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--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/__init__.py
@@ -0,0 +1 @@
+from .mp_wrapper import MPWrapper
\ No newline at end of file
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diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_pitch_link_fine.stl b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_pitch_link_fine.stl
new file mode 100644
index 0000000..13d2f73
Binary files /dev/null and b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_pitch_link_fine.stl differ
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_convex_decomposition_p1.stl b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_convex_decomposition_p1.stl
new file mode 100755
index 0000000..06e857f
Binary files /dev/null and b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_convex_decomposition_p1.stl differ
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_convex_decomposition_p2.stl b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_convex_decomposition_p2.stl
new file mode 100755
index 0000000..48e1bb1
Binary files /dev/null and b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_convex_decomposition_p2.stl differ
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_fine.stl b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_fine.stl
new file mode 100644
index 0000000..0d95239
Binary files /dev/null and b/fancy_gym/envs/mujoco/table_tennis/assets/meshes/wam/wrist_yaw_link_fine.stl differ
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_7_motor_actuator.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_7_motor_actuator.xml
new file mode 100644
index 0000000..dcadc5c
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_7_motor_actuator.xml
@@ -0,0 +1,36 @@
+<mujocoinclude>
+    <actuator>
+<!--        <motor name="wam/base_slide_motor" joint="wam/base_slide_joint" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>-->
+        <motor name="wam/base_motor" joint="wam/base_yaw_joint_right" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0"/>
+        <motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0"/>
+        <motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0"/>
+        <motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0"/>
+        <motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
+        <motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0"/>
+        <motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right' ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0"/>
+    </actuator>
+</mujocoinclude>
+
+<!--<mujocoinclude>-->
+<!--<actuator>-->
+<!--    <motor name="wam/base_motor" joint="wam/base_yaw_joint_right"/>-->
+<!--    <motor name="wam/shoulder_pitch_motor" joint='wam/shoulder_pitch_joint_right'/>-->
+<!--    <motor name="wam/shoulder_yaw_motor" joint='wam/shoulder_yaw_joint_right'/>-->
+<!--    <motor name="wam/elbow_pitch_motor" joint='wam/elbow_pitch_joint_right'/>-->
+<!--    <motor name="wam/wrist_yaw_motor" joint='wam/wrist_yaw_joint_right'/>-->
+<!--    <motor name="wam/wrist_pitch_motor" joint='wam/wrist_pitch_joint_right'/>-->
+<!--    <motor name="wam/palm_yaw_motor" joint='wam/palm_yaw_joint_right'/>-->
+<!--</actuator>-->
+<!--</mujocoinclude>-->
+
+<!--<mujocoinclude>-->
+<!--    <actuator boastype="none">-->
+<!--        <motor name="wam/shoulder_yaw_link_right_motor" joint="wam/base_yaw_joint_right"/>-->
+<!--        <motor name="wam/shoulder_pitch_joint_right_motor" joint='wam/shoulder_pitch_joint_right'/>-->
+<!--        <motor name="wam/shoulder_yaw_joint_right_motor" joint='wam/shoulder_yaw_joint_right'/>-->
+<!--        <motor name="wam/elbow_pitch_joint_right_motor" joint='wam/elbow_pitch_joint_right'/>-->
+<!--        <motor name="wam/wrist_yaw_joint_right_motor" joint='wam/wrist_yaw_joint_right'/>-->
+<!--        <motor name="wam/wrist_pitch_joint_right_motor" joint='wam/wrist_pitch_joint_right'/>-->
+<!--        <motor name="wam/palm_yaw_joint_right_motor" joint='wam/palm_yaw_joint_right'/>-->
+<!--    </actuator>-->
+<!--</mujocoinclude>-->
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_barrett_wam_7dof_right.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_barrett_wam_7dof_right.xml
new file mode 100644
index 0000000..28580b9
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_barrett_wam_7dof_right.xml
@@ -0,0 +1,104 @@
+<mujocoinclue>
+    <body name="wam/base_link_right" pos="2.1 0 2.0" quat="0 0 1 0" childclass="wam" >
+<!--            <joint name="wam/base_slide_joint" axis="0 1 0" type="slide" damping="1.98" range="-0.8 0.8"/>-->
+            <inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
+            <geom name="base_link_fine" class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
+            <geom name="base_link_convex" class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
