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# DeepMind Control (DMC) Wrappers
These are the Environment Wrappers for selected
[DeepMind Control](https://deepmind.com/research/publications/2020/dm-control-Software-and-Tasks-for-Continuous-Control)
environments in order to use our Motion Primitive gym interface with them.
## MP Environments
[//]: <> (These environments are wrapped-versions of their Deep Mind Control Suite &#40;DMC&#41; counterparts. Given most task can be)
[//]: <> (solved in shorter horizon lengths than the original 1000 steps, we often shorten the episodes for those task.)
| Name | Description | Trajectory Horizon | Action Dimension | Context Dimension |
| ---------------------------------------- | ------------------------------------------------------------------------------ | ------------------ | ---------------- | ----------------- |
| `dm_control_ProDMP/ball_in_cup-catch-v0` | A ProMP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000 | 10 | 2 |
| `dm_control_DMP/ball_in_cup-catch-v0` | A DMP wrapped version of the "catch" task for the "ball_in_cup" environment. | 1000 | 10 | 2 |
| `dm_control_ProDMP/reacher-easy-v0` | A ProMP wrapped version of the "easy" task for the "reacher" environment. | 1000 | 10 | 4 |
| `dm_control_DMP/reacher-easy-v0` | A DMP wrapped version of the "easy" task for the "reacher" environment. | 1000 | 10 | 4 |
| `dm_control_ProDMP/reacher-hard-v0` | A ProMP wrapped version of the "hard" task for the "reacher" environment. | 1000 | 10 | 4 |
| `dm_control_DMP/reacher-hard-v0` | A DMP wrapped version of the "hard" task for the "reacher" environment. | 1000 | 10 | 4 |

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# Custom Mujoco tasks
## Step-based Environments
| Name | Description | Horizon | Action Dimension | Observation Dimension |
| ------------------------------------------ | -------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
| `fancy/Reacher-v0` | Modified (5 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 5 | 21 |
| `fancy/ReacherSparse-v0` | Same as `fancy/Reacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 5 | 21 |
| `fancy/LongReacher-v0` | Modified (7 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 7 | 27 |
| `fancy/LongReacherSparse-v0` | Same as `fancy/LongReacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 7 | 27 |
| `fancy/Reacher5d-v0` | Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 |
| `fancy/Reacher5dSparse-v0` | Sparse Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 |
| `fancy/Reacher7d-v0` | Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 |
| `fancy/Reacher7dSparse-v0` | Sparse Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 |
| `fancy/HopperJumpSparse-v0` | Hopper Jump task with sparse rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* |
| `fancy/HopperJump-v0` | Hopper Jump task with continuous rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* |
| `fancy/AntJump-v0` | Ant Jump task, based on Gymnasium's `gym.envs.mujoco.Ant` | 200 | 8 | 119 |
| `fancy/HalfCheetahJump-v0` | HalfCheetah Jump task, based on Gymnasium's `gym.envs.mujoco.HalfCheetah` | 100 | 6 | 112 |
| `fancy/HopperJumpOnBox-v0` | Hopper Jump on Box task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 4 | 16 / 100\* |
| `fancy/HopperThrow-v0` | Hopper Throw task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* |
| `fancy/HopperThrowInBasket-v0` | Hopper Throw in Basket task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* |
| `fancy/Walker2DJump-v0` | Walker 2D Jump task, based on Gymnasium's `gym.envs.mujoco.Walker2d` | 300 | 6 | 18 / 19\* |
| `fancy/BeerPong-v0` | Beer Pong task, based on a custom environment with multiple task variations | 300 | 3 | 29 |
| `fancy/BeerPongStepBased-v0` | Step-based Beer Pong task, based on a custom environment with episodic rewards | 300 | 3 | 29 |
| `fancy/BeerPongFixedRelease-v0` | Beer Pong with fixed release, based on a custom environment with episodic rewards | 300 | 3 | 29 |
| `fancy/BoxPushingDense-v0` | Custom Box-pushing task with dense rewards | 100 | 3 | 13 |
| `fancy/BoxPushingTemporalSparse-v0` | Custom Box-pushing task with temporally sparse rewards | 100 | 3 | 13 |
| `fancy/BoxPushingTemporalSpatialSparse-v0` | Custom Box-pushing task with temporally and spatially sparse rewards | 100 | 3 | 13 |
| `fancy/TableTennis2D-v0` | Table Tennis task with 2D context, based on a custom environment for table tennis | 350 | 7 | 19 |
| `fancy/TableTennis2DReplan-v0` | Table Tennis task with 2D context and replanning, based on a custom environment for table tennis | 350 | 7 | 19 |
| `fancy/TableTennis4D-v0` | Table Tennis task with 4D context, based on a custom environment for table tennis | 350 | 7 | 22 |
| `fancy/TableTennis4DReplan-v0` | Table Tennis task with 4D context and replanning, based on a custom environment for table tennis | 350 | 7 | 22 |
| `fancy/TableTennisWind-v0` | Table Tennis task with wind effects, based on a custom environment for table tennis | 350 | 7 | 19 |
| `fancy/TableTennisGoalSwitching-v0` | Table Tennis task with goal switching, based on a custom environment for table tennis | 350 | 7 | 19 |
| `fancy/TableTennisWindReplan-v0` | Table Tennis task with wind effects and replanning, based on a custom environment for table tennis | 350 | 7 | 19 |
\*Observation dimensions depend on configuration.
