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add invalid trajectory callback & invalid traj return & register all 3 variantes of table tennis tasks

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This commit is contained in:
Hongyi Zhou
2022-12-01 11:28:03 +01:00
parent 28aa430fd2
commit f376772c22
9 changed files with 151 additions and 162 deletions
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fancy_gym/utils/make_env_helpers.py
+2 -2
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@@ -168,11 +168,11 @@ 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)