+            <body name="wam/shoulder_yaw_link_right" pos="0 0 0.346">
+                <inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
+                          diaginertia="0.135089 0.113095 0.0904426"/>
+<!--                control 0: 1.6-->
+                <joint name="wam/base_yaw_joint_right" range="-2.6 2.6" damping="1.98"/>
+                <geom name="shoulder_link_fine" class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
+                <geom name="shoulder_link_convex_decomposition_p1" class="col"
+                      mesh="shoulder_link_convex_decomposition_p1"/>
+                <geom name="shoulder_link_convex_decomposition_p2" class="col"
+                      mesh="shoulder_link_convex_decomposition_p2"/>
+                <geom name="shoulder_link_convex_decomposition_p3" class="col"
+                      mesh="shoulder_link_convex_decomposition_p3"/>
+                <body name="wam/shoulder_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
+                    <inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
+                              mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
+<!--                    control 1: 0-->
+                    <joint name="wam/shoulder_pitch_joint_right" range="-2 2" damping="0.55"/>
+                    <geom name="shoulder_pitch_link_fine" class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
+                    <geom name="shoulder_pitch_link_convex" class="col" mesh="shoulder_pitch_link_convex"/>
+                    <body name="wam/upper_arm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
+                        <inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
+                                  mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
+<!--                        control 2: 0-->
+                        <joint name="wam/shoulder_yaw_joint_right" range="-2.8 2.8" damping="1.65"/>
+                        <geom name="upper_arm_link_fine" class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
+                        <geom name="upper_arm_link_convex_decomposition_p1" class="col"
+                              mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
+                        <geom name="upper_arm_link_convex_decomposition_p2" class="col"
+                              mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
+                        <body name="wam/forearm_link_right" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
+                            <inertial pos="-0.0400149 -0.142717 -0.00022942"
+                                      quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
+                                      diaginertia="0.0151047 0.0148285 0.00275805"/>
+<!--                            control 3: 2.4-->
+                            <joint name="wam/elbow_pitch_joint_right" range="-0.9 3.1" damping="0.88"/>
+                            <geom name="elbow_link_fine" class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
+                            <geom name="elbow_link_convex" class="col" mesh="elbow_link_convex"/>
+                            <geom name="forearm_link_fine" class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0"
+                                  euler="1.57 0 0" rgba="1 1 1 0"/>
+                            <geom name="forearm_link_convex_decomposition_p1" class="col"
+                                  mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
+                                  euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
+                            <geom name="forearm_link_convex_decomposition_p2" class="col"
+                                  mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
+                                  euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
+                            <body name="wam/wrist_yaw_link_right" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
+                                <inertial pos="8.921e-005 0.00435824 -0.00511217"
+                                          quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
+                                          diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
+<!--                                control 4: 0-->
+                                <joint name="wam/wrist_yaw_joint_right" range="-4.8 1.3" damping="0.55"/>
+                                <geom name="wrist_yaw_link_fine" class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
+                                <geom name="wrist_yaw_link_convex_decomposition_p1" class="col"
+                                      mesh="wrist_yaw_link_convex_decomposition_p1"/>
+                                <geom name="wrist_yaw_link_convex_decomposition_p2" class="col"
