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wiring the smooth_leader_follower_handover config

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