<!--
No longer used?
| Name | Description | Horizon | Action Dimension | Observation Dimension |
| --------------------------- | --------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
| `fancy/BallInACupSimple-v0` | Ball-in-a-cup task where a robot needs to catch a ball attached to a cup at its end-effector. | 4000 | 3 | wip |
| `fancy/BallInACup-v0` | Ball-in-a-cup task where a robot needs to catch a ball attached to a cup at its end-effector | 4000 | 7 | wip |
| `fancy/BallInACupGoal-v0` | Similar to `fancy/BallInACupSimple-v0` but the ball needs to be caught at a specified goal position | 4000 | 7 | wip |
-->

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# Metaworld
[Metaworld](https://meta-world.github.io/) is an open-source simulated benchmark designed to advance meta-reinforcement learning and multi-task learning, comprising 50 diverse robotic manipulation tasks. The benchmark features a universal tabletop environment equipped with a simulated Sawyer arm and a variety of everyday objects. This shared environment is pivotal for reusing structured learning and efficiently acquiring related tasks.
## Step-Based Envs
`fancy_gym` makes all metaworld ML1 tasks avaible via the standard gym interface. To access metaworld environments using a different mode of operation (MT1 / ML100 / etc.) please use the functionality provided by metaworld directly.
| Name | Description | Horizon | Action Dimension | Observation Dimension | Context Dimension |
| ---------------------------------------- | ------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- | ----------------- |
| `metaworld/assembly-v2` | A task where the robot must assemble components. | 500 | 4 | 39 | 6 |
| `metaworld/basketball-v2` | A task where the robot must play a game of basketball. | 500 | 4 | 39 | 6 |
| `metaworld/bin-picking-v2` | A task involving the robot picking objects from a bin. | 500 | 4 | 39 | 6 |
| `metaworld/box-close-v2` | A task requiring the robot to close a box. | 500 | 4 | 39 | 6 |
| `metaworld/button-press-topdown-v2` | A task where the robot must press a button from a top-down perspective. | 500 | 4 | 39 | 6 |
| `metaworld/button-press-topdown-wall-v2` | A task involving the robot pressing a button with a wall from a top-down perspective. | 500 | 4 | 39 | 6 |
| `metaworld/button-press-v2` | A task where the robot must press a button. | 500 | 4 | 39 | 6 |
| `metaworld/button-press-wall-v2` | A task involving the robot pressing a button with a wall. | 500 | 4 | 39 | 6 |
| `metaworld/coffee-button-v2` | A task where the robot must press a button on a coffee machine. | 500 | 4 | 39 | 6 |
| `metaworld/coffee-pull-v2` | A task involving the robot pulling a lever on a coffee machine. | 500 | 4 | 39 | 6 |
| `metaworld/coffee-push-v2` | A task involving the robot pushing a component on a coffee machine. | 500 | 4 | 39 | 6 |
| `metaworld/dial-turn-v2` | A task where the robot must turn a dial. | 500 | 4 | 39 | 6 |
| `metaworld/disassemble-v2` | A task requiring the robot to disassemble an object. | 500 | 4 | 39 | 6 |
| `metaworld/door-close-v2` | A task where the robot must close a door. | 500 | 4 | 39 | 6 |
| `metaworld/door-lock-v2` | A task involving the robot locking a door. | 500 | 4 | 39 | 6 |
| `metaworld/door-open-v2` | A task where the robot must open a door. | 500 | 4 | 39 | 6 |
| `metaworld/door-unlock-v2` | A task involving the robot unlocking a door. | 500 | 4 | 39 | 6 |
| `metaworld/hand-insert-v2` | A task requiring the robot to insert a hand into an object. | 500 | 4 | 39 | 6 |
| `metaworld/drawer-close-v2` | A task where the robot must close a drawer. | 500 | 4 | 39 | 6 |
| `metaworld/drawer-open-v2` | A task involving the robot opening a drawer. | 500 | 4 | 39 | 6 |
| `metaworld/faucet-open-v2` | A task requiring the robot to open a faucet. | 500 | 4 | 39 | 6 |
| `metaworld/faucet-close-v2` | A task where the robot must close a faucet. | 500 | 4 | 39 | 6 |
| `metaworld/hammer-v2` | A task where the robot must use a hammer. | 500 | 4 | 39 | 6 |
