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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/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()