From e7525f61aa0bcd77c6409de2e4e831833bea2130 Mon Sep 17 00:00:00 2001
From: Maximilian Huettenrauch <max.huettenrauch@gmail.com>
Date: Thu, 24 Jun 2021 18:34:39 +0200
Subject: [PATCH] wip

---
 alr_envs/__init__.py             | 30 ++++++++++++++++++++++++++++++
 alr_envs/utils/mps/mp_wrapper.py |  0
 2 files changed, 30 insertions(+)
 delete mode 100644 alr_envs/utils/mps/mp_wrapper.py

diff --git a/alr_envs/__init__.py b/alr_envs/__init__.py
index 3d221b4..207c625 100644
--- a/alr_envs/__init__.py
+++ b/alr_envs/__init__.py
@@ -104,6 +104,16 @@ register(
     }
 )
 
+register(
+    id='ALRBallInACupPD-v0',
+    entry_point='alr_envs.mujoco:ALRBallInACupPDEnv',
+    max_episode_steps=4000,
+    kwargs={
+        "simplified": False,
+        "reward_type": "no_context"
+    }
+)
+
 register(
     id='ALRBallInACup-v0',
     entry_point='alr_envs.mujoco:ALRBallInACupEnv',
@@ -398,6 +408,26 @@ register(
     }
 )
 
+register(
+    id='ALRBallInACupPDDetPMP-v0',
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env',
+    kwargs={
+        "name": "alr_envs:ALRBallInACupPD-v0",
+        "num_dof": 7,
+        "num_basis": 5,
+        "duration": 3.5,
+        "post_traj_time": 4.5,
+        "width": 0.0035,
+        # "off": -0.05,
+        "policy_type": "motor",
+        "weights_scale": 0.2,
+        "zero_start": True,
+        "zero_goal": True,
+        "p_gains": np.array([4./3., 2.4, 2.5, 5./3., 2., 2., 1.25]),
+        "d_gains": np.array([0.0466, 0.12, 0.125, 0.04166, 0.06, 0.06, 0.025])
+    }
+)
+
 register(
     id='ALRBallInACupDetPMP-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env',
diff --git a/alr_envs/utils/mps/mp_wrapper.py b/alr_envs/utils/mps/mp_wrapper.py
deleted file mode 100644
index e69de29..0000000