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Not sure if this could work, but maybe you can set up an Event term that updates some variable which you can then query in your observation term. Not the cleanest way of course, but could serve as a workaround... |
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While not exactly what you're looking for, there is a DelayedPDActuator that has a configurable and randomizable amount of delay- this should be fairly easy to turn into an observation wrapper class that can take ObsTerms as inputs and apply fixed/variable delay. You just need to keep track of a pointer into some observation buffer that you update with each step. |
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Hi, I would like to experiment with adding delays to the observations to bridge the sim2real gap. I found out they are not supported yet.
Are there some plans on adding this support? I saw a TODO in code regarding this, so I was wondering whether anyone has already tried something in this direction.
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