* feat(rollout): add smooth_handover flag to episodic strategy config
Follow-up to #3985, which added the same flag to the DAgger strategy.
The episodic strategy's reset-phase handover had two gaps:
- Non-actuated teleops could not skip the blocking follower slide at all.
- Setting smooth_leader_to_follower_handover=false on an actuated teleop
swapped which arm moves instead of skipping the handover.
Add --strategy.smooth_handover (default true, existing behavior
unchanged) as a master switch that skips the interpolation entirely,
for clutch-style teleops that re-reference at the current robot pose
on engage.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
* docs: fix table formatting via prettier
---------
Co-authored-by: griffinaddison <gaddison@seas.upenn.edu>
Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
* chore(robots): homogenize bi setups
* feat(robots): split openarm mini into single and bi
* refactor(robots): mixin for bi classes
* docs: update docs
Maxime Ellerbach