+                                      mesh="wrist_yaw_link_convex_decomposition_p2"/>
+                                <body name="wam/wrist_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
+                                    <inertial pos="-0.00012262 -0.0246834 -0.0170319"
+                                              quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
+                                              diaginertia="0.000555168 0.00046317 0.000234072"/>
+<!--                                    control 5: 0-->
+                                    <joint name="wam/wrist_pitch_joint_right" range="-1.6 1.6" damping="0.11"/>
+                                    <geom name="wrist_pitch_link_fine" class="viz" mesh="wrist_pitch_link_fine"
+                                          rgba="1 1 1 0"/>
+                                    <geom name="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"
+                                          class="col" mesh="wrist_pitch_link_convex_decomposition_p1"/>
+                                    <geom name="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"
+                                          class="col" mesh="wrist_pitch_link_convex_decomposition_p2"/>
+                                    <geom name="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"
+                                          class="col" mesh="wrist_pitch_link_convex_decomposition_p3"/>
+                                    <body name="wam/wrist_palm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
+                                        <inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
+                                                  diaginertia="0.00020683 0.00010859 0.00010851"/>
+<!--                                        control 6: 1.8-->
+                                        <joint name="wam/palm_yaw_joint_right" range="-2.2 2.2" damping="0.11"/>
+                                        <geom name="wrist_palm_link_fine" class="viz" mesh="wrist_palm_link_fine"
+                                              rgba="1 1 1 0"/>
+                                        <geom name="wrist_palm_link_convex" class="col" mesh="wrist_palm_link_convex"/>
+<!--                                        EE=wam/paddle, configure name to the end effector name-->
+                                        <body name="EE" pos="0 0 0.26" childclass="contact_geom">
+                                            <geom name="bat" type="cylinder" size="0.075 0.005" rgba="1 0 0 1"
+                                                  quat="0.71 0 0.71 0"/>
+                                            <geom name="bat_back" type="cylinder" size="0.0749 0.0025" rgba="0 1 0 1"
+                                                  quat="0.71 0 0.71 0" pos="-0.0026 0 0"/>
+                                            <geom name="wam/paddle_handle" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
+                                                  rgba="1 1 1 1"/>
+                                            <!--                                            Extract information for sampling goals.-->
+                                            <site name="wam/paddle_center" pos="0 0 0" rgba="1 1 1 1" size="0.00001"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+</mujocoinclue>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_free_ball.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_free_ball.xml
new file mode 100644
index 0000000..3bbd964
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_free_ball.xml
@@ -0,0 +1,11 @@
+<mujocoinclude>
+    <body name="target_ball" pos="0 0 0">
+<!--        <joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>-->
+<!--        <joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>-->
+<!--        <joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>-->
+        <joint name="ball_joint" damping="0.0" pos="0 0 0" stiffness="0" frictionloss="0" type="free"/>
+        <geom size="0.025 0.025 0.025" type="sphere" condim="4" name="target_ball_contact" rgba="1 1 0 1" mass="0.1"
+              friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="0.1 0.03" priority="1"/>
+        <site name="target_ball" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_table.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_table.xml
new file mode 100644
index 0000000..c313489
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_table.xml
@@ -0,0 +1,30 @@
+<mujocoinclude>
+    <body name="table_tennis_table" pos="0 0 0">
+        <geom class="viz" name="table_base_1" pos="1 0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
+        <geom class="viz" name="table_base_2" pos="1 -0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
+        <geom class="viz" name="table_base_3" pos="-1 -0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
