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fixup! fixup! Fixup eval with real robot

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This commit is contained in:
Eugene Mironov
2025-11-16 18:29:07 +07:00
parent 6794ca2ba8
commit 8429d2ccfa
1 changed files with 14 additions and 1 deletions
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examples/rtc/eval_with_real_robot.py
+14 -1
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@@ -34,6 +34,19 @@ Usage:
--robot.cameras="{ gripper: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \
--task="Move green small object into the purple platform" \
--duration=120
# Run RTC with Real robot with pi0.5 policy
uv run examples/rtc/eval_with_real_robot.py \
--policy.path=helper2424/pi05_check_rtc \
--policy.device=mps \
--rtc.enabled=true \
--rtc.execution_horizon=20 \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58FA0834591 \
--robot.id=so100_follower \
--robot.cameras="{ gripper: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}}" \
--task="Move green small object into the purple platform" \
--duration=120
"""
import logging
@@ -476,7 +489,7 @@ def actor_control(
action_count += 1
dt_s = time.perf_counter() - start_time
time.sleep((action_interval - dt_s) - 0.001)
time.sleep(max(0, (action_interval - dt_s) - 0.001))
logger.info(f"[ACTOR] Actor thread shutting down. Total actions executed: {action_count}")
except Exception as e: