Available Environments

Available 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:

Linux

./isaaclab.sh -p scripts/environments/list_envs.py

Windows

isaaclab.bat -p scripts\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!

Single-agent#

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	Move the cart to keep the pole upwards in the classic cartpole control
	Isaac-Cartpole-RGB-v0 Isaac-Cartpole-Depth-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 and perceptive inputs
	Isaac-Cartpole-RGB-ResNet18-v0 Isaac-Cartpole-RGB-TheiaTiny-v0	Move the cart to keep the pole upwards in the classic cartpole control based off of features extracted from perceptive inputs with pre-trained frozen vision encoders

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 lift-cube 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-Stack-Cube-Franka-v0	Stack three cubes (bottom to top: blue, red, green) with the Franka robot
	Isaac-Open-Drawer-Franka-v0 Isaac-Franka-Cabinet-Direct-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
	Isaac-Repose-Cube-Shadow-Vision-Direct-v0	In-hand reorientation of a cube using Shadow hand using perceptive inputs

Contact-rich Manipulation#

Environments based on contact-rich manipulation tasks such as peg insertion, gear meshing and nut-bolt fastening.

These tasks share the same task configurations and control options. You can switch between them by specifying the task name. For example:

Isaac-Factory-PegInsert-Direct-v0: Peg insertion with the Franka arm
Isaac-Factory-GearMesh-Direct-v0: Gear meshing with the Franka arm
Isaac-Factory-NutThread-Direct-v0: Nut-Bolt fastening with the Franka arm

World	Environment ID	Description
	Isaac-Factory-PegInsert-Direct-v0	Insert peg into the socket with the Franka robot
	Isaac-Factory-GearMesh-Direct-v0	Insert and mesh gear into the base with other gears, using the Franka robot
	Isaac-Factory-NutThread-Direct-v0	Thread the nut onto the first 2 threads of the bolt, using the Franka robot

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

Others#

Note

Adversarial Motion Priors (AMP) training is only available with the skrl library, as it is the only one of the currently integrated libraries that supports it out-of-the-box (for the other libraries, it is necessary to implement the algorithm and architectures). See the skrl’s AMP Documentation for more information. The AMP algorithm can be activated by adding the command line input --algorithm AMP to the train/play script.

For evaluation, the play script’s command line input --real-time allows the interaction loop between the environment and the agent to run in real time, if possible.

World

Environment ID

Description

quadcopter

Isaac-Quadcopter-Direct-v0

Fly and hover the Crazyflie copter at a goal point by applying thrust.

humanoid_amp

Isaac-Humanoid-AMP-Dance-Direct-v0

Isaac-Humanoid-AMP-Run-Direct-v0

Isaac-Humanoid-AMP-Walk-Direct-v0

Move a humanoid robot by imitating different pre-recorded human animations (Adversarial Motion Priors).

Multi-agent#

Note

True mutli-agent training is only available with the skrl library, see the Multi-Agents Documentation for more information. It supports the IPPO and MAPPO algorithms, which can be activated by adding the command line input --algorithm IPPO or --algorithm MAPPO to the train/play script. If these environments are run with other libraries or without the IPPO or MAPPO flags, they will be converted to single-agent environments under the hood.

Classic#

World	Environment ID	Description
	Isaac-Cart-Double-Pendulum-Direct-v0	Move the cart and the pendulum to keep the last one upwards in the classic inverted double pendulum on a cart control

Manipulation#

Environments based on fixed-arm manipulation tasks.

World	Environment ID	Description
	Isaac-Shadow-Hand-Over-Direct-v0	Passing an object from one hand over to the other hand