+        <geom class="viz" name="table_base_4" pos="-1 0.7 0.375" rgba="1 1 1 1" size="0.05 0.05 .375" type="box" />
+        <body name="table_top" pos="0 0 0.76">
+            <geom class="contact_geom" name="table_tennis_table" pos="0 0 0" rgba="0 0 0.5 1" size="1.37 .7625 .01" type="box" />
+            <site name="left_up_corner" pos="-1.37 .7625 0.01" rgba="1 1 1 1" size="0.00001" />
+            <site name="middle_up_corner" pos="0 .7625 0.01" rgba="1 1 1 1" size="0.00001" />
+            <site name="left_down_corner" pos="-1.37 -0.7625 0.01" rgba="1 1 1 1" size="0.00001" />
+            <site name="middle_down_corner" pos="0 -.7625 0.01" rgba="1 1 1 1" size="0.00001" />
+            <geom class="contact_geom" material="floor_plane" name="table_te_context_spacennis_net" pos="0 0 0.08625" rgba="0 0 1 0.5" size="0.01 0.915 0.07625" type="box" />
+            <geom class="viz" name="left_while_line" pos="0 -0.7425 0.01" rgba="1 1 1 1" size="1.37 .02 .001" type="box" />
+            <geom class="viz" name="center_while_line" pos="0 0 0.01" rgba="1 1 1 1" size="1.37 .01 .001" type="box" />
+            <geom class="viz" name="right_while_line" pos="0 0.7425 0.01" rgba="1 1 1 1" size="1.37 .02 .001" type="box" />
+            <geom class="viz" name="right_side_line" pos="1.35 0 0.01" rgba="1 1 1 1" size="0.02 .7625 .001" type="box" />
+            <geom class="viz" name="left_side_line" pos="-1.35 0 0.01" rgba="1 1 1 1" size="0.02 .7625 .001" type="box" />
+        </body>
+        <body name="achieved_pos" pos="0 0 0.5">
+            <geom class="viz" name="achieved_point_geom" pos="0 0 0" rgba="0 1 0 1" size="0.02 0.001" type="cylinder" />
+        </body>
+        <body name="right_achieved_pos" pos="0 0 0.5">
+            <geom class="viz" name="hitting_achieved_point_geom" pos="0 0 0" rgba="1 0 0 1" size="0.02 0.001" type="cylinder" />
+        </body>
+        <body name="target_point" pos="0 0 0.5">
+            <geom class="viz" name="target_point_geom" pos="0 0 0" rgba="1 1 0 1" size="0.02 0.001" type="cylinder" />
+        </body>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_target_ball.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_target_ball.xml
new file mode 100644
index 0000000..feb9125
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/include_target_ball.xml
@@ -0,0 +1,10 @@
+<mujocoinclude>
+    <body name="target_ball" pos="0. 0. 0.1">
+        <joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
+        <joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
+        <joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
+        <geom size="0.025 0.025 0.025" type="sphere" condim="4" name="target_ball_contact" rgba="1 1 0 1" mass="0.1"
+              friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="0.1 0.03" priority="1"/>
+        <site name="target_ball" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
+    </body>
+</mujocoinclude>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/right_arm_actuator.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/right_arm_actuator.xml
new file mode 100644
index 0000000..dfa6924
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/right_arm_actuator.xml
@@ -0,0 +1,54 @@
+<mujocoinclude>
+    <actuator>
+
+<!--                        <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" />-->
+<!--                        <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="162.0" />-->
+<!--                        <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="100.0" />-->
+<!--                        <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="122.0" />-->
+<!--                        <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" />-->
+<!--                        <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="102.0" />-->
+<!--                        <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" />-->
+
+<!--                <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="151.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="125.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="121.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
+
+<!--                        <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="600.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="500.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0" ctrllimited="true"/>-->
+<!--                <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0" ctrllimited="true"/>-->
+
+                <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="800.0" ctrllimited="true"/>
+                <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="800.0" ctrllimited="true"/>
+                <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>
+                <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="800.0" ctrllimited="true"/>
