wiring the smooth_leader_follower_handover config

2026-07-09 02:51:56 +00:00 · 2026-06-05 12:05:25 +02:00
parent 8b1ffbe5c8
commit fd0629e792
1 changed files with 4 additions and 1 deletions
@@ -146,7 +146,10 @@ class EpisodicStrategy(RolloutStrategy):
                            # pose instead, since the leader cannot be driven.
                            obs = robot.get_observation()
                            current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
-                            if teleop_supports_feedback(teleop):
+                            if (
+                                teleop_supports_feedback(teleop)
+                                and self.config.smooth_leader_follower_handover
+                            ):
                                logger.info("Smooth handover: moving leader arm to follower position")
                                teleop_smooth_move_to(teleop, current_pos, duration_s=2)
                                teleop.disable_torque()