- DualArmButtonPress-v1
- DualArmCleanupPotEnv-v1
- DualArmDoubleDoorBox-v1
- DualArmHammerHandover-v1
- DualArmOpenBottle-v1
- DualArmOpenLaptop-v1
- DualArmPegInHole-v1
- DualArmPressButton-v1
- DualArmPushBox-v1
- DualArmThrowBlock-v1
- GraspCylinder-v1
- GraspTwoBlocks-v1
- HammerNail-v1
- HammerNailOut-v1
- HangMug-v1
- KitAssembly-v1
- LiftBucket-v1
- OpenBoxRetrieval-v1
- PickPlacePen-v1
- ReorientCube-v1
- ReorientPen-v1
- StackBlock-v1
- TurnOnFaucet-v1