Reinforcement Learning
Supported Environments
Reinforcement Learning
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. |
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