+                <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>
+                <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="1000.0" ctrllimited="true"/>
+                <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>
+
+                <velocity ctrlrange="-3 3" joint="wam/base_yaw_joint_right" kv="0.1" ctrllimited="true"/>
+                <velocity ctrlrange="-3 3" joint="wam/shoulder_pitch_joint_right" kv="0.1" ctrllimited="true"/>
+                <velocity ctrlrange="-3 3" joint="wam/shoulder_yaw_joint_right" kv="0.1" ctrllimited="true"/>
+                <velocity ctrlrange="-3 3" joint="wam/elbow_pitch_joint_right" kv="0.01" ctrllimited="true"/>
+                <velocity ctrlrange="-3 3" joint="wam/wrist_yaw_joint_right" kv="0.01" ctrllimited="true"/>
+                <velocity ctrlrange="-3 3" joint="wam/wrist_pitch_joint_right" kv="0.1" ctrllimited="true"/>
+                <velocity ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kv="0.1" ctrllimited="true"/>
+
+<!--        <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="1600.0" ctrllimited="true"/>-->
+<!--&lt;!&ndash;        <velocity ctrlrange="-50 50" joint="wam/base_yaw_joint_right" kv="100" ctrllimited="true"/>&ndash;&gt;-->
+
+<!--        <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
+<!--        <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="800.0" ctrllimited="true"/>-->
+<!--        <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="1200.0" ctrllimited="true"/>-->
+<!--        <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
+<!--        <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="2000.0" ctrllimited="true"/>-->
+<!--        <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" ctrllimited="true"/>-->
+    </actuator>
+</mujocoinclude>
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/shared.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/shared.xml
new file mode 100644
index 0000000..e349992
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/shared.xml
@@ -0,0 +1,46 @@
+<mujocoinclude>
+    <default>
+        <default class="wam">
+            <joint type="hinge" limited="true" pos="0 0 0" axis="0 0 1"/>
+        </default>
+        <default class="viz">
+            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1"/>
+        </default>
+        <default class="col">
+            <geom type="mesh" contype="0" conaffinity="1" group="0" rgba="1 1 1 1"/>
+        </default>
+        <default class="contact_geom">
+            <geom condim="4" friction="0.1 0.1 0.1" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
+        </default>
+    </default>
+    <asset>
+        <mesh file="base_link_fine.stl"/>
+        <mesh file="base_link_convex.stl"/>
+        <mesh file="shoulder_link_fine.stl"/>
+        <mesh file="shoulder_link_convex_decomposition_p1.stl"/>
+        <mesh file="shoulder_link_convex_decomposition_p2.stl"/>
+        <mesh file="shoulder_link_convex_decomposition_p3.stl"/>
+        <mesh file="shoulder_pitch_link_fine.stl"/>
+        <mesh file="shoulder_pitch_link_convex.stl"/>
+        <mesh file="upper_arm_link_fine.stl"/>
+        <mesh file="upper_arm_link_convex_decomposition_p1.stl"/>
+        <mesh file="upper_arm_link_convex_decomposition_p2.stl"/>
+        <mesh file="elbow_link_fine.stl"/>
+        <mesh file="elbow_link_convex.stl"/>
+        <mesh file="forearm_link_fine.stl"/>
+        <mesh file="forearm_link_convex_decomposition_p1.stl"/>
+        <mesh file="forearm_link_convex_decomposition_p2.stl"/>
+        <mesh file="wrist_yaw_link_fine.stl"/>
+        <mesh file="wrist_yaw_link_convex_decomposition_p1.stl"/>
+        <mesh file="wrist_yaw_link_convex_decomposition_p2.stl"/>
+        <mesh file="wrist_pitch_link_fine.stl"/>
+        <mesh file="wrist_pitch_link_convex_decomposition_p1.stl"/>
+        <mesh file="wrist_pitch_link_convex_decomposition_p2.stl"/>
+        <mesh file="wrist_pitch_link_convex_decomposition_p3.stl"/>
+        <mesh file="wrist_palm_link_fine.stl"/>
+        <mesh file="wrist_palm_link_convex.stl"/>
+        <texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d"
+                 width="512"/>
+        <material name="floor_plane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
+    </asset>
+</mujocoinclude>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/assets/xml/table_tennis_env.xml b/fancy_gym/envs/mujoco/table_tennis/assets/xml/table_tennis_env.xml
new file mode 100644
index 0000000..afacf37
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/assets/xml/table_tennis_env.xml
@@ -0,0 +1,20 @@
+<mujoco model="table_tennis(v0.1)">
+    <compiler angle="radian" coordinate="local" meshdir="../meshes/wam" />
+    <option gravity="0 0 -9.81" timestep="0.002">
+        <flag warmstart="enable" />
+    </option>
+    <custom>
