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:

.. code-block:: bash

    ./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.


.. table::
    :widths: 33 37 30

    +------------------+-----------------------------+-------------------------------------------------------------------------+
    | World            | Environment ID              | Description                                                             |
    +==================+=============================+=========================================================================+
    | |humanoid|       | |humanoid-link|             | Move towards a direction with the MuJoCo humanoid robot                 |
    |                  | |humanoid-direct-link|      |                                                                         |
    +------------------+-----------------------------+-------------------------------------------------------------------------+
    | |ant|            | |ant-link|                  | Move towards a direction with the MuJoCo ant robot                      |
    |                  | |ant-direct-link|           |                                                                         |
    +------------------+-----------------------------+-------------------------------------------------------------------------+
    | |cartpole|       | |cartpole-link|             | Move the cart to keep the pole upwards in the classic cartpole control  |
    |                  | |cartpole-direct-link|      |                                                                         |
    |                  | |cartpole-camera-rgb-link|  |                                                                         |
    |                  | |cartpole-camera-dpt-link|  |                                                                         |
    +------------------+-----------------------------+-------------------------------------------------------------------------+

.. |humanoid| image:: ../_static/tasks/classic/humanoid.jpg
.. |ant| image:: ../_static/tasks/classic/ant.jpg
.. |cartpole| image:: ../_static/tasks/classic/cartpole.jpg

.. |humanoid-link| replace:: `Isaac-Humanoid-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/humanoid/humanoid_env_cfg.py>`__
.. |ant-link| replace:: `Isaac-Ant-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/ant/ant_env_cfg.py>`__
.. |cartpole-link| replace:: `Isaac-Cartpole-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/classic/cartpole/cartpole_env_cfg.py>`__

.. |humanoid-direct-link| replace:: `Isaac-Humanoid-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/humanoid/humanoid_env.py>`__
.. |ant-direct-link| replace:: `Isaac-Ant-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/ant/ant_env.py>`__
.. |cartpole-direct-link| replace:: `Isaac-Cartpole-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_env.py>`__
.. |cartpole-camera-rgb-link| replace:: `Isaac-Cartpole-RGB-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__
.. |cartpole-camera-dpt-link| replace:: `Isaac-Cartpole-Depth-Camera-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/cartpole/cartpole_camera_env.py>`__


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:

* |lift-cube-link|: Franka arm with joint position control
* |lift-cube-ik-abs-link|: Franka arm with absolute IK control
* |lift-cube-ik-rel-link|: Franka arm with relative IK control

.. table::
    :widths: 33 37 30

    +----------------+---------------------------+-----------------------------------------------------------------------------+
    | World          | Environment ID            | Description                                                                 |
    +================+===========================+=============================================================================+
    | |reach-franka| | |reach-franka-link|       | Move the end-effector to a sampled target pose with the Franka robot        |
    +----------------+---------------------------+-----------------------------------------------------------------------------+
    | |reach-ur10|   | |reach-ur10-link|         | Move the end-effector to a sampled target pose with the UR10 robot          |
    +----------------+---------------------------+-----------------------------------------------------------------------------+
    | |lift-cube|    | |lift-cube-link|          | Pick a cube and bring it to a sampled target position with the Franka robot |
    +----------------+---------------------------+-----------------------------------------------------------------------------+
    | |cabi-franka|  | |cabi-franka-link|        | Grasp the handle of a cabinet's drawer and open it with the Franka robot    |
    +----------------+---------------------------+-----------------------------------------------------------------------------+
    | |cube-allegro| | |cube-allegro-link|       | In-hand reorientation of a cube using Allegro hand                          |
    |                | |allegro-direct-link|     |                                                                             |
    +----------------+---------------------------+-----------------------------------------------------------------------------+
    | |cube-shadow|  | |cube-shadow-link|        | In-hand reorientation of a cube using Shadow hand                           |
    |                | |cube-shadow-ff-link|     |                                                                             |
    |                | |cube-shadow-lstm-link|   |                                                                             |
    +----------------+---------------------------+-----------------------------------------------------------------------------+

.. |reach-franka| image:: ../_static/tasks/manipulation/franka_reach.jpg
.. |reach-ur10| image:: ../_static/tasks/manipulation/ur10_reach.jpg
.. |lift-cube| image:: ../_static/tasks/manipulation/franka_lift.jpg
.. |cabi-franka| image:: ../_static/tasks/manipulation/franka_open_drawer.jpg
.. |cube-allegro| image:: ../_static/tasks/manipulation/allegro_cube.jpg
.. |cube-shadow| image:: ../_static/tasks/manipulation/shadow_cube.jpg

