Merge branch 'master' into gym_upgrade

2023-05-27 11:45:51 +02:00
parent d6df6779a1 053a17889f
commit 35680ab9a2
79 changed files with 901 additions and 16 deletions
@@ -183,11 +183,11 @@ def make_bb(

    # set tau bounds to minimum of two env steps otherwise computing the velocity is not possible.
    # maximum is full duration of one episode.
-    if phase_kwargs.get('learn_tau'):
+    if phase_kwargs.get('learn_tau') and phase_kwargs.get('tau_bound') is None:
        phase_kwargs["tau_bound"] = [env.dt * 2, black_box_kwargs['duration']]

    # Max delay is full duration minus two steps due to above reason
-    if phase_kwargs.get('learn_delay'):
+    if phase_kwargs.get('learn_delay') and phase_kwargs.get('delay_bound') is None:
        phase_kwargs["delay_bound"] = [0, black_box_kwargs['duration'] - env.dt * 2]

    phase_gen = get_phase_generator(**phase_kwargs)