Here is the full list of all 15 Commands & Colors: Ancients achievements.
Complete Akragas Scenario
Complete Crimissos River Scenario
Complete Bagradas Scenario
Complete Ticinus River Scenario
Complete Trebbia Scenario
Complete Trasimenus Scenario
Complete Cannae Scenario
Complete Dertosa Scenario
Complete Beneventum Scenario
Complete Castulo Scenario
Complete Baecula Scenario
Complete Metaurus Scenario
Complete Ilipa Scenario
Complete Plains Scenario
Complete Zama Scenario