From 8d26cccc35d5b35a1f4101bcdcccfd9df0b3ddf1 Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Thu, 20 Jul 2023 11:44:50 +0200
Subject: [PATCH] ported mp_config for mujoco/box_pushing

---
 fancy_gym/envs/mujoco/reacher/mp_wrapper.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/fancy_gym/envs/mujoco/reacher/mp_wrapper.py b/fancy_gym/envs/mujoco/reacher/mp_wrapper.py
index 0464640..d47737a 100644
--- a/fancy_gym/envs/mujoco/reacher/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/reacher/mp_wrapper.py
@@ -7,6 +7,16 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 class MPWrapper(RawInterfaceWrapper):
 
+    mp_config = {
+        'ProMP': {},
+        'DMP': {
+            'phase_generator_kwargs': {
+                'alpha_phase': 2,
+            },
+        },
+        'ProDMP': {},
+    }
+
     @property
     def context_mask(self):
         return np.concatenate([[False] * self.n_links,  # cos