Quick question: how are you handling teleop failover when the 5G link sneezes? We’ve been testing a dual-path setup — private 5G + Wi-Fi 6E — with a 120 ms cap on round-trip and a vision model at the edge (Jetson Orin), but the handoff still spikes to about 300 ms and throws our arm alignment off. If you’ve solved this, was it ROS 2 QoS tuning or something predictive on the gripper to bridge the gap?