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# Classic Control
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## Step-based Environments
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| Name | Description | Horizon | Action Dimension | Observation Dimension |
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| ---------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
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| `fancy/SimpleReacher-v0` | Simple reaching task (2 links) without any physics simulation. Provides no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions towards the end of the trajectory. | 200 | 2 | 9 |
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| `fancy/LongSimpleReacher-v0` | Simple reaching task (5 links) without any physics simulation. Provides no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions towards the end of the trajectory. | 200 | 5 | 18 |
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| `fancy/ViaPointReacher-v0` | Simple reaching task leveraging a via point, which supports self collision detection. Provides a reward only at 100 and 199 for reaching the viapoint and goal point, respectively. | 200 | 5 | 18 |
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| `fancy/HoleReacher-v0` | 5 link reaching task where the end-effector needs to reach into a narrow hole without collding with itself or walls | 200 | 5 | 18 |
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## MP Environments
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| Name | Description | Horizon | Action Dimension | Context Dimension |
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| ----------------------------------- | -------------------------------------------------------------------------------------------------------- | ------- | ---------------- | ----------------- |
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| `fancy_DMP/ViaPointReacher-v0` | A DMP provides a trajectory for the `fancy/ViaPointReacher-v0` task. | 200 | 25 |
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| `fancy_DMP/HoleReacherFixedGoal-v0` | A DMP provides a trajectory for the `fancy/HoleReacher-v0` task with a fixed goal attractor. | 200 | 25 |
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| `fancy_DMP/HoleReacher-v0` | A DMP provides a trajectory for the `fancy/HoleReacher-v0` task. The goal attractor needs to be learned. | 200 | 30 |
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[//]: |`fancy/HoleReacherProMPP-v0`|
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Fancy (Custom Envs)
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===========
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.. toctree::
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mujoco.md
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classic_control.md
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# Custom Mujoco tasks
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## Step-based Environments
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| Name | Description | Horizon | Action Dimension | Observation Dimension |
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| ------------------------------------------ | -------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
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| `fancy/Reacher-v0` | Modified (5 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 5 | 21 |
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| `fancy/ReacherSparse-v0` | Same as `fancy/Reacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 5 | 21 |
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| `fancy/ReacherSparseBalanced-v0` | Same as `fancy/ReacherSparse-v0`, but the end-effector has to remain upright. | 200 | 5 | 21 |
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| `fancy/LongReacher-v0` | Modified (7 links) gymnasiums's mujoco `Reacher-v2` (2 links) | 200 | 7 | 27 |
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| `fancy/LongReacherSparse-v0` | Same as `fancy/LongReacher-v0`, but the distance penalty is only provided in the last time step. | 200 | 7 | 27 |
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| `fancy/LongReacherSparseBalanced-v0` | Same as `fancy/LongReacherSparse-v0`, but the end-effector has to remain upright. | 200 | 7 | 27 |
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| `fancy/Reacher5d-v0` | Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 |
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| `fancy/Reacher5dSparse-v0` | Sparse Reacher task with 5 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 5 | 20 |
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| `fancy/Reacher7d-v0` | Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 |
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| `fancy/Reacher7dSparse-v0` | Sparse Reacher task with 7 links, based on Gymnasium's `gym.envs.mujoco.ReacherEnv` | 200 | 7 | 22 |
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| `fancy/HopperJumpSparse-v0` | Hopper Jump task with sparse rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* |
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| `fancy/HopperJump-v0` | Hopper Jump task with continuous rewards, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 15 / 16\* |
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| `fancy/AntJump-v0` | Ant Jump task, based on Gymnasium's `gym.envs.mujoco.Ant` | 200 | 8 | 119 |
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| `fancy/HalfCheetahJump-v0` | HalfCheetah Jump task, based on Gymnasium's `gym.envs.mujoco.HalfCheetah` | 100 | 6 | 112 |
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| `fancy/HopperJumpOnBox-v0` | Hopper Jump on Box task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 4 | 16 / 100\* |
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| `fancy/HopperThrow-v0` | Hopper Throw task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* |
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| `fancy/HopperThrowInBasket-v0` | Hopper Throw in Basket task, based on Gymnasium's `gym.envs.mujoco.Hopper` | 250 | 3 | 18 / 100\* |
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| `fancy/Walker2DJump-v0` | Walker 2D Jump task, based on Gymnasium's `gym.envs.mujoco.Walker2d` | 300 | 6 | 18 / 19\* |
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| `fancy/BeerPong-v0` | Beer Pong task, based on a custom environment with multiple task variations | 300 | 3 | 29 |
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| `fancy/BeerPongStepBased-v0` | Step-based Beer Pong task, based on a custom environment with episodic rewards | 300 | 3 | 29 |
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| `fancy/BeerPongFixedRelease-v0` | Beer Pong with fixed release, based on a custom environment with episodic rewards | 300 | 3 | 29 |
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| `fancy/BoxPushingDense-v0` | Custom Box-pushing task with dense rewards | 100 | 3 | 13 |
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| `fancy/BoxPushingTemporalSparse-v0` | Custom Box-pushing task with temporally sparse rewards | 100 | 3 | 13 |
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| `fancy/BoxPushingTemporalSpatialSparse-v0` | Custom Box-pushing task with temporally and spatially sparse rewards | 100 | 3 | 13 |
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| `fancy/TableTennis2D-v0` | Table Tennis task with 2D context, based on a custom environment for table tennis | 350 | 7 | 19 |
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| `fancy/TableTennis2DReplan-v0` | Table Tennis task with 2D context and replanning, based on a custom environment for table tennis | 350 | 7 | 19 |
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| `fancy/TableTennis4D-v0` | Table Tennis task with 4D context, based on a custom environment for table tennis | 350 | 7 | 22 |
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| `fancy/TableTennis4DReplan-v0` | Table Tennis task with 4D context and replanning, based on a custom environment for table tennis | 350 | 7 | 22 |
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| `fancy/TableTennisWind-v0` | Table Tennis task with wind effects, based on a custom environment for table tennis | 350 | 7 | 19 |
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| `fancy/TableTennisGoalSwitching-v0` | Table Tennis task with goal switching, based on a custom environment for table tennis | 350 | 7 | 19 |
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| `fancy/TableTennisWindReplan-v0` | Table Tennis task with wind effects and replanning, based on a custom environment for table tennis | 350 | 7 | 19 |
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\*Observation dimensions depend on configuration.
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<!--
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No longer used?
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| Name | Description | Horizon | Action Dimension | Observation Dimension |
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| --------------------------- | --------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
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| `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 |
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| `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 |
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| `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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-->
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## MP Environments
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Many of these envs also exist as MP-variants. Refer to them using `fancy_DMP/<name>` `fancy_ProMP/<name>` or `fancy_ProDMP/<name>`.
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