updated setup.py

fancy_gym/black_box/black_box_wrapper.py

@@ -166,7 +166,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
                                                 t + 1 + self.current_traj_steps):
                 break
 
-        infos.update({k: v[:t] for k, v in infos.items()})
+        infos.update({k: v[:t + 1] for k, v in infos.items()})
         self.current_traj_steps += t + 1
 
         if self.verbose >= 2:

fancy_gym/meta/__init__.py

@@ -13,7 +13,8 @@ DEFAULT_BB_DICT_ProMP = {
     "name": 'EnvName',
     "wrappers": [],
     "trajectory_generator_kwargs": {
-        'trajectory_generator_type': 'promp'
+        'trajectory_generator_type': 'promp',
+        'weights_scale': 10,
     },
     "phase_generator_kwargs": {
         'phase_generator_type': 'linear'
@@ -32,17 +33,22 @@ DEFAULT_BB_DICT_ProDMP = {
     "name": 'EnvName',
     "wrappers": [],
     "trajectory_generator_kwargs": {
-        'trajectory_generator_type': 'prodmp'
+        'trajectory_generator_type': 'prodmp',
+        'auto_scale_basis': True,
+        'weights_scale': 10,
+        'goal_scale': 0.
     },
     "phase_generator_kwargs": {
-        'phase_generator_type': 'exp'
+        'phase_generator_type': 'exp',
+        # 'alpha_phase' : 3,
     },
     "controller_kwargs": {
         'controller_type': 'metaworld',
     },
     "basis_generator_kwargs": {
         'basis_generator_type': 'prodmp',
-        'num_basis': 5
+        'num_basis': 3,
+        'alpha': 10
     }
 }
 
@@ -148,7 +154,6 @@ for _task in _goal_and_object_change_envs:
     )
     ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
 
-
 _goal_and_endeffector_change_envs = ["basketball-v2"]
 for _task in _goal_and_endeffector_change_envs:
     task_id_split = _task.split("-")

test/test_metaworld_envs.py

@@ -9,7 +9,6 @@ from test.utils import run_env, run_env_determinism
 METAWORLD_IDS = [f'metaworld:{env.split("-goal-observable")[0]}' for env, _ in
                  ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE.items()]
 METAWORLD_MP_IDS = chain(*fancy_gym.ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS.values())
-print(METAWORLD_MP_IDS)
 SEED = 1