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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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examples/backward_compatibility/replay.py
+2 -2
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@@ -45,7 +45,7 @@ from lerobot.robots import ( # noqa: F401
so101_follower,
)
from lerobot.utils.constants import ACTION
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import (
init_logging,
log_say,
@@ -97,7 +97,7 @@ def replay(cfg: ReplayConfig):
robot.send_action(action)
dt_s = time.perf_counter() - start_episode_t
busy_wait(1 / dataset.fps - dt_s)
precise_sleep(1 / dataset.fps - dt_s)
robot.disconnect()
examples/lekiwi/replay.py
+2 -2
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@@ -20,7 +20,7 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
from lerobot.robots.lekiwi.config_lekiwi import LeKiwiClientConfig
from lerobot.robots.lekiwi.lekiwi_client import LeKiwiClient
from lerobot.utils.constants import ACTION
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
@@ -58,7 +58,7 @@ def main():
# Send action to robot
_ = robot.send_action(action)
busy_wait(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
precise_sleep(max(1.0 / dataset.fps - (time.perf_counter() - t0), 0.0))
robot.disconnect()
examples/lekiwi/teleoperate.py
+2 -2
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@@ -19,7 +19,7 @@ import time
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.teleoperators.keyboard.teleop_keyboard import KeyboardTeleop, KeyboardTeleopConfig
from lerobot.teleoperators.so100_leader import SO100Leader, SO100LeaderConfig
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
@@ -71,7 +71,7 @@ def main():
# Visualize
log_rerun_data(observation=observation, action=action)
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
if __name__ == "__main__":
examples/phone_to_so100/replay.py
+2 -2
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@@ -29,7 +29,7 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.constants import ACTION
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
@@ -96,7 +96,7 @@ def main():
# Send action to robot
_ = robot.send_action(joint_action)
busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
precise_sleep(1.0 / dataset.fps - (time.perf_counter() - t0))
# Clean up
robot.disconnect()
examples/phone_to_so100/teleoperate.py
+2 -2
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@@ -32,7 +32,7 @@ from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.teleoperators.phone.config_phone import PhoneConfig, PhoneOS
from lerobot.teleoperators.phone.phone_processor import MapPhoneActionToRobotAction
from lerobot.teleoperators.phone.teleop_phone import Phone
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
@@ -114,7 +114,7 @@ def main():
# Visualize
log_rerun_data(observation=phone_obs, action=joint_action)
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
if __name__ == "__main__":
examples/so100_to_so100_EE/replay.py
+2 -2
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@@ -30,7 +30,7 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
)
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.utils.constants import ACTION
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
@@ -97,7 +97,7 @@ def main():
# Send action to robot
_ = robot.send_action(joint_action)
busy_wait(1.0 / dataset.fps - (time.perf_counter() - t0))
precise_sleep(1.0 / dataset.fps - (time.perf_counter() - t0))
# Clean up
robot.disconnect()
examples/so100_to_so100_EE/teleoperate.py
+2 -2
View File
@@ -32,7 +32,7 @@ from lerobot.robots.so100_follower.robot_kinematic_processor import (
from lerobot.robots.so100_follower.so100_follower import SO100Follower
from lerobot.teleoperators.so100_leader.config_so100_leader import SO100LeaderConfig
from lerobot.teleoperators.so100_leader.so100_leader import SO100Leader
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data
FPS = 30
@@ -120,7 +120,7 @@ def main():
# Visualize
log_rerun_data(observation=leader_ee_act, action=follower_joints_act)
busy_wait(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
precise_sleep(max(1.0 / FPS - (time.perf_counter() - t0), 0.0))
if __name__ == "__main__":