fix: add USE_HISTORY

src/rl_sar/src/rl_sim.cpp

@@ -4,6 +4,7 @@
 
 // #define PLOT
 // #define CSV_LOGGER
+#define USE_HISTORY
 
 RL_Sim::RL_Sim()
 {
@@ -33,7 +34,9 @@ RL_Sim::RL_Sim()
     this->InitObservations();
     this->InitOutputs();
 
+#ifdef USE_HISTORY
     this->history_obs_buf = ObservationBuffer(1, this->params.num_observations, 6);
+#endif
 
     joint_positions = std::vector<double>(params.num_of_dofs, 0.0);
     joint_velocities = std::vector<double>(params.num_of_dofs, 0.0);
@@ -175,10 +178,13 @@ torch::Tensor RL_Sim::Forward()
 {
     torch::Tensor obs = this->ComputeObservation();
 
+#ifdef USE_HISTORY
     history_obs_buf.insert(obs);
     history_obs = history_obs_buf.get_obs_vec({0, 1, 2, 3, 4, 5});
-
     torch::Tensor action = this->model.forward({history_obs}).toTensor();
+#else
+    torch::Tensor action = this->model.forward({obs}).toTensor();
+#endif
 
     this->obs.actions = action;
     torch::Tensor clamped = torch::clamp(action, -this->params.clip_actions, this->params.clip_actions);