From 4fafe8676402c0d9be0c852ae24ebac0de509b0a Mon Sep 17 00:00:00 2001
From: ottofabian <fabi.otto@t-online.de>
Date: Fri, 2 Jul 2021 17:35:40 +0200
Subject: [PATCH] fixed ball in the cup gains

---
 alr_envs/__init__.py              | 10 +++++-----
 alr_envs/examples/examples_dmc.py | 10 +++++++---
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/alr_envs/__init__.py b/alr_envs/__init__.py
index a526ff7..5b9bf10 100644
--- a/alr_envs/__init__.py
+++ b/alr_envs/__init__.py
@@ -537,8 +537,8 @@ register(
             "weights_scale": 50,
             "goal_scale": 0.1,
             "policy_kwargs": {
-                "p_gains": 0.2,
-                "d_gains": 0.05
+                "p_gains": 50,
+                "d_gains": 1
             }
         }
     }
@@ -555,12 +555,12 @@ register(
             "num_basis": 5,
             "duration": 20,
             "width": 0.025,
-            "policy_type": "velocity",
+            "policy_type": "motor",
             "weights_scale": 0.2,
             "zero_start": True,
             "policy_kwargs": {
-                "p_gains": 0.2,
-                "d_gains": 0.05
+                "p_gains": 50,
+                "d_gains": 1
             }
         }
     }
diff --git a/alr_envs/examples/examples_dmc.py b/alr_envs/examples/examples_dmc.py
index d99b037..b877933 100644
--- a/alr_envs/examples/examples_dmc.py
+++ b/alr_envs/examples/examples_dmc.py
@@ -64,15 +64,19 @@ def example_custom_dmc_and_mp(seed=1, iterations=1, render=True):
     # You can also add other gym.Wrappers in case they are needed.
     wrappers = [DMCBallInCupMPWrapper]
     mp_kwargs = {
-        "num_dof": 2,  # env.start_pos
+        "num_dof": 2,
         "num_basis": 5,
         "duration": 20,
         "learn_goal": True,
         "alpha_phase": 2,
         "bandwidth_factor": 2,
-        "policy_type": "velocity",
+        "policy_type": "motor",
         "weights_scale": 50,
-        "goal_scale": 0.1
+        "goal_scale": 0.1,
+        "policy_kwargs": {
+            "p_gains": 0.2,
+            "d_gains": 0.05
+        }
     }
     env = make_dmp_env(base_env, wrappers=wrappers, seed=seed, mp_kwargs=mp_kwargs)
     # OR for a deterministic ProMP: