From eb21cd2b267ee17aea44274e0951900aaf1d8bb1 Mon Sep 17 00:00:00 2001 From: Maximellerbach Date: Thu, 4 Jun 2026 17:24:21 +0200 Subject: [PATCH] reducing duration of the handover --- src/lerobot/rollout/strategies/legacy.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/lerobot/rollout/strategies/legacy.py b/src/lerobot/rollout/strategies/legacy.py index d80a0a694..4640dd6ee 100644 --- a/src/lerobot/rollout/strategies/legacy.py +++ b/src/lerobot/rollout/strategies/legacy.py @@ -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