From da34db22c82649bfb056ea485786d4e0bbfc7325 Mon Sep 17 00:00:00 2001
From: Dominik Roth <dominik.roth.dev@gmail.com>
Date: Sun, 17 Sep 2023 17:31:41 +0200
Subject: [PATCH] Fix: mp_config missing for BoxPushing ProDMP

---
 fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py b/fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py
index c2c5637..9d775b8 100644
--- a/fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/box_pushing/mp_wrapper.py
@@ -17,7 +17,15 @@ class MPWrapper(RawInterfaceWrapper):
             }
         },
         'DMP': {},
-        'ProDMP': {},
+        'ProDMP': {
+            'controller_kwargs': {
+                'p_gains': 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.]),
+                'd_gains': 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.]),
+            },
+            'basis_generator_kwargs': {
+                'basis_bandwidth_factor': 2  # 3.5, 4 to try
+            }
+        },
     }
 
     # Random x goal + random init pos