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reducing duration of the handover

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Maximellerbach
2026-06-04 17:24:21 +02:00
parent d92b54e87a
commit eb21cd2b26
1 changed files with 4 additions and 4 deletions
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8
src/lerobot/rollout/strategies/legacy.py
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@@ -150,17 +150,17 @@ class LegacyStrategy(RolloutStrategy):
current_pos = {k: v for k, v in obs.items() if k.endswith(".pos")}
if teleop_supports_feedback(teleop):
logger.info("Smooth handover: moving leader arm to follower position")
teleop_smooth_move_to(teleop, current_pos)
teleop_smooth_move_to(teleop, current_pos, duration_s=1)
else:
logger.info("Smooth handover: sliding follower to teleop position")
teleop_action = teleop.get_action()
processed = ctx.processors.teleop_action_processor((teleop_action, obs))
target = ctx.processors.robot_action_processor((processed, obs))
follower_smooth_move_to(robot, current_pos, target)
follower_smooth_move_to(robot, current_pos, target, duration_s=1)
elif self.config.reset_to_initial_position:
# No teleop: return the robot to its startup position.
self._return_to_initial_position(hw=ctx.hardware)
self._return_to_initial_position(hw=ctx.hardware, duration_s=1)
self._reset_loop(
ctx=ctx,
@@ -181,7 +181,7 @@ class LegacyStrategy(RolloutStrategy):
# returns to its initial joint positions captured at startup
if not teleop and self.config.reset_to_initial_position:
self._return_to_initial_position(hw=ctx.hardware)
self._return_to_initial_position(hw=ctx.hardware, duration_s=1)
continue