| `metaworld/handle-press-side-v2` | A task involving the robot pressing a handle from the side. | 500 | 4 | 39 | 6 |
| `metaworld/handle-press-v2` | A task where the robot must press a handle. | 500 | 4 | 39 | 6 |
| `metaworld/handle-pull-side-v2` | A task requiring the robot to pull a handle from the side. | 500 | 4 | 39 | 6 |
| `metaworld/handle-pull-v2` | A task where the robot must pull a handle. | 500 | 4 | 39 | 6 |
| `metaworld/lever-pull-v2` | A task involving the robot pulling a lever. | 500 | 4 | 39 | 6 |
| `metaworld/peg-insert-side-v2` | A task requiring the robot to insert a peg from the side. | 500 | 4 | 39 | 6 |
| `metaworld/pick-place-wall-v2` | A task involving the robot picking and placing an object with a wall. | 500 | 4 | 39 | 6 |
| `metaworld/pick-out-of-hole-v2` | A task where the robot must pick an object out of a hole. | 500 | 4 | 39 | 6 |
| `metaworld/reach-v2` | A task where the robot must reach an object. | 500 | 4 | 39 | 6 |
| `metaworld/push-back-v2` | A task involving the robot pushing an object backward. | 500 | 4 | 39 | 6 |
| `metaworld/push-v2` | A task where the robot must push an object. | 500 | 4 | 39 | 6 |
| `metaworld/pick-place-v2` | A task involving the robot picking up and placing an object. | 500 | 4 | 39 | 6 |
| `metaworld/plate-slide-v2` | A task requiring the robot to slide a plate. | 500 | 4 | 39 | 6 |
| `metaworld/plate-slide-side-v2` | A task involving the robot sliding a plate from the side. | 500 | 4 | 39 | 6 |
| `metaworld/plate-slide-back-v2` | A task where the robot must slide a plate backward. | 500 | 4 | 39 | 6 |
| `metaworld/plate-slide-back-side-v2` | A task involving the robot sliding a plate backward from the side. | 500 | 4 | 39 | 6 |
| `metaworld/peg-unplug-side-v2` | A task where the robot must unplug a peg from the side. | 500 | 4 | 39 | 6 |
| `metaworld/soccer-v2` | A task where the robot must play soccer. | 500 | 4 | 39 | 6 |
| `metaworld/stick-push-v2` | A task involving the robot pushing a stick. | 500 | 4 | 39 | 6 |
| `metaworld/stick-pull-v2` | A task where the robot must pull a stick. | 500 | 4 | 39 | 6 |
| `metaworld/push-wall-v2` | A task involving the robot pushing against a wall. | 500 | 4 | 39 | 6 |
| `metaworld/reach-wall-v2` | A task where the robot must reach an object with a wall. | 500 | 4 | 39 | 6 |
| `metaworld/shelf-place-v2` | A task involving the robot placing an object on a shelf. | 500 | 4 | 39 | 6 |
| `metaworld/sweep-into-v2` | A task where the robot must sweep objects into a container. | 500 | 4 | 39 | 6 |
| `metaworld/sweep-v2` | A task requiring the robot to sweep. | 500 | 4 | 39 | 6 |
| `metaworld/window-open-v2` | A task where the robot must open a window. | 500 | 4 | 39 | 6 |
| `metaworld/window-close-v2` | A task involving the robot closing a window. | 500 | 4 | 39 | 6 |
## MP-Based Envs
All envs also exist in MP-variants. Refer to them using `metaworld_ProMP/<name-v2>` or `metaworld_ProDMP/<name-v2>` (DMP is currently not supported as of now).

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# OpenAI Gym Wrappers
These are the Environment Wrappers for selected [OpenAI Gym](https://gym.openai.com/) environments to use
the Motion Primitive gym interface for them.
## MP Environments
These environments are wrapped-versions of their OpenAI-gym counterparts.
| Name | Description | Trajectory Horizon | Action Dimension |
| ------------------------------------ | -------------------------------------------------------------------- | ------------------ | ---------------- |
| `gym_ProMP/ContinuousMountainCar-v0` | A ProMP wrapped version of the ContinuousMountainCar-v0 environment. | 100 | 1 |
| `gym_ProMP/Reacher-v2` | A ProMP wrapped version of the Reacher-v2 environment. | 50 | 2 |
| `gym_ProMP/FetchSlideDense-v1` | A ProMP wrapped version of the FetchSlideDense-v1 environment. | 50 | 4 |
| `gym_ProMP/FetchReachDense-v1` | A ProMP wrapped version of the FetchReachDense-v1 environment. | 50 | 4 |