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## 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/ReacherSparseBalanced-v0` | Same as `fancy/ReacherSparse-v0`, but the end-effector has to remain upright. | 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/LongReacherSparseBalanced-v0` | Same as `fancy/LongReacherSparse-v0`, but the end-effector has to remain upright. | 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 |
+### Environments made by Fancy Gym
+
+#### Beer Pong
+
+TODO: Change image
+
+
+
+
+
+| Name | Description | Horizon | Action Dimension | Observation Dimension |
+| ------------------------------- | ---------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
+| `fancy/BeerPong-v0` | Beer Pong task, based on a custom environment with multiple task variations | 300 | 3 | 29 |
+| `fancy/BeerPongStepBased-v0` | Step-based rewards for the 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 |
+
+#### Box Pushing
+
+
+
+
+
+| Name | Description | Horizon | Action Dimension | Observation Dimension |
+| ------------------------------------------ | -------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
+| `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 |
+
+#### Table Tennis
+
+TODO: Change image
+
+
+
+
+
+| Name | Description | Horizon | Action Dimension | Observation Dimension |
+| ----------------------------------- | -------------------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- |
+| `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 |
+
+### Variations of existing 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/ReacherSparseBalanced-v0` | Same as `fancy/ReacherSparse-v0`, but the end-effector has to remain upright. | 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/LongReacherSparseBalanced-v0` | Same as `fancy/LongReacherSparse-v0`, but the end-effector has to remain upright. | 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\* |
\*Observation dimensions depend on configuration.