admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-22 12:09:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix: precise_sleep is never called with negative value (#2757)

Browse Source
This commit is contained in:
Steven Palma
2026-01-06 20:09:43 +01:00
committed by GitHub
parent 963a3482fa
commit e2957d7783
10 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lerobot/rl/actor.py
+1 -1
View File
@@ -398,7 +398,7 @@ def act_with_policy(
if cfg.env.fps is not None:
dt_time = time.perf_counter() - start_time
precise_sleep(1 / cfg.env.fps - dt_time)
precise_sleep(max(1 / cfg.env.fps - dt_time, 0.0))
# Communication Functions - Group all gRPC/messaging functions
src/lerobot/rl/gym_manipulator.py
+3 -3
View File
@@ -238,7 +238,7 @@ class RobotEnv(gym.Env):
reset_follower_position(self.robot, np.array(self.reset_pose))
log_say("Reset the environment done.", play_sounds=True)
precise_sleep(self.reset_time_s - (time.perf_counter() - start_time))
precise_sleep(max(self.reset_time_s - (time.perf_counter() - start_time), 0.0))
super().reset(seed=seed, options=options)
@@ -713,7 +713,7 @@ def control_loop(
transition = env_processor(transition)
# Maintain fps timing
precise_sleep(dt - (time.perf_counter() - step_start_time))
precise_sleep(max(dt - (time.perf_counter() - step_start_time), 0.0))
if dataset is not None and cfg.dataset.push_to_hub:
logging.info("Pushing dataset to hub")
@@ -745,7 +745,7 @@ def replay_trajectory(
)
transition = action_processor(transition)
env.step(transition[TransitionKey.ACTION])
precise_sleep(1 / cfg.env.fps - (time.perf_counter() - start_time))
precise_sleep(max(1 / cfg.env.fps - (time.perf_counter() - start_time), 0.0))
@parser.wrap()