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feat(utils): precise_sleep() less CPU hungry without sacrificing accuracy (#2526)

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This commit is contained in:
Steven Palma
2025-11-26 17:42:16 +01:00
committed by GitHub
parent 648ea8f485
commit b07160eb1b
16 changed files with 68 additions and 42 deletions
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docs/source/envhub_leisaac.mdx
+2 -2
View File
@@ -139,7 +139,7 @@ from lerobot.teleoperators import ( # noqa: F401
make_teleoperator_from_config,
so101_leader,
)
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import init_logging
from lerobot.envs.factory import make_env
@@ -196,7 +196,7 @@ def teleop_loop(teleop: Teleoperator, env: gym.Env, fps: int):
obs, info = env.reset()
dt_s = time.perf_counter() - loop_start
busy_wait(1 / fps - dt_s)
precise_sleep(1 / fps - dt_s)
loop_s = time.perf_counter() - loop_start
print(f"\ntime: {loop_s * 1e3:.2f}ms ({1 / loop_s:.0f} Hz)")
docs/source/il_robots.mdx
+2 -2
View File
@@ -393,7 +393,7 @@ import time
from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.so100_follower.config_so100_follower import SO100FollowerConfig
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
episode_idx = 0
@@ -415,7 +415,7 @@ for idx in range(dataset.num_frames):
}
robot.send_action(action)
busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
precise_sleep(1.0 / dataset.fps - (time.perf_counter() - t0))
robot.disconnect()
```