> ## Documentation Index
> Fetch the complete documentation index at: https://scaledfoundations-rebrand.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# 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. |