Almost all of them. Only Risa scenes were filmed on location.

Thankfully the entirety of the universe's planetary biomes exist within 30 miles radius from Hollywood.

Thankfully these Earth-bound bottle episodes made way for the more expensive ones, like the one where they had to blow half the season's budget on cybernetics research to create Lal.

Aside: There's a persistent, ridiculous rumor that "The Inner Light" was filmed on Earth. Like do you people know how much it would cost to make the Sun go supernova just for one episode??