admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-28 15:09:51 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
examples/phone_to_so100/teleoperate.py
+2 -2
View File
@@ -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__":