diff --git a/alr_envs/dmc/suite/cartpole/__init__.py b/alr_envs/dmc/suite/cartpole/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/alr_envs/dmc/suite/cartpole/cartpole_mp_wrapper.py b/alr_envs/dmc/suite/cartpole/cartpole_mp_wrapper.py
new file mode 100644
index 0000000..d8f8493
--- /dev/null
+++ b/alr_envs/dmc/suite/cartpole/cartpole_mp_wrapper.py
@@ -0,0 +1,51 @@
+from typing import Tuple, Union
+
+import numpy as np
+
+from mp_env_api.interface_wrappers.mp_env_wrapper import MPEnvWrapper
+
+
+class DMCCartpoleMPWrapper(MPEnvWrapper):
+
+    def __init__(self, env, n_poles: int = 1):
+        self.n_poles = n_poles
+        super().__init__(env)
+
+
+    @property
+    def active_obs(self):
+        # Besides the ball position, the environment is always set to 0.
+        return np.hstack([
+            [True],  # slider position
+            [True] * 2 * self.n_poles,  # sin/cos hinge angles
+            [True],  # slider velocity
+            [True] * self.n_poles,  # hinge velocities
+        ])
+
+    @property
+    def current_pos(self) -> Union[float, int, np.ndarray]:
+        return self.env.physics.named.data.qpos["slider"]
+
+    @property
+    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.env.physics.named.data.qvel["slider"]
+
+    @property
+    def goal_pos(self) -> Union[float, int, np.ndarray, Tuple]:
+        raise ValueError("Goal position is not available and has to be learnt based on the environment.")
+
+    @property
+    def dt(self) -> Union[float, int]:
+        return self.env.dt
+
+
+class DMCCartpoleTwoPolesMPWrapper(DMCCartpoleMPWrapper):
+
+    def __init__(self, env):
+        super().__init__(env, n_poles=2)
+
+
+class DMCCartpoleThreePolesMPWrapper(DMCCartpoleMPWrapper):
+
+    def __init__(self, env):
+        super().__init__(env, n_poles=3)