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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause


# mode for very simple functional testing without checking thresholds
fast_test:
  rl_games:Isaac-Ant-v0:
    max_iterations: 10
    lower_thresholds:
      reward: -99999
      episode_length: -99999
    upper_thresholds:
      duration: 99999

# mode for capturing KPIs across all environments without checking thresholds
full_test:
  Isaac-*:
    max_iterations: 10
    lower_thresholds:
      reward: -99999
      episode_length: -99999
    upper_thresholds:
      duration: 99999

# mode for PR tests (default mode)
fast:
  rl_games:Isaac-Ant-v0:
    max_iterations: 200
    lower_thresholds:
      reward: 45
      episode_length: 900
    upper_thresholds:
      duration: 1200 #750
  skrl:Isaac-Cartpole-RGB-Camera-Direct-v0:
    max_iterations: 50
    lower_thresholds:
      reward: 190
      episode_length: 230
    upper_thresholds:
      duration: 450
  rsl_rl:Isaac-Humanoid-v0:
    max_iterations: 200
    lower_thresholds:
      reward: 50
      episode_length: 600 #700
    upper_thresholds:
      duration: 500
  rl_games:Isaac-Quadcopter-Direct-v0:
    max_iterations: 200
    lower_thresholds:
      reward: 100
      episode_length: 400
    upper_thresholds:
      duration: 300 #250
  skrl:Isaac-Shadow-Hand-Over-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 30
      episode_length: 250
    upper_thresholds:
      duration: 600
  rsl_rl:Isaac-Velocity-Rough-Anymal-C-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 7
      episode_length: 875
    upper_thresholds:
      duration: 1800
  sb3:Isaac-Lift-Cube-Franka-v0:
    max_iterations: 150
    lower_thresholds:
      reward: 1.5
      episode_length: 150
    upper_thresholds:
      duration: 2000
  rsl_rl:Isaac-Dexsuite-Kuka-Allegro-Lift-v0:
    max_iterations: 300 # 200
    lower_thresholds:
      reward: 0.4 # 0.7
      episode_length: 150
    upper_thresholds:
      duration: 1400 #1200
  rsl_rl:Isaac-Reach-OpenArm-v0:
    max_iterations: 200
    lower_thresholds:
      reward: 0.15
      episode_length: 100
    upper_thresholds:
      duration: 600

