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Repoch can be used with simulated environments but care needs to be taken with regards to timestamps.

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Simulation Time Configuration

When simulation time differs from real-time (e.g., running faster or slower than wall clock time), you need to add the simulation timestamps. 
from repoch.client_api.streaming import VideoStream

stream = VideoStream(
    robot_name="sim_robot",
    stream_name="wrist_cam"
)

# Send observations with simulation timestamps
stream.add_frame(
    image,
    sim_timestamp_us=sim_time  # unix microseconds
)
To learn more about timing, read the section about how Repoch synchronization works.

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Next Steps

Edge Deployment

Deploy Repoch on edge devices