When installing fancy_gym with the optional dmc extra (e.g. `pip install fancy_gym[dmc]`), all regular dmc tasks are made avaible via (Shimmy)[https://github.com/Farama-Foundation/Shimmy].
| Name | Description | Action Dim | Observation Dim |
| `dm_control/acrobot-swingup-v0` | Underactuated double pendulum (Acrobot) with torque applied to the second joint to swing up and balance. | 1 | 6 |
| `dm_control/acrobot-swingup_sparse-v0` | Similar to `acrobot-swingup-v0`, but with sparse rewards for achieving the swingup task. | 1 | 6 |
| `dm_control/ball_in_cup-catch-v0` | Planar ball-in-cup task where a receptacle must swing to catch a ball. Sparse reward for catching. | 2 | 8 |
| `dm_control/cartpole-balance-v0` | Cart-pole task where the goal is to balance an unactuated pole by moving a cart, starting near upright. | 1 | 5 |
| `dm_control/cartpole-balance_sparse-v0` | Similar to `cartpole-balance-v0`, but with sparse rewards. | 1 | 5 |
| `dm_control/cartpole-swingup-v0` | Cart-pole task with the pole starting downward, requiring swinging up and balancing. | 1 | 5 |
| `dm_control/cartpole-swingup_sparse-v0` | Similar to `cartpole-swingup-v0`, but with sparse rewards for the swingup task. | 1 | 5 |
| `dm_control/cartpole-two_poles-v0` | Extension of the Cart-pole domain with two serially connected poles, increasing the balancing challenge. | 1 | 8 |
| `dm_control/cartpole-three_poles-v0` | Extension of the Cart-pole domain with three serially connected poles, further increasing the challenge. | 1 | 11 |
| `dm_control/cheetah-run-v0` | Planar bipedal cheetah robot tasked with running. The reward is proportional to forward velocity up to a maximum speed. | 6 | 17 |
| `dm_control/dog-stand-v0` | Dog robot task focusing on achieving a standing posture. | 38 | 223 |
| `dm_control/dog-walk-v0` | Dog robot tasked with walking, requiring coordination of movements. | 38 | 223 |
| `dm_control/dog-trot-v0` | Dog robot performing a trotting gait. | 38 | 223 |
| `dm_control/dog-run-v0` | Dog robot tasked with running, combining speed with stability. | 38 | 223 |
| `dm_control/dog-fetch-v0` | Dog robot playing fetch, involving locomotion and object interaction. | 38 | 232 |
| `dm_control/finger-spin-v0` | Finger robot required to rotate an unactuated body on a hinge. | 2 | 9 |
| `dm_control/finger-turn_easy-v0` | Finger robot task to align the tip of a free body with a target, easier version with a larger target. | 2 | 12 |
| `dm_control/finger-turn_hard-v0` | Similar to `finger-turn_easy-v0`, but with a smaller target for increased difficulty. | 2 | 12 |
| `dm_control/fish-upright-v0` | Fish robot task focused on righting itself in a fluid environment. | 5 | 21 |
| `dm_control/fish-swim-v0` | Fish robot swimming to a target, incorporating fluid dynamics. | 5 | 24 |
| `dm_control/hopper-stand-v0` | One-legged hopper robot tasked with achieving a minimal torso height. | 4 | 15 |
| `dm_control/hopper-hop-v0` | One-legged hopper robot required to hop, combining height and forward velocity. | 4 | 15 |
| `dm_control/lqr-lqr_2_1-v0` | Linear quadratic regulator (LQR) task with 2 masses and 1 actuator, focusing on position and control optimization. | 1 | 4 |
| `dm_control/lqr-lqr_6_2-v0` | Linear quadratic regulator (LQR) task with 6 masses and 2 actuators, more complex control optimization challenge. | 2 | 12 |
| `dm_control/manipulator-bring_ball-v0` | Planar manipulator robot bringing a ball to a target location, with object initialization variations. | 5 | 44 |
| `dm_control/manipulator-bring_peg-v0` | Planar manipulator task of bringing a peg to a target peg. | 5 | 44 |
| `dm_control/manipulator-insert_ball-v0` | Planar manipulator task requiring inserting a ball into a basket. | 5 | 44 |
| `dm_control/manipulator-insert_peg-v0` | Planar manipulator challenge of inserting a peg into a slot. | 5 | 44 |
| `dm_control/pendulum-swingup-v0` | Classic inverted pendulum task with a torque-limited actuator, requiring multiple swings to swing up and balance. | 1 | 3 |
| `dm_control/point_mass-easy-v0` | Planar point mass in an easy task, with actuators corresponding to global x and y axes | 2 | 4 |
| `dm_control/point_mass-hard-v0` | Planar point mass in a hard task, with randomized control gains per episode, challenging memoryless agents. | 2 | 4 |
