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v2d / simulation /modules /IsaacLab /source /isaaclab_tasks /test /benchmarking /configs.yaml
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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