Supported Environments

List of supported RL training environments with GRID along with their corresponding task categories and robot:

Environment	Task Type	Robot Type	Description
Isaac-Reach-Franka-v0	Manipulation	Franka	Move the Franka robot’s end-effector to a target pose.
Isaac-Reach-UR10-v0	Manipulation	UR10	Move the UR10 robot’s end-effector to a target pose.
Isaac-Lift-Cube-Franka-v0	Manipulation	Franka	Pick up a cube and place it at a target position.
Isaac-Stack-Cube-Franka-v0	Manipulation	Franka	Stack three cubes (blue, red, green).
Isaac-Franka-Cabinet-Direct-v0	Manipulation	Franka	Grasp and pull open a cabinet drawer.
Isaac-Repose-Cube-Allegro-Direct-v0	Manipulation	Allegro Hand	Reorient a cube in-hand.
Isaac-Repose-Cube-Shadow-Direct-v0	Manipulation	Shadow Hand	Reorient a cube in-hand.
Isaac-Factory-PegInsert-Direct-v0	Contact-Rich Manipulation	Franka	Insert a peg into a socket.
Isaac-Factory-GearMesh-Direct-v0	Contact-Rich Manipulation	Franka	Insert and mesh a gear into a base with other gears.
Isaac-Factory-NutThread-Direct-v0	Contact-Rich Manipulation	Franka	Thread a nut onto the first two threads of a bolt.
Isaac-Velocity-Flat-Anymal-B-v0	Locomotion	Anymal B	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Anymal-B-v0	Locomotion	Anymal B	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-Anymal-C-Direct-v0	Locomotion	Anymal C	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Anymal-C-Direct-v0	Locomotion	Anymal C	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-Anymal-D-v0	Locomotion	Anymal D	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Anymal-D-v0	Locomotion	Anymal D	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-Unitree-A1-v0	Locomotion	Unitree A1	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Unitree-A1-v0	Locomotion	Unitree A1	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-Unitree-Go1-v0	Locomotion	Unitree Go1	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Unitree-Go1-v0	Locomotion	Unitree Go1	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-Unitree-Go2-v0	Locomotion	Unitree Go2	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Unitree-Go2-v0	Locomotion	Unitree Go2	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-Spot-v0	Locomotion	Boston Dynamics Spot	Track a velocity command on flat terrain.
Isaac-Velocity-Flat-H1-v0	Locomotion	Unitree H1	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-H1-v0	Locomotion	Unitree H1	Track a velocity command on rough terrain.
Isaac-Velocity-Flat-G1-v0	Locomotion	Unitree G1	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-G1-v0	Locomotion	Unitree G1	Track a velocity command on rough terrain.
Isaac-LocoManip-G1-v0	Locomotion + Manipulation	Unitree G1	Track a velocity command and move both hand’s end-effectors to target poses.
Isaac-Velocity-Flat-Digit-v0	Locomotion	Agility Digit	Track a velocity command on flat terrain.
Isaac-Velocity-Rough-Digit-v0	Locomotion	Agility Digit	Track a velocity command on rough terrain.
Isaac-LocoManip-Digit-v0	Locomotion + Manipulation	Agility Digit	Track a velocity command and move both hand’s end-effectors to target poses.