From fd0629e792f61941f188c29bd5a7e9410eacabb5 Mon Sep 17 00:00:00 2001 From: Maximellerbach Date: Fri, 5 Jun 2026 12:05:25 +0200 Subject: [PATCH] wiring the smooth_leader_follower_handover config --- src/lerobot/rollout/strategies/episodic.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/lerobot/rollout/strategies/episodic.py b/src/lerobot/rollout/strategies/episodic.py index 42be39290..f1ef0d490 100644 --- a/src/lerobot/rollout/strategies/episodic.py +++ b/src/lerobot/rollout/strategies/episodic.py @@ -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()