From 0629d1260c6d611b2917f02776fd00f6208a2578 Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Sun, 17 Sep 2023 17:29:26 +0200
Subject: [PATCH] Ensure mp_config defined for all envs, even if just using
 defaults.

---
 fancy_gym/dmc/suite/reacher/mp_wrapper.py             | 2 ++
 fancy_gym/envs/mujoco/half_cheetah_jump/mp_wrapper.py | 6 ++++++
 fancy_gym/envs/mujoco/hopper_jump/mp_wrapper.py       | 5 +++++
 fancy_gym/envs/mujoco/hopper_throw/mp_wrapper.py      | 5 +++++
 fancy_gym/envs/mujoco/walker_2d_jump/mp_wrapper.py    | 5 +++++
 5 files changed, 23 insertions(+)

diff --git a/fancy_gym/dmc/suite/reacher/mp_wrapper.py b/fancy_gym/dmc/suite/reacher/mp_wrapper.py
index fe40d26..d713fb6 100644
--- a/fancy_gym/dmc/suite/reacher/mp_wrapper.py
+++ b/fancy_gym/dmc/suite/reacher/mp_wrapper.py
@@ -10,6 +10,7 @@ class MPWrapper(RawInterfaceWrapper):
         'ProMP': {
             'controller_kwargs': {
                 'p_gains': 50.0,
+                'd_gains': 1.0,
             },
             'trajectory_generator_kwargs': {
                 'weights_scale': 0.2,
@@ -18,6 +19,7 @@ class MPWrapper(RawInterfaceWrapper):
         'DMP': {
             'controller_kwargs': {
                 'p_gains': 50.0,
+                'd_gains': 1.0,
             },
             'phase_generator': {
                 'alpha_phase': 2,
diff --git a/fancy_gym/envs/mujoco/half_cheetah_jump/mp_wrapper.py b/fancy_gym/envs/mujoco/half_cheetah_jump/mp_wrapper.py
index 11b169b..f5f7634 100644
--- a/fancy_gym/envs/mujoco/half_cheetah_jump/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/half_cheetah_jump/mp_wrapper.py
@@ -6,6 +6,12 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+    mp_config = {
+        'ProMP': {},
+        'DMP': {},
+        'ProDMP': {},
+    }
+
     @property
     def context_mask(self) -> np.ndarray:
         return np.hstack([
diff --git a/fancy_gym/envs/mujoco/hopper_jump/mp_wrapper.py b/fancy_gym/envs/mujoco/hopper_jump/mp_wrapper.py
index ed95b3d..4faeaad 100644
--- a/fancy_gym/envs/mujoco/hopper_jump/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/hopper_jump/mp_wrapper.py
@@ -6,6 +6,11 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+    mp_config = {
+        'ProMP': {},
+        'DMP': {},
+        'ProDMP': {},
+    }
 
     # Random x goal + random init pos
     @property
diff --git a/fancy_gym/envs/mujoco/hopper_throw/mp_wrapper.py b/fancy_gym/envs/mujoco/hopper_throw/mp_wrapper.py
index cad680a..03588a2 100644
--- a/fancy_gym/envs/mujoco/hopper_throw/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/hopper_throw/mp_wrapper.py
@@ -6,6 +6,11 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+    mp_config = {
+        'ProMP': {},
+        'DMP': {},
+        'ProDMP': {},
+    }
 
     @property
     def context_mask(self):
diff --git a/fancy_gym/envs/mujoco/walker_2d_jump/mp_wrapper.py b/fancy_gym/envs/mujoco/walker_2d_jump/mp_wrapper.py
index d55e9d2..3dd8c55 100644
--- a/fancy_gym/envs/mujoco/walker_2d_jump/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/walker_2d_jump/mp_wrapper.py
@@ -6,6 +6,11 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+    mp_config = {
+        'ProMP': {},
+        'DMP': {},
+        'ProDMP': {},
+    }
 
     @property
     def context_mask(self):