+        <numeric data="0 0 0 0 0 0 0" name="START_ANGLES" />
+    </custom>
+    <include file="shared.xml" />
+    <worldbody>
+        <light cutoff="60" diffuse="1 1 1" dir="-.1 -.2 -1.3" directional="true" exponent="1" pos=".1 .2 1.3" specular=".1 .1 .1" />
+        <geom conaffinity="1" contype="1" material="floor_plane" name="floor" pos="0 0 0" size="10 5 1" type="plane" />
+        <include file="include_table.xml" />
+        <include file="include_barrett_wam_7dof_right.xml" />
+<!--        <include file="include_target_ball.xml" />-->
+        <include file="include_free_ball.xml" />
+    </worldbody>
+    <include file="include_7_motor_actuator.xml" />
+<!--    <include file="right_arm_actuator.xml"/>-->
+</mujoco>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py b/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
new file mode 100644
index 0000000..218cb97
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
@@ -0,0 +1,29 @@
+from typing import Union, Tuple
+
+import numpy as np
+
+from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
+
+
+class MPWrapper(RawInterfaceWrapper):
+
+    # Random x goal + random init pos
+    @property
+    def context_mask(self):
+        return np.hstack([
+            [False] * 7,  # joints position
+            [False] * 7,  # joints velocity
+            [False] * 3,  # position of box
+            [False] * 4,  # orientation of box
+            [True] * 3,  # position of target
+            [True] * 4,  # orientation of target
+            # [True] * 1,  # time
+        ])
+
+    @property
+    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.data.qpos[:7].copy()
+
+    @property
+    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.data.qvel[:7].copy()
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py b/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
new file mode 100644
index 0000000..86ce595
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
@@ -0,0 +1,85 @@
+import os
+
+import numpy as np
+from gym import utils, spaces
+from gym.envs.mujoco import MujocoEnv
+
+import mujoco
+
+MAX_EPISODE_STEPS_TABLE_TENNIS = 250
+
+CONTEXT_BOUNDS_2DIMS = np.array([[-1.2, -0.6], [-0.2, 0.0]])
+CONTEXT_BOUNDS_4DIMS = np.array([[-1.2, -0.6, -1.0, -0.65],
+                                 [-0.2, 0.6, -0.2, 0.65]])
+
+
+class TableTennisEnv(MujocoEnv, utils.EzPickle):
+    """
+    7 DoF table tennis environment
+    """
+
+    def __init__(self, frame_skip: int = 4):
+        utils.EzPickle.__init__(**locals())
+        self._steps = 0
+
+        self.hit_ball = False
+        self.ball_land_on_table = False
+        self._id_set = False
+        MujocoEnv.__init__(self,
+                           model_path=os.path.join(os.path.dirname(__file__), "assets", "xml", "table_tennis_env.xml"),
+                           frame_skip=frame_skip,
+                           mujoco_bindings="mujoco")
+        self.action_space = spaces.Box(low=-1, high=1, shape=(7,), dtype=np.float32)
+
+    def _set_ids(self):
+        self._floor_id = self.model.geom("floor").bodyid[0]
+        self._ball_id = self.model.geom("target_ball_contact").bodyid[0]
+        self._bat_front_id = self.model.geom("bat").bodyid[0]
+        self._bat_back_id = self.model.geom("bat_back").bodyid[0]
+        self._table_id = self.model.geom("table_tennis_table").bodyid[0]
+        self._id_set = True
+
+    def step(self, action):
+        if not self._id_set:
+            self._set_ids()
+
+        unstable_simulation = False
+
+        try:
+            self.do_simulation(action, self.frame_skip)
+        except Exception as e:
+            print("Simulation get unstable return with MujocoException: ", e)
+            unstable_simulation = True
+
+        self._steps += 1
+        episode_end = True if self._steps >= MAX_EPISODE_STEPS_TABLE_TENNIS else False
+
+        obs = self._get_obs()
+
+        return obs, 0., False, {}
+
+    def _contact_checker(self, id_1, id_2):
+        for coni in range(0, self.data.ncon):
+            con = self.data.contact[coni]
+            if (con.geom1 == id_1 and con.geom2 == id_2) or (con.geom1 == id_2 and con.geom2 == id_1):
+                return True
+        return False
+
+    def reset_model(self):
+        self._steps = 0
+        return self._get_obs()
+
+    def _get_obs(self):
+        obs = np.concatenate([
+            self.data.qpos.flat[:7],
+            self.data.qvel.flat[:7],
+        ])
+        return obs
+
+
+if __name__ == "__main__":
+    env = TableTennisEnv()
+    env.reset()
+    while True:
+        env.render("human")
+        env.step(env.action_space.sample())
diff --git a/fancy_gym/envs/mujoco/table_tennis/table_tennis_utils.py b/fancy_gym/envs/mujoco/table_tennis/table_tennis_utils.py
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/fancy_gym/envs/mujoco/table_tennis/table_tennis_utils.py
@@ -0,0 +1 @@
+