Comprehensive List of Environments#

Task Name	Inference Task Name	Workflow	RL Library
Isaac-Ant-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Ant-v0		Manager Based	rsl_rl (PPO), rl_games (PPO), skrl (PPO), sb3 (PPO)
Isaac-Cart-Double-Pendulum-Direct-v0		Direct	rl_games (PPO), skrl (IPPO, PPO, MAPPO)
Isaac-Cartpole-Depth-Camera-Direct-v0		Direct	rl_games (PPO), skrl (PPO)
Isaac-Cartpole-Depth-v0		Manager Based	rl_games (PPO)
Isaac-Cartpole-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO), sb3 (PPO)
Isaac-Cartpole-RGB-Camera-Direct-v0		Direct	rl_games (PPO), skrl (PPO)
Isaac-Cartpole-RGB-ResNet18-v0		Manager Based	rl_games (PPO)
Isaac-Cartpole-RGB-TheiaTiny-v0		Manager Based	rl_games (PPO)
Isaac-Cartpole-RGB-v0		Manager Based	rl_games (PPO)
Isaac-Cartpole-v0		Manager Based	rl_games (PPO), rsl_rl (PPO), skrl (PPO), sb3 (PPO)
Isaac-Factory-GearMesh-Direct-v0		Direct	rl_games (PPO)
Isaac-Factory-NutThread-Direct-v0		Direct	rl_games (PPO)
Isaac-Factory-PegInsert-Direct-v0		Direct	rl_games (PPO)
Isaac-Franka-Cabinet-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Humanoid-AMP-Dance-Direct-v0		Direct	skrl (AMP)
Isaac-Humanoid-AMP-Run-Direct-v0		Direct	skrl (AMP)
Isaac-Humanoid-AMP-Walk-Direct-v0		Direct	skrl (AMP)
Isaac-Humanoid-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Humanoid-v0		Manager Based	rsl_rl (PPO), rl_games (PPO), skrl (PPO), sb3 (PPO)
Isaac-Lift-Cube-Franka-IK-Abs-v0		Manager Based
Isaac-Lift-Cube-Franka-IK-Rel-v0		Manager Based
Isaac-Lift-Cube-Franka-v0	Isaac-Lift-Cube-Franka-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO), rl_games (PPO), sb3 (PPO)
Isaac-Lift-Teddy-Bear-Franka-IK-Abs-v0		Manager Based
Isaac-Navigation-Flat-Anymal-C-v0	Isaac-Navigation-Flat-Anymal-C-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Open-Drawer-Franka-IK-Abs-v0		Manager Based
Isaac-Open-Drawer-Franka-IK-Rel-v0		Manager Based
Isaac-Open-Drawer-Franka-v0	Isaac-Open-Drawer-Franka-Play-v0	Manager Based	rsl_rl (PPO), rl_games (PPO), skrl (PPO)
Isaac-Quadcopter-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Reach-Franka-IK-Abs-v0		Manager Based
Isaac-Reach-Franka-IK-Rel-v0		Manager Based
Isaac-Reach-Franka-OSC-v0	Isaac-Reach-Franka-OSC-Play-v0	Manager Based	rsl_rl (PPO)
Isaac-Reach-Franka-v0	Isaac-Reach-Franka-Play-v0	Manager Based	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Reach-UR10-v0	Isaac-Reach-UR10-Play-v0	Manager Based	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Repose-Cube-Allegro-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Repose-Cube-Allegro-NoVelObs-v0	Isaac-Repose-Cube-Allegro-NoVelObs-Play-v0	Manager Based	rsl_rl (PPO), rl_games (PPO), skrl (PPO)
Isaac-Repose-Cube-Allegro-v0	Isaac-Repose-Cube-Allegro-Play-v0	Manager Based	rsl_rl (PPO), rl_games (PPO), skrl (PPO)
Isaac-Repose-Cube-Shadow-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0		Direct	rl_games (FF), rsl_rl (PPO), skrl (PPO)
Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0		Direct	rl_games (LSTM)
Isaac-Repose-Cube-Shadow-Vision-Direct-v0	Isaac-Repose-Cube-Shadow-Vision-Direct-Play-v0	Direct	rsl_rl (PPO), rl_games (VISION)
Isaac-Shadow-Hand-Over-Direct-v0		Direct	rl_games (PPO), skrl (IPPO, PPO, MAPPO)
Isaac-Stack-Cube-Franka-IK-Rel-v0		Manager Based
Isaac-Stack-Cube-Franka-v0		Manager Based
Isaac-Stack-Cube-Instance-Randomize-Franka-IK-Rel-v0		Manager Based
Isaac-Stack-Cube-Instance-Randomize-Franka-v0		Manager Based
Isaac-Velocity-Flat-Anymal-B-v0	Isaac-Velocity-Flat-Anymal-B-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Anymal-C-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Anymal-C-v0	Isaac-Velocity-Flat-Anymal-C-Play-v0	Manager Based	rsl_rl (PPO), rl_games (PPO), skrl (PPO)
Isaac-Velocity-Flat-Anymal-D-v0	Isaac-Velocity-Flat-Anymal-D-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Cassie-v0	Isaac-Velocity-Flat-Cassie-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-G1-v0	Isaac-Velocity-Flat-G1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-H1-v0	Isaac-Velocity-Flat-H1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Spot-v0	Isaac-Velocity-Flat-Spot-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Unitree-A1-v0	Isaac-Velocity-Flat-Unitree-A1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Unitree-Go1-v0	Isaac-Velocity-Flat-Unitree-Go1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Flat-Unitree-Go2-v0	Isaac-Velocity-Flat-Unitree-Go2-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Anymal-B-v0	Isaac-Velocity-Rough-Anymal-B-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Anymal-C-Direct-v0		Direct	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Anymal-C-v0	Isaac-Velocity-Rough-Anymal-C-Play-v0	Manager Based	rl_games (PPO), rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Anymal-D-v0	Isaac-Velocity-Rough-Anymal-D-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Cassie-v0	Isaac-Velocity-Rough-Cassie-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-G1-v0	Isaac-Velocity-Rough-G1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-H1-v0	Isaac-Velocity-Rough-H1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Unitree-A1-v0	Isaac-Velocity-Rough-Unitree-A1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Unitree-Go1-v0	Isaac-Velocity-Rough-Unitree-Go1-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)
Isaac-Velocity-Rough-Unitree-Go2-v0	Isaac-Velocity-Rough-Unitree-Go2-Play-v0	Manager Based	rsl_rl (PPO), skrl (PPO)

Available Environments

Contents

Available Environments#

Single-agent#

Classic#

Manipulation#

Contact-rich Manipulation#

Locomotion#

Navigation#

Others#

Multi-agent#

Classic#

Manipulation#

Comprehensive List of Environments#