diff --git a/test.py b/test.py
index 155b10c87..6e11601fd 100644
--- a/test.py
+++ b/test.py
@@ -34,23 +34,31 @@ class Policy:
         self.action_queue = TemporalQueue()
         self.thread = None
 
+        self.n_action = 2
+        FPS = 10  # noqa: N806
+        self.delta_timestamps = [i / FPS for i in range(self.n_action)]
+
     def inference(self, observation):
         # TODO
         time.sleep(0.5)
-        return observation
+        return [observation] * self.n_action
 
     def inference_loop(self):
-        previous_timestamp = None
+        prev_timestamp = None
         while not self.stop_event.is_set():
-            latest_observation, latest_timestamp = self.obs_queue.get()
+            last_observation, last_timestamp = self.obs_queue.get()
 
-            if previous_timestamp is not None and previous_timestamp == latest_timestamp:
+            if prev_timestamp is not None and prev_timestamp == last_timestamp:
                 # in case inference ran faster than recording/adding a new observation in the queue
                 time.sleep(0.1)
-            else:
-                predicted_action_sequence = self.inference(latest_observation)
-                self.action_queue.add(predicted_action_sequence, latest_timestamp)
-                previous_timestamp = latest_timestamp
+                continue
+
+            pred_action_sequence = self.inference(last_observation)
+
+            for action, delta_ts in zip(pred_action_sequence, self.delta_timestamps, strict=False):
+                self.action_queue.add(action, last_timestamp + delta_ts)
+
+            prev_timestamp = last_timestamp
 
     def select_action(
         self,