Environments

Environments#

The following lists comprises of all the RL tasks implementations that are available in Isaac Lab. While we try to keep this list up-to-date, you can always get the latest list of environments by running the following command:

./isaaclab.sh -p source/standalone/environments/list_envs.py

We are actively working on adding more environments to the list. If you have any environments that you would like to add to Isaac Lab, please feel free to open a pull request!

Classic#

Classic environments that are based on IsaacGymEnvs implementation of MuJoCo-style environments.

World	Environment ID	Description
	Isaac-Humanoid-v0 Isaac-Humanoid-Direct-v0	Move towards a direction with the MuJoCo humanoid robot
	Isaac-Ant-v0 Isaac-Ant-Direct-v0	Move towards a direction with the MuJoCo ant robot
	Isaac-Cartpole-v0 Isaac-Cartpole-Direct-v0 Isaac-Cartpole-RGB-Camera-Direct-v0 Isaac-Cartpole-Depth-Camera-Direct-v0	Move the cart to keep the pole upwards in the classic cartpole control

Manipulation#

Environments based on fixed-arm manipulation tasks.

For many of these tasks, we include configurations with different arm action spaces. For example, for the reach environment:

Isaac-Lift-Cube-Franka-v0: Franka arm with joint position control
Isaac-Lift-Cube-Franka-IK-Abs-v0: Franka arm with absolute IK control
Isaac-Lift-Cube-Franka-IK-Rel-v0: Franka arm with relative IK control

World	Environment ID	Description
	Isaac-Reach-Franka-v0	Move the end-effector to a sampled target pose with the Franka robot
	Isaac-Reach-UR10-v0	Move the end-effector to a sampled target pose with the UR10 robot
	Isaac-Lift-Cube-Franka-v0	Pick a cube and bring it to a sampled target position with the Franka robot
	Isaac-Open-Drawer-Franka-v0	Grasp the handle of a cabinet’s drawer and open it with the Franka robot
	Isaac-Repose-Cube-Allegro-v0 Isaac-Repose-Cube-Allegro-Direct-v0	In-hand reorientation of a cube using Allegro hand
	Isaac-Repose-Cube-Shadow-Direct-v0 Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0	In-hand reorientation of a cube using Shadow hand

Locomotion#

Environments based on legged locomotion tasks.

World	Environment ID	Description
	Isaac-Velocity-Flat-Anymal-B-v0	Track a velocity command on flat terrain with the Anymal B robot
	Isaac-Velocity-Rough-Anymal-B-v0	Track a velocity command on rough terrain with the Anymal B robot
	Isaac-Velocity-Flat-Anymal-C-v0 Isaac-Velocity-Flat-Anymal-C-Direct-v0	Track a velocity command on flat terrain with the Anymal C robot
	Isaac-Velocity-Rough-Anymal-C-v0 Isaac-Velocity-Rough-Anymal-C-Direct-v0	Track a velocity command on rough terrain with the Anymal C robot
	Isaac-Velocity-Flat-Anymal-D-v0	Track a velocity command on flat terrain with the Anymal D robot
	Isaac-Velocity-Rough-Anymal-D-v0	Track a velocity command on rough terrain with the Anymal D robot
	Isaac-Velocity-Flat-Unitree-A1-v0	Track a velocity command on flat terrain with the Unitree A1 robot
	Isaac-Velocity-Rough-Unitree-A1-v0	Track a velocity command on rough terrain with the Unitree A1 robot
	Isaac-Velocity-Flat-Unitree-Go1-v0	Track a velocity command on flat terrain with the Unitree Go1 robot
	Isaac-Velocity-Rough-Unitree-Go1-v0	Track a velocity command on rough terrain with the Unitree Go1 robot
	Isaac-Velocity-Flat-Unitree-Go2-v0	Track a velocity command on flat terrain with the Unitree Go2 robot
	Isaac-Velocity-Rough-Unitree-Go2-v0	Track a velocity command on rough terrain with the Unitree Go2 robot
	Isaac-Velocity-Flat-Spot-v0	Track a velocity command on flat terrain with the Boston Dynamics Spot robot
	Isaac-Velocity-Flat-H1-v0	Track a velocity command on flat terrain with the Unitree H1 robot
	Isaac-Velocity-Rough-H1-v0	Track a velocity command on rough terrain with the Unitree H1 robot
	Isaac-Velocity-Flat-G1-v0	Track a velocity command on flat terrain with the Unitree G1 robot
	Isaac-Velocity-Rough-G1-v0	Track a velocity command on rough terrain with the Unitree G1 robot