.. |reach-franka-link| replace:: `Isaac-Reach-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/franka/joint_pos_env_cfg.py>`__
.. |reach-ur10-link| replace:: `Isaac-Reach-UR10-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/reach/config/ur_10/joint_pos_env_cfg.py>`__
.. |lift-cube-link| replace:: `Isaac-Lift-Cube-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/joint_pos_env_cfg.py>`__
.. |lift-cube-ik-abs-link| replace:: `Isaac-Lift-Cube-Franka-IK-Abs-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_abs_env_cfg.py>`__
.. |lift-cube-ik-rel-link| replace:: `Isaac-Lift-Cube-Franka-IK-Rel-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/ik_rel_env_cfg.py>`__
.. |cabi-franka-link| replace:: `Isaac-Open-Drawer-Franka-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/cabinet/config/franka/joint_pos_env_cfg.py>`__
.. |cube-allegro-link| replace:: `Isaac-Repose-Cube-Allegro-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/inhand/config/allegro_hand/allegro_env_cfg.py>`__
.. |allegro-direct-link| replace:: `Isaac-Repose-Cube-Allegro-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/allegro_hand/allegro_hand_env_cfg.py>`__

.. |cube-shadow-link| replace:: `Isaac-Repose-Cube-Shadow-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
.. |cube-shadow-ff-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__
.. |cube-shadow-lstm-link| replace:: `Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/shadow_hand/shadow_hand_env_cfg.py>`__

Locomotion
----------

Environments based on legged locomotion tasks.

.. table::
    :widths: 33 37 30

    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | World                        | Environment ID                               | Description                                                                  |
    +==============================+==============================================+==============================================================================+
    | |velocity-flat-anymal-b|     | |velocity-flat-anymal-b-link|                | Track a velocity command on flat terrain with the Anymal B robot             |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-anymal-b|    | |velocity-rough-anymal-b-link|               | Track a velocity command on rough terrain with the Anymal B robot            |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-anymal-c|     | |velocity-flat-anymal-c-link|                | Track a velocity command on flat terrain with the Anymal C robot             |
    |                              | |velocity-flat-anymal-c-direct-link|         |                                                                              |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-anymal-c|    | |velocity-rough-anymal-c-link|               | Track a velocity command on rough terrain with the Anymal C robot            |
    |                              | |velocity-rough-anymal-c-direct-link|        |                                                                              |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-anymal-d|     | |velocity-flat-anymal-d-link|                | Track a velocity command on flat terrain with the Anymal D robot             |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-anymal-d|    | |velocity-rough-anymal-d-link|               | Track a velocity command on rough terrain with the Anymal D robot            |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-unitree-a1|   | |velocity-flat-unitree-a1-link|              | Track a velocity command on flat terrain with the Unitree A1 robot           |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-unitree-a1|  | |velocity-rough-unitree-a1-link|             | Track a velocity command on rough terrain with the Unitree A1 robot          |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-unitree-go1|  | |velocity-flat-unitree-go1-link|             | Track a velocity command on flat terrain with the Unitree Go1 robot          |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-unitree-go1| | |velocity-rough-unitree-go1-link|            | Track a velocity command on rough terrain with the Unitree Go1 robot         |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-unitree-go2|  | |velocity-flat-unitree-go2-link|             | Track a velocity command on flat terrain with the Unitree Go2 robot          |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-unitree-go2| | |velocity-rough-unitree-go2-link|            | Track a velocity command on rough terrain with the Unitree Go2 robot         |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-spot|         | |velocity-flat-spot-link|                    | Track a velocity command on flat terrain with the Boston Dynamics Spot robot |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-h1|           | |velocity-flat-h1-link|                      | Track a velocity command on flat terrain with the Unitree H1 robot           |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-h1|          | |velocity-rough-h1-link|                     | Track a velocity command on rough terrain with the Unitree H1 robot          |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-flat-g1|           | |velocity-flat-g1-link|                      | Track a velocity command on flat terrain with the Unitree G1 robot           |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+
    | |velocity-rough-g1|          | |velocity-rough-g1-link|                     | Track a velocity command on rough terrain with the Unitree G1 robot          |
    +------------------------------+----------------------------------------------+------------------------------------------------------------------------------+

.. |velocity-flat-anymal-b-link| replace:: `Isaac-Velocity-Flat-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/flat_env_cfg.py>`__
.. |velocity-rough-anymal-b-link| replace:: `Isaac-Velocity-Rough-Anymal-B-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_b/rough_env_cfg.py>`__

.. |velocity-flat-anymal-c-link| replace:: `Isaac-Velocity-Flat-Anymal-C-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/flat_env_cfg.py>`__
.. |velocity-rough-anymal-c-link| replace:: `Isaac-Velocity-Rough-Anymal-C-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_c/rough_env_cfg.py>`__

.. |velocity-flat-anymal-c-direct-link| replace:: `Isaac-Velocity-Flat-Anymal-C-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py>`__
.. |velocity-rough-anymal-c-direct-link| replace:: `Isaac-Velocity-Rough-Anymal-C-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/anymal_c/anymal_c_env.py>`__

