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Handle fps=None in control_loop

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This commit is contained in:
Remi Cadene
2024-10-14 15:54:25 +02:00
parent 94c3a480e1
commit 99414f356f
1 changed files with 3 additions and 2 deletions
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5
lerobot/common/robot_devices/control_utils.py
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@@ -279,8 +279,9 @@ def control_loop(
cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR)) cv2.imshow(key, cv2.cvtColor(observation[key].numpy(), cv2.COLOR_RGB2BGR))
cv2.waitKey(1) cv2.waitKey(1)
dt_s = time.perf_counter() - start_loop_t if fps is not None:
busy_wait(1 / fps - dt_s) dt_s = time.perf_counter() - start_loop_t
busy_wait(1 / fps - dt_s)
dt_s = time.perf_counter() - start_loop_t dt_s = time.perf_counter() - start_loop_t
log_control_info(robot, dt_s, fps=fps) log_control_info(robot, dt_s, fps=fps)