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This commit is contained in:
Remi Cadene
2024-10-16 12:10:40 +02:00
parent a7841afaa4
commit a1a7f7887f
3 changed files with 52 additions and 76 deletions
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6
test2.py
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@@ -40,17 +40,17 @@ def main(env_name, policy_name, extra_overrides):
fps = 30
for i in range(200):
for i in range(400):
start_loop_t = time.perf_counter()
next_action, present_time, action_ts = policy.select_action(obs)
next_action = policy.select_action(obs) # noqa: F841
dt_s = time.perf_counter() - start_loop_t
busy_wait(1 / fps - dt_s)
dt_s = time.perf_counter() - start_loop_t
print(
f"{i=}, {dt_s * 1000:5.2f} ({1/ dt_s:3.1f}hz) \t{present_time}\t{action_ts}"
f"{i=}, {dt_s * 1000:5.2f} ({1/ dt_s:3.1f}hz) \t{policy._present_timestamp}\t{policy._present_action_timestamp}"
) # , {next_action.mean().item()}")
# time.sleep(1/30) # frequency at which we receive a new observation (30 Hz = 0.03 s)