.. |velocity-flat-anymal-d-link| replace:: `Isaac-Velocity-Flat-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/flat_env_cfg.py>`__
.. |velocity-rough-anymal-d-link| replace:: `Isaac-Velocity-Rough-Anymal-D-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/anymal_d/rough_env_cfg.py>`__

.. |velocity-flat-unitree-a1-link| replace:: `Isaac-Velocity-Flat-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/flat_env_cfg.py>`__
.. |velocity-rough-unitree-a1-link| replace:: `Isaac-Velocity-Rough-Unitree-A1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/a1/rough_env_cfg.py>`__

.. |velocity-flat-unitree-go1-link| replace:: `Isaac-Velocity-Flat-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/flat_env_cfg.py>`__
.. |velocity-rough-unitree-go1-link| replace:: `Isaac-Velocity-Rough-Unitree-Go1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go1/rough_env_cfg.py>`__

.. |velocity-flat-unitree-go2-link| replace:: `Isaac-Velocity-Flat-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/flat_env_cfg.py>`__
.. |velocity-rough-unitree-go2-link| replace:: `Isaac-Velocity-Rough-Unitree-Go2-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/go2/rough_env_cfg.py>`__

.. |velocity-flat-spot-link| replace:: `Isaac-Velocity-Flat-Spot-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/spot/flat_env_cfg.py>`__

.. |velocity-flat-h1-link| replace:: `Isaac-Velocity-Flat-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/flat_env_cfg.py>`__
.. |velocity-rough-h1-link| replace:: `Isaac-Velocity-Rough-H1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/h1/rough_env_cfg.py>`__

.. |velocity-flat-g1-link| replace:: `Isaac-Velocity-Flat-G1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/flat_env_cfg.py>`__
.. |velocity-rough-g1-link| replace:: `Isaac-Velocity-Rough-G1-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/locomotion/velocity/config/g1/rough_env_cfg.py>`__


.. |velocity-flat-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_flat.jpg
.. |velocity-rough-anymal-b| image:: ../_static/tasks/locomotion/anymal_b_rough.jpg
.. |velocity-flat-anymal-c| image:: ../_static/tasks/locomotion/anymal_c_flat.jpg
.. |velocity-rough-anymal-c| image:: ../_static/tasks/locomotion/anymal_c_rough.jpg
.. |velocity-flat-anymal-d| image:: ../_static/tasks/locomotion/anymal_d_flat.jpg
.. |velocity-rough-anymal-d| image:: ../_static/tasks/locomotion/anymal_d_rough.jpg
.. |velocity-flat-unitree-a1| image:: ../_static/tasks/locomotion/a1_flat.jpg
.. |velocity-rough-unitree-a1| image:: ../_static/tasks/locomotion/a1_rough.jpg
.. |velocity-flat-unitree-go1| image:: ../_static/tasks/locomotion/go1_flat.jpg
.. |velocity-rough-unitree-go1| image:: ../_static/tasks/locomotion/go1_rough.jpg
.. |velocity-flat-unitree-go2| image:: ../_static/tasks/locomotion/go2_flat.jpg
.. |velocity-rough-unitree-go2| image:: ../_static/tasks/locomotion/go2_rough.jpg
.. |velocity-flat-spot| image:: ../_static/tasks/locomotion/spot_flat.jpg
.. |velocity-flat-h1| image:: ../_static/tasks/locomotion/h1_flat.jpg
.. |velocity-rough-h1| image:: ../_static/tasks/locomotion/h1_rough.jpg
.. |velocity-flat-g1| image:: ../_static/tasks/locomotion/g1_flat.jpg
.. |velocity-rough-g1| image:: ../_static/tasks/locomotion/g1_rough.jpg

Navigation
----------

.. table::
    :widths: 33 37 30

    +----------------+---------------------+-----------------------------------------------------------------------------+
    | World          | Environment ID      | Description                                                                 |
    +================+=====================+=============================================================================+
    | |anymal_c_nav| | |anymal_c_nav-link| | Navigate towards a target x-y position and heading with the ANYmal C robot. |
    +----------------+---------------------+-----------------------------------------------------------------------------+

.. |anymal_c_nav-link| replace:: `Isaac-Navigation-Flat-Anymal-C-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/config/anymal_c/navigation_env_cfg.py>`__

.. |anymal_c_nav| image:: ../_static/tasks/navigation/anymal_c_nav.jpg


Others
------

.. table::
    :widths: 33 37 30

    +----------------+---------------------+-----------------------------------------------------------------------------+
    | World          | Environment ID      | Description                                                                 |
    +================+=====================+=============================================================================+
    | |quadcopter|   | |quadcopter-link|   | Fly and hover the Crazyflie copter at a goal point by applying thrust.      |
    +----------------+---------------------+-----------------------------------------------------------------------------+

.. |quadcopter-link| replace:: `Isaac-Quadcopter-Direct-v0 <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env.py>`__


.. |quadcopter| image:: ../_static/tasks/others/quadcopter.jpg
