Move mp_config out of metadata and onto MPWrappers

fancy_gym/envs/classic_control/hole_reacher/hole_reacher.py

@@ -15,34 +15,6 @@ MAX_EPISODE_STEPS_HOLEREACHER = 200
 
 class HoleReacherEnv(BaseReacherDirectEnv):
 
-    metadata = {
-        'mp_config': {
-            'ProMP': {
-                'wrappers': [MPWrapper],
-                'controller_kwargs': {
-                    'controller_type': 'velocity',
-                },
-                'trajectory_generator_kwargs': {
-                    'weight_scale': 2,
-                },
-            },
-            'DMP': {
-                'wrappers': [MPWrapper],
-                'controller_kwargs': {
-                    'controller_type': 'velocity',
-                },
-                'trajectory_generator_kwargs': {
-                    # TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
-                    'weight_scale': 500,
-                },
-                'phase_generator_kwargs': {
-                    'alpha_phase': 2.5,
-                },
-            },
-            'ProDMP': {},
-        }
-    }
-
     def __init__(self, n_links: int, hole_x: Union[None, float] = None, hole_depth: Union[None, float] = None,
                  hole_width: float = 1., random_start: bool = False, allow_self_collision: bool = False,
                  allow_wall_collision: bool = False, collision_penalty: float = 1000, rew_fct: str = "simple"):

fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py

@@ -7,6 +7,30 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 class MPWrapper(RawInterfaceWrapper):
 
+    mp_config = {
+        'ProMP': {
+            'controller_kwargs': {
+                'controller_type': 'velocity',
+            },
+            'trajectory_generator_kwargs': {
+                'weight_scale': 2,
+            },
+        },
+        'DMP': {
+            'controller_kwargs': {
+                'controller_type': 'velocity',
+            },
+            'trajectory_generator_kwargs': {
+                # TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
+                'weight_scale': 500,
+            },
+            'phase_generator_kwargs': {
+                'alpha_phase': 2.5,
+            },
+        },
+        'ProDMP': {},
+    }
+
     @property
     def context_mask(self):
         return np.hstack([

fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py

@@ -7,6 +7,28 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 class MPWrapper(RawInterfaceWrapper):
 
+    mp_config = {
+        'ProMP': {
+            'controller_kwargs': {
+                'p_gains': 0.6,
+                'd_gains': 0.075,
+            },
+        },
+        'DMP': {
+            'controller_kwargs': {
+                'p_gains': 0.6,
+                'd_gains': 0.075,
+            },
+            'trajectory_generator_kwargs': {
+                'weight_scale': 50,
+            },
+            'phase_generator_kwargs': {
+                'alpha_phase': 2,
+            },
+        },
+        'ProDMP': {},
+    }
+
     @property
     def context_mask(self):
         return np.hstack([

fancy_gym/envs/classic_control/simple_reacher/simple_reacher.py

@@ -16,32 +16,6 @@ class SimpleReacherEnv(BaseReacherTorqueEnv):
     towards the end of the trajectory.
     """
 
-    metadata = {
-        'mp_config': {
-            'ProMP': {
-                'wrappers': [MPWrapper],
-                'controller_kwargs': {
-                    'p_gains': 0.6,
-                    'd_gains': 0.075,
-                },
-            },
-            'DMP': {
-                'wrappers': [MPWrapper],
-                'controller_kwargs': {
-                    'p_gains': 0.6,
-                    'd_gains': 0.075,
-                },
-                'trajectory_generator_kwargs': {
-                    'weight_scale': 50,
-                },
-                'phase_generator_kwargs': {
-                    'alpha_phase': 2,
-                },
-            },
-            'ProDMP': {},
-        }
-    }
-
     def __init__(self, n_links: int, target: Union[None, Iterable] = None, random_start: bool = True,
                  allow_self_collision: bool = False, ):
         super().__init__(n_links, random_start, allow_self_collision)

fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py

@@ -7,6 +7,26 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 class MPWrapper(RawInterfaceWrapper):
 
+    mp_config = {
+        'ProMP': {
+            'controller_kwargs': {
+                'controller_type': 'velocity',
+            },
+        },
+        'DMP': {
+            'controller_kwargs': {
+                'controller_type': 'velocity',
+            },
+            'trajectory_generator_kwargs': {
+                'weight_scale': 50,
+            },
+            'phase_generator_kwargs': {
+                'alpha_phase': 2,
+            },
+        },
+        'ProDMP': {},
+    }
+
     @property
     def context_mask(self):
         return np.hstack([

fancy_gym/envs/classic_control/viapoint_reacher/viapoint_reacher.py

@@ -12,30 +12,6 @@ from . import MPWrapper
 
 class ViaPointReacherEnv(BaseReacherDirectEnv):
 
-    metadata = {
-        'mp_config': {
-            'ProMP': {
-                'wrappers': [MPWrapper],
-                'controller_kwargs': {
-                    'controller_type': 'velocity',
-                },
-            },
-            'DMP': {
-                'wrappers': [MPWrapper],
-                'controller_kwargs': {
-                    'controller_type': 'velocity',
-                },
-                'trajectory_generator_kwargs': {
-                    'weight_scale': 50,
-                },
-                'phase_generator_kwargs': {
-                    'alpha_phase': 2,
-                },
-            },
-            'ProDMP': {},
-        }
-    }
-
     def __init__(self, n_links, random_start: bool = False, via_target: Union[None, Iterable] = None,
                  target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):
 

fancy_gym/envs/registry.py

@@ -142,14 +142,14 @@ def register_mp(id, mp_wrapper, mp_type):
 def bb_env_constructor(underlying_id, mp_wrapper, mp_type, mp_config_override={}, **kwargs):
     raw_underlying_env = gym_make(underlying_id, **kwargs)
     underlying_env = mp_wrapper(raw_underlying_env)
-    env_metadata = underlying_env.metadata
 
-    metadata_config = copy.deepcopy(env_metadata.get('mp_config', {}).get(mp_type, {}))
+    mp_config = underlying_env.get('mp_config', {})
-    global_inherit_defaults = env_metadata.get('mp_config', {}).get('inherit_defaults', True)
+    active_mp_config = copy.deepcopy(mp_config.get(mp_type, {}))
-    inherit_defaults = metadata_config.pop('inherit_defaults', global_inherit_defaults)
+    global_inherit_defaults = mp_config.get('inherit_defaults', True)
+    inherit_defaults = active_mp_config.pop('inherit_defaults', global_inherit_defaults)
 
     config = copy.deepcopy(_BB_DEFAULTS[mp_type]) if inherit_defaults else {}
-    nested_update(config, metadata_config)
+    nested_update(config, active_mp_config)
     nested_update(config, mp_config_override)
 
     wrappers = config.pop("wrappers")