: implement bimanual SO leader DAgger handover support

- Add feedback_features property: enables DAgger's teleop_supports_feedback() check
- Implement enable_torque()/disable_torque(): synchronized torque control for both arms
- Implement send_feedback(): routes bimanual feedback to left/right arms with prefix stripping

This fixes DAgger smooth handover for bimanual SO follower + SO leader setups:
when pausing from policy to human intervention, both leader arms now move smoothly
to the follower's current pose, avoiding discontinuities at the human takeover point.

* Update hil_data_collection.mdx

Signed-off-by: Baptiste Lubrano Lavadera  <45080391+Mr-C4T@users.noreply.github.com>

* Update bi_so_leader.py

Signed-off-by: Baptiste Lubrano Lavadera  <45080391+Mr-C4T@users.noreply.github.com>

---------

Signed-off-by: Baptiste Lubrano Lavadera  <45080391+Mr-C4T@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Baptiste Lubrano Lavadera
2026-07-30 13:38:14 +02:00
committed by GitHub
parent 6ac95363b0
commit d59505a735
2 changed files with 49 additions and 3 deletions
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docs/source/hil_data_collection.mdx
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@@ -59,6 +59,7 @@ The `lerobot-rollout --strategy.type=dagger` mode requires **teleoperators with
- `bi_openarm_mini` - Bimanual OpenArm Mini
- `so_leader` - SO100 / SO101 leader arm
- `bi_so_leader` - Bimanual SO100 / SO101 leader arms
> [!IMPORTANT]
> The provided commands default to `bi_openarm_follower` + `bi_openarm_mini`.