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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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src/lerobot/scripts/lerobot_record.py
+2 -2
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@@ -119,7 +119,7 @@ from lerobot.utils.control_utils import (
sanity_check_dataset_robot_compatibility,
)
from lerobot.utils.import_utils import register_third_party_devices
from lerobot.utils.robot_utils import busy_wait
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import (
get_safe_torch_device,
init_logging,
@@ -364,7 +364,7 @@ def record_loop(
log_rerun_data(observation=obs_processed, action=action_values)
dt_s = time.perf_counter() - start_loop_t
busy_wait(1 / fps - dt_s)
precise_sleep(1 / fps - dt_s)
timestamp = time.perf_counter() - start_episode_t