# DeepMind Control (DMC) <!-- TODO: Add Vid --> These are the Environment Wrappers for selected [DeepMind Control](https://github.com/google-deepmind/dm_control) environments in order to use our Motion Primitive gym interface with them. ## Step-Based Environments When installing fancy_gym with the optional dmc extra (e.g. `pip install fancy_gym[dmc]`), all regular dmc tasks are avaible via [Shimmy](https://github.com/Farama-Foundation/Shimmy). | Name | Description | Action Dim | Observation Dim | | --------------------------------------- | ----------------------------------------------------------------------------------------------------------------------- | ---------- | --------------- | | `dm_control/acrobot-swingup-v0` | Underactuated double pendulum (Acrobot) with torque applied to the second joint to swing up and balance. | 1 | 6 | | `dm_control/acrobot-swingup_sparse-v0` | Similar to `acrobot-swingup-v0`, but with sparse rewards for achieving the swingup task. | 1 | 6 | | `dm_control/ball_in_cup-catch-v0` | Planar ball-in-cup task where a receptacle must swing to catch a ball. Sparse reward for catching. | 2 | 8 | | `dm_control/cartpole-balance-v0` | Cart-pole task where the goal is to balance an unactuated pole by moving a cart, starting near upright. | 1 | 5 | | `dm_control/cartpole-balance_sparse-v0` | Similar to `cartpole-balance-v0`, but with sparse rewards. | 1 | 5 | | `dm_control/cartpole-swingup-v0` | Cart-pole task with the pole starting downward, requiring swinging up and balancing. | 1 | 5 | | `dm_control/cartpole-swingup_sparse-v0` | Similar to `cartpole-swingup-v0`, but with sparse rewards for the swingup task. | 1 | 5 | | `dm_control/cartpole-two_poles-v0` | Extension of the Cart-pole domain with two serially connected poles, increasing the balancing challenge. | 1 | 8 | | `dm_control/cartpole-three_poles-v0` | Extension of the Cart-pole domain with three serially connected poles, further increasing the challenge. | 1 | 11 | | `dm_control/cheetah-run-v0` | Planar bipedal cheetah robot tasked with running. The reward is proportional to forward velocity up to a maximum speed. | 6 | 17 | | `dm_control/dog-stand-v0` | Dog robot task focusing on achieving a standing posture. | 38 | 223 | | `dm_control/dog-walk-v0` | Dog robot tasked with walking, requiring coordination of movements. | 38 | 223 | | `dm_control/dog-trot-v0` | Dog robot performing a trotting gait. | 38 | 223 | | `dm_control/dog-run-v0` | Dog robot tasked with running, combining speed with stability. | 38 | 223 | | `dm_control/dog-fetch-v0` | Dog robot playing fetch, involving locomotion and object interaction. | 38 | 232 | | `dm_control/finger-spin-v0` | Finger robot required to rotate an unactuated body on a hinge. | 2 | 9 | | `dm_control/finger-turn_easy-v0` | Finger robot task to align the tip of a free body with a target, easier version with a larger target. | 2 | 12 | | `dm_control/finger-turn_hard-v0` | Similar to `finger-turn_easy-v0`, but with a smaller target for increased difficulty. | 2 | 12 | | `dm_control/fish-upright-v0` | Fish robot task focused on righting itself in a fluid environment. | 5 | 21 | | `dm_control/fish-swim-v0` | Fish robot swimming to a target, incorporating fluid dynamics. | 5 | 24 | | `dm_control/hopper-stand-v0` | One-legged hopper robot tasked with achieving a minimal torso height. | 4 | 15 | | `dm_control/hopper-hop-v0` | One-legged hopper robot required to hop, combining height and forward velocity. | 4 | 15 | | `dm_control/humanoid-stand-v0` | Simplified humanoid robot maintaining a standing posture. | 21 | 67 | | `dm_control/humanoid-walk-v0` | Simplified humanoid robot walking at a