Handle fps=None in control_loop

2024-10-14 15:54:25 +02:00
parent 94c3a480e1
commit 99414f356f
1 changed files with 3 additions and 2 deletions
--- a/lerobot/common/robot_devices/control_utils.py
+++ b/lerobot/common/robot_devices/control_utils.py
@@ -279,8 +279,9 @@ def control_loop(
                cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
            cv2.waitKey(1)

-        dt_s = time.perf_counter() - start_loop_t
-        busy_wait(1 / fps - dt_s)
+        if fps is not None:
+            dt_s = time.perf_counter() - start_loop_t
+            busy_wait(1 / fps - dt_s)

        dt_s = time.perf_counter() - start_loop_t
        log_control_info(robot, dt_s, fps=fps)