- DexOpenDoor-v1
- DualArmBookPickPlace-v1
- DualArmButtonPress-v1
- DualArmCleanupPotEnv-v1
- DualArmDoubleDoorBox-v1
- DualArmHammerHandover-v1
- DualArmKeyboardType-v1
- DualArmLiftBall-v1
- DualArmMakeLine-v1
- DualArmOpenBottle-v1
- DualArmOpenLaptop-v1
- DualArmOpenPen-v1
- DualArmOpenScissor-v1
- DualArmPegInHole-v1
- DualArmPingpongBalance-v1
- DualArmPressButton-v1
- DualArmPushBox-v1
- DualArmShootBasketball-v1
- DualArmSwingCup-v1
- DualArmThrowBlock-v1
- GraspCylinder-v1
- GraspTwoBlocks-v1
- HammerNail-v1
- HammerNailOut-v1
- HangMug-v1
- KitAssembly-v1
- LiftBucket-v1
- OpenBoxRetrieval-v1
- OpenDoor-v1
- PickPlacePen-v1
- PingPongBallTransport-v1
- PivotBook-v1
- PushSoccer-v1
- PushTargetPose-v1
- ReorientCube-v1
- ReorientPen-v1
- RingTossing-v1
- Stack6Blocks-v1
- StackBlock-v1
- StraightenRope-v1
- TurnOnFaucet-v1
- TweezersPickPlace-v1