From 89bd6781c78a1793f54d4a32acc9cc14eaa0c87f Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Sun, 17 Sep 2023 19:05:25 +0200
Subject: [PATCH] mp_config for vanilla gym Reacher

---
 .../open_ai/mujoco/reacher_v2/mp_wrapper.py   | 22 +++++++++++++++++++
 1 file changed, 22 insertions(+)

diff --git a/fancy_gym/open_ai/mujoco/reacher_v2/mp_wrapper.py b/fancy_gym/open_ai/mujoco/reacher_v2/mp_wrapper.py
index b2fa04c..3000353 100644
--- a/fancy_gym/open_ai/mujoco/reacher_v2/mp_wrapper.py
+++ b/fancy_gym/open_ai/mujoco/reacher_v2/mp_wrapper.py
@@ -6,6 +6,28 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+    mp_config = {
+        'ProMP': {
+            "trajectory_generator_kwargs": {
+                'trajectory_generator_type': 'promp'
+            },
+            "phase_generator_kwargs": {
+                'phase_generator_type': 'linear'
+            },
+            "controller_kwargs": {
+                'controller_type': 'motor',
+                "p_gains": 0.6,
+                "d_gains": 0.075,
+            },
+            "basis_generator_kwargs": {
+                'basis_generator_type': 'zero_rbf',
+                'num_basis': 6,
+                'num_basis_zero_start': 1
+            }
+        },
+        'DMP': {},
+        'ProDMP': {},
+    }
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray]: