huggingface
Fix: busy_wait Windows Timer
What this does
This code fixes the busy_wait function on Windows to use the same strategy as Mac. Windows time.sleep() frequently oversleeps which is causing issues with framerates in recorded data
Examples:
| Title | Label |
|---|---|
| Fixes Windows Time Sleep | (🐛 Bug) |
How it was tested
I ran a remote robot teleop on 10 fps, 20fps, and 30fps.
For Linux all 3 were approximately correct (maybe off by a few hundredths of an fps) For Windows all 3 were wildly off, anywhere from 10%-30%
How to checkout & try? (for the reviewer)
Record a dataset on Mac, Linux, and Windows and you should now see that all 3 have the proper FPS within the INFO logs when recording data
Examples:
python lerobot/scripts/control_robot.py \
--robot.type=so100 \
--control.type=teleoperate \
--control.fps=20 \
--control.display_data=true
Hi @nicholas-maselli,
Nice catch regarding timers on Windows ! A shame time.sleep() is not precise on Windows and MacOS... Unfortunately, the files architecture changed a bit since your submission. Could you rebase your branch on main so that I can merge this PR ? busy_wait() is now in lerobot/common/utils/robot_utils.py.
Thanks !
Best,
Caroline.
Hi @nicholas-maselli,
Your PR has been updated to the latest codebase version in #1695, and will be merged anytime soon.
Best,
Caroline.