* fix: implement bimanual SO leader DAgger handover support
- Add feedback_features property: enables DAgger's teleop_supports_feedback() check
- Implement enable_torque()/disable_torque(): synchronized torque control for both arms
- Implement send_feedback(): routes bimanual feedback to left/right arms with prefix stripping
This fixes DAgger smooth handover for bimanual SO follower + SO leader setups:
when pausing from policy to human intervention, both leader arms now move smoothly
to the follower's current pose, avoiding discontinuities at the human takeover point.
* Update hil_data_collection.mdx
Signed-off-by: Baptiste Lubrano Lavadera <45080391+Mr-C4T@users.noreply.github.com>
* Update bi_so_leader.py
Signed-off-by: Baptiste Lubrano Lavadera <45080391+Mr-C4T@users.noreply.github.com>
---------
Signed-off-by: Baptiste Lubrano Lavadera <45080391+Mr-C4T@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Baptiste Lubrano Lavadera
d59505a735