Maxime Ellerbach 573e7d0243
feat(rollout): add smooth_handover flag to episodic strategy config ( #4159 ) ...
* 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 >
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Maxime Ellerbach
573e7d0243