We investigate the propagation of accretion-powered jets in various types of progenitor candidates of GRBs. We perform two dimensional axisymmetric simulations of relativistic hydrodynamics taking into account both the envelope collapse and the jet propagation. In our simulations, the accretion rate is estimated by the mass flux going through the inner boundary, and the jet is injected with a constant accretion-to-jet conversion efficiency η. By varying the efficiency η and opening angle θop for more than 30 models, we find that the jet can make a relativistic breakout from all types of progenitors for GRBs if a simple condition η ≳ 10−3 (θop/20°)2 is satisfied, that is consistent with analytical estimates, otherwise no explosion or some failed spherical explosions occur.