Environment IDs¶

AM-Bench registers Isaac Lab direct environments with IDs that expose the task, robot profile, action interface, and controller selection.

Anatomy of an AM-Bench environment ID

Naming pattern¶

<Task>-Am-<Robot>-<Action>-<Controller>-Direct-v0

The BaseJoint interface adds one token:

<Task>-Am-<Robot>-BaseJoint-Abs-<Controller>-Direct-v0

Segment	Values used by the maintained suite	Meaning
`Task`	`PressButton`, `PegInHole`, `FrameAssembly`, and the other names in the Task Suite	Task family and scene logic
`Robot`	`EE`, `QuadScorpion`, `HexaScorpionUAC`, `HexaScorpion`, `OmniScorpion`	EE oracle, UA-Quad, UA-Hexa, FA-Hexa, or Omni-Hexa profile
`Action`	`Delta`, `Abs`, or `BaseJoint-Abs`	Public action representation
`Controller`	`PID`, `L1`, or `MPC`	Low-level controller family
`Direct`	fixed token	Isaac Lab `DirectRLEnv` task
`v0`	version suffix	Gym registration version

Not every combination is registered. BaseJoint variants exist only for selected tasks and platforms, and whole-body MPC uses absolute EE targets on HexaScorpion. Treat the Gym registry as authoritative.

Discover the exact registry¶

From the repository root:

source ../IsaacLab/env_isaaclab/bin/activate
python scripts/environments/list_envs.py

The command launches Isaac Sim headlessly and prints every registered AM-Bench ID with its environment class and config entry point.

Examples¶

PressButton-Am-EE-Delta-PID-Direct-v0
PressButton-Am-HexaScorpion-Abs-PID-Direct-v0
PressButton-Am-HexaScorpion-BaseJoint-Abs-L1-Direct-v0
PressButton-Am-HexaScorpion-Abs-MPC-Direct-v0

The first is the lightest task-logic check. The second adds a physical FA-Hexa, Pyroki IK, allocation, and PID tracking. The third makes the policy command base pose and arm joints directly. The fourth replaces the decoupled IK–tracking path with whole-body MPC.

Some task families also register -Fast-v0 research variants. They are specialized scripted-policy configurations rather than the default starting point.