Fix bugs to create mp environments. Still conflicts with mp_pytorch_lib

alr_envs/alr/__init__.py

@@ -428,7 +428,7 @@ for _v in _versions:
     kwargs_dict_bp_promp['name'] = f"alr_envs:{_v}"
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
+        entry_point='alr_envs.utils.make_env_helpers:make_bb_env_helper',
         kwargs=kwargs_dict_bp_promp
     )
     ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)

alr_envs/alr/classic_control/viapoint_reacher/__init__.py

@@ -1 +1 @@
-from new_mp_wrapper import MPWrapper
+from .mp_wrapper import MPWrapper

alr_envs/alr/mujoco/beerpong/new_mp_wrapper.py

@@ -25,8 +25,9 @@ class MPWrapper(RawInterfaceWrapper):
             [False]  # env steps
         ])
 
-    def _episode_callback(self, action: np.ndarray) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
-        if self.mp.learn_tau:
+    # TODO: Fix this
+    def _episode_callback(self, action: np.ndarray, mp) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
+        if mp.learn_tau:
             self.env.env.release_step = action[0] / self.env.dt  # Tau value
             return action, None
         else: