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fix(utils): more conservative sleep_margin default value in precise_sleep (#2985)

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Steven Palma
2026-02-18 17:32:25 +01:00
committed by GitHub
parent fcbf550952
commit b22e0315b0
1 changed files with 2 additions and 2 deletions
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src/lerobot/utils/robot_utils.py
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@@ -16,14 +16,14 @@ import platform
import time
def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: float = 0.003):
def precise_sleep(seconds: float, spin_threshold: float = 0.010, sleep_margin: float = 0.005):
"""
Wait for `seconds` with better precision than time.sleep alone at the expense of more CPU usage.
Parameters:
- seconds: duration to wait
- spin_threshold: if remaining <= spin_threshold -> spin; otherwise sleep (seconds). Default 10ms
- sleep_margin: when sleeping leave this much time before deadline to avoid oversleep. Default 3ms
- sleep_margin: when sleeping leave this much time before deadline to avoid oversleep. Default 5ms
Note:
The default parameters are chosen to prioritize timing accuracy over CPU usage for the common 30 FPS use case.