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 Tasks and Scenes	Task family and scene logic
`Robot`	`EE`, `UAQuad`, `UAHexa`, `FAHexa`, `OmniHexa`	EE oracle, UA-Quad, UA-Hexa, FA-Hexa, or Omni-Hexa profile
`Action`	`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 FAHexa. Treat the Gym registry as authoritative.

Discover the exact registry¶

Follow Find an Environment to launch the registry command and select an ID from the current checkout. This reference explains the returned IDs; the live Gym registry remains authoritative.

Maintained registration inventory¶

The 12 maintained public task prefixes are:

CabinetPickPlace  FrameAssembly   LemonHarvesting  NDT
OpenDoor          PegInHole       PressButton      PullLever
PushSlider        RotateValve     TossBall         WipeWindow

Every task prefix is registered with these 8 suffixes:

Robot	Registered suffixes
EE oracle	`-Am-EE-Abs-PID-Direct-v0`, `-Am-EE-Abs-L1-Direct-v0`
OmniHexa	`-Am-OmniHexa-Abs-PID-Direct-v0`
FAHexa	`-Am-FAHexa-Abs-PID-Direct-v0`, `-Am-FAHexa-Abs-L1-Direct-v0`, `-Am-FAHexa-Abs-MPC-Direct-v0`
UAHexa	`-Am-UAHexa-Abs-PID-Direct-v0`
UAQuad	`-Am-UAQuad-Abs-PID-Direct-v0`

Concatenate one task prefix and one suffix from the same row set. For example, WipeWindow plus -Am-UAQuad-Abs-PID-Direct-v0 gives the registered ID WipeWindow-Am-UAQuad-Abs-PID-Direct-v0.

Selected tasks add these variants:

Tasks	Additional suffixes
`PressButton`, `PushSlider`, `RotateValve`	`-Am-FAHexa-BaseJoint-Abs-PID-Direct-v0`, `-Am-FAHexa-BaseJoint-Abs-L1-Direct-v0`
`LemonHarvesting`, `PressButton`, `PushSlider`, `RotateValve`	`-Am-EE-Abs-PID-Direct-Fast-v0`

This produces 106 maintained public IDs. The inventory is derived from the literal task_id registrations in the 12 maintained task packages. Development-only task packages are outside this public inventory.

Examples¶

PressButton-Am-EE-Abs-PID-Direct-v0
PressButton-Am-FAHexa-Abs-PID-Direct-v0
PressButton-Am-FAHexa-BaseJoint-Abs-L1-Direct-v0
PressButton-Am-FAHexa-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.

The -Fast-v0 registrations are specialized scripted-policy configurations rather than the default starting point.