# mode for nightly CI
full:
  # Locomotion tasks - basic
  Isaac-Ant-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 7000
      episode_length: 700
    upper_thresholds:
      duration: 500
  Isaac-Ant-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 100
      episode_length: 700
    upper_thresholds:
      duration: 800
  Isaac-Humanoid-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 2000
      episode_length: 600
    upper_thresholds:
      duration: 1000
  Isaac-Humanoid-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 100
      episode_length: 600
    upper_thresholds:
      duration: 2500
  # Classic control tasks
  Isaac-Cart-Double-Pendulum-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 400
      episode_length: 150
    upper_thresholds:
      duration: 500
  Isaac-Cartpole-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 200
      episode_length: 150
    upper_thresholds:
      duration: 500
  Isaac-Cartpole-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 3
      episode_length: 150
    upper_thresholds:
      duration: 1500
  # Vision-based cartpole tasks
  Isaac-Cartpole-Depth-Camera-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 200
      episode_length: 150
    upper_thresholds:
      duration: 3000
  Isaac-Cartpole-Depth-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 1
      episode_length: 150
    upper_thresholds:
      duration: 3000
  Isaac-Cartpole-RGB-Camera-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 200
      episode_length: 150
    upper_thresholds:
      duration: 3000
  Isaac-Cartpole-RGB-ResNet18-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 1
      episode_length: 100
    upper_thresholds:
      duration: 4000
  Isaac-Cartpole-RGB-TheiaTiny-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 1
      episode_length: 150
    upper_thresholds:
      duration: 4000
  Isaac-Cartpole-RGB-v0:
    max_iterations: 300
    lower_thresholds:
      reward: -2
      episode_length: 150
    upper_thresholds:
      duration: 4000
  # Manipulation tasks - Franka
  Isaac-Franka-Cabinet-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 2000
      episode_length: 400
    upper_thresholds:
      duration: 1000
  Isaac-Lift-Cube-Franka-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 90
      episode_length: 100
    upper_thresholds:
      duration: 1000
  Isaac-Open-Drawer-Franka-v0:
    max_iterations: 200
    lower_thresholds:
      reward: 60
      episode_length: 150
    upper_thresholds:
      duration: 3000
  Isaac-Reach-Franka-*:
    max_iterations: 1000
    lower_thresholds:
      reward: 0.25
      episode_length: 150
    upper_thresholds:
      duration: 1500
  Isaac-Reach-Franka-OSC-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 0.25
      episode_length: 150
    upper_thresholds:
      duration: 1500
  # Manipulation tasks - OpenArm
  Isaac-Lift-Cube-OpenArm-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 80
      episode_length: 100
    upper_thresholds:
      duration: 1200
  Isaac-Open-Drawer-OpenArm-v0:
    max_iterations: 200
    lower_thresholds:
      reward: 50
      episode_length: 150
    upper_thresholds:
      duration: 3000
  Isaac-Reach-OpenArm-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 0.25
      episode_length: 150
    upper_thresholds:
      duration: 1500
  Isaac-Reach-OpenArm-Bi-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 0.25
      episode_length: 150
    upper_thresholds:
      duration: 1800
  # Manipulation tasks - UR10
  Isaac-Reach-UR10-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 0.25
      episode_length: 150
    upper_thresholds:
      duration: 1500
  # Dexterous manipulation - Allegro hand
  Isaac-Repose-Cube-Allegro-Direct-v0:
    max_iterations: 500
    lower_thresholds:
      reward: 200
      episode_length: 150
    upper_thresholds:
      duration: 1500
  Isaac-Repose-Cube-Allegro-*:
    max_iterations: 500
    lower_thresholds:
      reward: 15
      episode_length: 300
    upper_thresholds:
      duration: 1500
  # Dexterous manipulation - Shadow hand
  Isaac-Repose-Cube-Shadow-Direct-v0:
    max_iterations: 3000
    lower_thresholds:
      reward: 1000
      episode_length: 300
    upper_thresholds:
      duration: 10000
  Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0:
    max_iterations: 3000
    lower_thresholds:
      reward: 1000
      episode_length: 50
    upper_thresholds:
      duration: 15000
  Isaac-Repose-Cube-Shadow-OpenAI-LSTM-Direct-v0:
    max_iterations: 3000
    lower_thresholds:
      reward: 1000
      episode_length: 100
    upper_thresholds:
      duration: 30000
  Isaac-Repose-Cube-Shadow-Vision-Direct-v0:
    max_iterations: 3000
    lower_thresholds:
      reward: 1000
      episode_length: 400
    upper_thresholds:
      duration: 40000
  Isaac-Shadow-Hand-Over-Direct-v0:
    max_iterations: 3000
    lower_thresholds:
      reward: 1000
      episode_length: 150
    upper_thresholds:
      duration: 10000
  # Dexterous manipulation - Kuka-Allegro
  Isaac-Dexsuite-Kuka-Allegro-Lift-v0:
    max_iterations: 500
    lower_thresholds:
      reward: 50
      episode_length: 200
    upper_thresholds:
      duration: 2000
  Isaac-Dexsuite-Kuka-Allegro-Reorient-v0:
    max_iterations: 500
    lower_thresholds:
      reward: 50
      episode_length: 200
    upper_thresholds:
      duration: 2000
  # Factory and forge tasks
  Isaac-AutoMate-Assembly-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 100
      episode_length: 200
    upper_thresholds:
      duration: 1500
  Isaac-AutoMate-Disassembly-Direct-v0:
    max_iterations: 300
    lower_thresholds:
      reward: 100
      episode_length: 200
    upper_thresholds:
      duration: 1500
  Isaac-Factory-GearMesh-Direct-v0:
    max_iterations: 100
    lower_thresholds:
      reward: 200
      episode_length: 250
    upper_thresholds:
      duration: 6000
  Isaac-Factory-NutThread-Direct-v0:
    max_iterations: 100
    lower_thresholds:
      reward: 400
      episode_length: 400
    upper_thresholds:
      duration: 5000
  Isaac-Factory-PegInsert-Direct-v0:
    max_iterations: 100
    lower_thresholds:
      reward: 125
      episode_length: 130
    upper_thresholds:
      duration: 4000
  Isaac-Forge-GearMesh-Direct-v0:
    max_iterations: 100
    lower_thresholds:
      reward: 200
      episode_length: 250
    upper_thresholds:
      duration: 6000
  Isaac-Forge-NutThread-Direct-v0:
    max_iterations: 100
    lower_thresholds:
      reward: 400
      episode_length: 400
    upper_thresholds:
      duration: 5000
  Isaac-Forge-PegInsert-Direct-v0:
    max_iterations: 100
    lower_thresholds:
      reward: 125
      episode_length: 130
    upper_thresholds:
      duration: 4000
  # Aerial tasks
  Isaac-Quadcopter-Direct-v0:
    max_iterations: 500
    lower_thresholds:
      reward: 90
      episode_length: 300
    upper_thresholds:
      duration: 500
  # Quadruped and humanoid locomotion - flat terrain
  Isaac-Velocity-Flat-*:
    max_iterations: 1000
    lower_thresholds:
      reward: 15
      episode_length: 700
    upper_thresholds:
      duration: 3000
  Isaac-Velocity-Flat-Spot-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 150
      episode_length: 700
    upper_thresholds:
      duration: 6000
  Isaac-Velocity-Flat-Digit-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 10
      episode_length: 700
    upper_thresholds:
      duration: 3000
  Isaac-Velocity-Flat-G1-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 10
      episode_length: 700
    upper_thresholds:
      duration: 3500
  Isaac-Velocity-Flat-Unitree-Go1-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 15
      episode_length: 700
    upper_thresholds:
      duration: 3000
  Isaac-Velocity-Flat-Unitree-Go2-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 15
      episode_length: 700
    upper_thresholds:
      duration: 3000
  # Quadruped and humanoid locomotion - rough terrain
  Isaac-Velocity-Rough-*:
    max_iterations: 1000
    lower_thresholds:
      reward: 7
      episode_length: 700
    upper_thresholds:
      duration: 6000
  Isaac-Velocity-Rough-Digit-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 5
      episode_length: 700
    upper_thresholds:
      duration: 6000
  Isaac-Velocity-Rough-G1-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 5
      episode_length: 700
    upper_thresholds:
      duration: 6000
  Isaac-Velocity-Rough-Unitree-Go1-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 7
      episode_length: 700
    upper_thresholds:
      duration: 6000
  Isaac-Velocity-Rough-Unitree-Go2-v0:
    max_iterations: 1000
    lower_thresholds:
      reward: 7
      episode_length: 700
    upper_thresholds:
      duration: 6000
  # Locomotion-manipulation
  Isaac-Tracking-LocoManip-Digit-v0:
    max_iterations: 500
    lower_thresholds:
      reward: 5
      episode_length: 500
    upper_thresholds:
      duration: 3000