Motor Delay

[zcase]

@JacopoPan do you know of a way to induce motor delay for a given time amount using the _pyhiics function or would we need to use the _dynamics function to do this?

Could we modify the step function to change:

if self.PHYSICS != Physics.DYN:
    p.stepSimulation(physicsClientId=self.CLIENT)

to

if self.PHYSICS != Physics.DYN:
    for _ in range(self.num_of_steps_for_dealy):
        p.stepSimulation(physicsClientId=self.CLIENT)

where the num_of_steps is calculated by doing something like:

motor_delay_ms = 100  # milliseconds
self.num_of_steps_for_dealy = int(pyb_freq * (motor_delay_ms / 1000))

I did try this but it seems to just instantly crash the drone.

[JacopoPan]

I think the easiest way is to start implementing motor delay in the aviaries with RPM inputs and simulation stepped by PyBullet and simply by adding a buffer of actions that matches the delay measured in simulation steps (of course, in this case, the simulation integration step should be smaller than the delay we want to introduce).

[zcase]

I think I tried doing a first order low pass filter on the actions based of the motor delay and the simulation freq within the step function and that seemed to help