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fix(utils): validate precise_sleep spin/margin args (#4218)

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* fix(utils): validate precise_sleep spin/margin args

Negative spin_threshold/sleep_margin make remaining arithmetic wrong
and can overshoot. Reject them early; cover the no-op path.

* test: drop flaky wall-clock assertion in no-op test

Per review: the 50ms wall-clock check can exceed its bound on a preempted
CI worker even when precise_sleep returns immediately. The direct calls
already exercise the non-positive no-op path, so the assertion is redundant.

* chore(tests): remove precise_sleep test negative values

---------

Co-authored-by: Bartok9 <danielrpike9@gmail.com>
This commit is contained in:
Steven Palma
2026-07-29 20:24:07 +02:00
committed by GitHub
parent cd8984cc0a
commit 36b8face98
1 changed files with 4 additions and 0 deletions
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src/lerobot/utils/robot_utils.py
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@@ -30,6 +30,10 @@ def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: f
""" """
if seconds <= 0: if seconds <= 0:
return return
if spin_threshold < 0:
raise ValueError(f"spin_threshold must be >= 0, got {spin_threshold}")
if sleep_margin < 0:
raise ValueError(f"sleep_margin must be >= 0, got {sleep_margin}")
system = platform.system() system = platform.system()
# On macOS and Windows the scheduler / sleep granularity can make # On macOS and Windows the scheduler / sleep granularity can make