Several fixes to move the actor_server and learner_server code from the maniskill environment to the real robot environment.

Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>

lerobot/common/utils/utils.py

@@ -18,6 +18,7 @@ import os
 import os.path as osp
 import platform
 import subprocess
+import time
 from copy import copy
 from datetime import datetime, timezone
 from pathlib import Path
@@ -228,3 +229,28 @@ def is_valid_numpy_dtype_string(dtype_str: str) -> bool:
     except TypeError:
         # If a TypeError is raised, the string is not a valid dtype
         return False
+
+
+class TimerManager:
+    def __init__(self, elapsed_time_list: list[float] | None = None, label="Elapsed time", log=True):
+        self.label = label
+        self.elapsed_time_list = elapsed_time_list
+        self.log = log
+        self.elapsed = 0.0
+
+    def __enter__(self):
+        self.start = time.perf_counter()
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self.elapsed: float = time.perf_counter() - self.start
+
+        if self.elapsed_time_list is not None:
+            self.elapsed_time_list.append(self.elapsed)
+
+        if self.log:
+            print(f"{self.label}: {self.elapsed:.6f} seconds")
+
+    @property
+    def elapsed_seconds(self):
+        return self.elapsed