specified speed. | 21 | 67 | | `dm_control/humanoid-run-v0` | Simplified humanoid robot running, aiming for a high horizontal speed. | 21 | 67 | | `dm_control/humanoid-run_pure_state-v0` | Simplified humanoid robot running with a focus on pure state control. | 21 | 55 | | `dm_control/humanoid_CMU-stand-v0` | Advanced humanoid robot (CMU model) maintaining a standing posture. | 56 | 137 | | `dm_control/humanoid_CMU-walk-v0` | Advanced humanoid robot (CMU model) walking. | 56 | 137 | | `dm_control/humanoid_CMU-run-v0` | Advanced humanoid robot (CMU model) running. | 56 | 137 | | `dm_control/lqr-lqr_2_1-v0` | Linear quadratic regulator (LQR) task with 2 masses and 1 actuator, focusing on position and control optimization. | 1 | 4 | | `dm_control/lqr-lqr_6_2-v0` | Linear quadratic regulator (LQR) task with 6 masses and 2 actuators, more complex control optimization challenge. | 2 | 12 | | `dm_control/manipulator-bring_ball-v0` | Planar manipulator robot bringing a ball to a target location, with object initialization variations. | 5 | 44 | | `dm_control/manipulator-bring_peg-v0` | Planar manipulator task of bringing a peg to a target peg. | 5 | 44 | | `dm_control/manipulator-insert_ball-v0` | Planar manipulator task requiring inserting a ball into a basket. | 5 | 44 | | `dm_control/manipulator-insert_peg-v0` | Planar manipulator challenge of inserting a peg into a slot. | 5 | 44 | | `dm_control/pendulum-swingup-v0` | Classic inverted pendulum task with a torque-limited actuator, requiring multiple swings to swing up and balance. | 1 | 3 | | `dm_control/point_mass-easy-v0` | Planar point mass in an easy task, with actuators corresponding to global x and y axes | 2 | 4 | | `dm_control/point_mass-hard-v0` | Planar point mass in a hard task, with randomized control gains per episode, challenging memoryless agents. | 2 | 4 | | `dm_control/quadruped-walk-v0` | Four-legged robot (Quadruped) tasked with walking. | 12 | 78 | | `dm_control/quadruped-run-v0` | Quadruped robot required to run, balancing speed and stability. | 12 | 78 | | `dm_control/quadruped-escape-v0` | Quadruped robot in an escape task, combining locomotion with environmental interaction. | 12 | 101 | | `dm_control/quadruped-fetch-v0` | Quadruped robot playing fetch, involving complex movements and object interaction. | 12 | 90 | | `dm_control/reacher-easy-v0` | Two-link planar reacher with a randomized target, easier version with a larger target sphere. | 2 | 6 | | `dm_control/reacher-hard-v0` | Similar to `reacher-easy-v0`, but with a smaller target sphere for increased difficulty. | 2 | 6 | | `dm_control/stacker-stack_2-v0` | Stacker task requiring stacking of 2 boxes, with rewards for correct placement and gripper positioning. | 5 | 49 | | `dm_control/stacker-stack_4-v0` | More complex stacker task with 4 boxes, increasing the stacking challenge. | 5 | 63 | | `dm_control/swimmer-swimmer6-v0` | Six-link planar swimmer in fluid dynamics, rewarded for positioning the nose inside a target. | 5 | 25 | | `dm_control/swimmer-swimmer15-v0` | Fifteen-link planar swimmer, a more complex version of the swimmer task with extended dynamics. | 14 | 61 | | `dm_control/walker-stand-v0` | Planar walker robot tasked with maintaining an upright torso and minimal height. | 6 | 24 | | `dm_control/walker-walk-v0` | Planar walker robot walking task, focusing on forward velocity and stability. | 6 | 24 | | `dm_control/walker-run-v0` | Planar walker robot running task, aiming for high speed and balance. | 6 | 24 | ## MP Environments [//]: <> (These environments are wrapped-versions of their Deep Mind Control Suite (DMC) 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 |