fancy_gym/docs/source/envs/fancy/mujoco.md

Custom Mujoco tasks

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

*Observation dimensions depend on configuration.

MP Environments

Many of these envs also exist as MP-variants. Refer to them using fancy_DMP/<name> fancy_ProMP/<name> or fancy_ProDMP/<name>.