From 757072c7625fdd7e992b51adefc47780cadbf01a Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Wed, 11 Oct 2023 12:35:23 +0200
Subject: [PATCH] Documnenting merging behavior for mp_configs (and remove
 TODOs)

---
 README.md                  | 30 +++++++++++++++++++++++++++++-
 fancy_gym/envs/registry.py |  3 ---
 2 files changed, 29 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index 8b82975..3f2ea95 100644
--- a/README.md
+++ b/README.md
@@ -177,7 +177,7 @@ import numpy as np
 
 
 class RawInterfaceWrapper(gym.Wrapper):
-    mp_config = { # Default configurations for MPs can be overitten by defining attributes here.
+    mp_config = {
         'ProMP': {},
         'DMP': {},
         'ProDMP': {},
@@ -222,6 +222,34 @@ class RawInterfaceWrapper(gym.Wrapper):
 
 ```
 
+Default configurations for MPs can be overitten by defining attributes in mp_config.
+Available parameters are documented in the [MP_PyTorch Userguide](https://github.com/ALRhub/MP_PyTorch/blob/main/doc/README.md).
+
+```python
+class RawInterfaceWrapper(gym.Wrapper):
+    mp_config = {
+        'ProMP': {
+            'phase_generator_kwargs': {
+                'phase_generator_type': 'linear'
+                # When selecting another generator type, the default configuration will not be merged for the attribute.
+            },
+            'controller_kwargs': {
+                'p_gains': 0.5 * np.array([1.0, 4.0, 2.0, 4.0, 1.0, 4.0, 1.0]),
+                'd_gains': 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1]),
+            },
+            'basis_generator_kwargs': {
+                'num_basis': 3,
+                'num_basis_zero_start': 1,
+                'num_basis_zero_goal': 1,
+            },
+        },
+        'DMP': {},
+        'ProDMP': {}.
+    }
+
+    [...]
+```
+
 If you created a new task wrapper, feel free to open a PR, so we can integrate it for others to use as well. Without the
 integration the task can still be used. A rough outline can be shown here, for more details we recommend having a look
 at the [examples](fancy_gym/examples/).
diff --git a/fancy_gym/envs/registry.py b/fancy_gym/envs/registry.py
index c3eb896..4736cf4 100644
--- a/fancy_gym/envs/registry.py
+++ b/fancy_gym/envs/registry.py
@@ -8,7 +8,6 @@ from collections import defaultdict
 from collections.abc import Mapping, MutableMapping
 
 from fancy_gym.utils.make_env_helpers import make_bb
-# from fancy_gym.utils.utils import nested_update
 from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 from gymnasium import register as gym_register
@@ -238,8 +237,6 @@ def register_mp(id: str, base_id: str, mp_wrapper: RawInterfaceWrapper, mp_type:
     MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS[ns][mp_type].append(fancy_id)
     MOVEMENT_PRIMITIVE_ENVIRONMENTS_FOR_NS[ns]['all'].append(fancy_id)
 
-# TODO: Apply inherit_defaults: False to appropiate places and remove this...
-
 
 def nested_update(base: MutableMapping, update):
     """