pre-commit

docs/introduction/basic_usage.md

@@ -10,20 +10,20 @@ firstpage:
 There are 6 major benchmarks pre-packaged into Meta-World with support for making your own custom benchmarks. The benchmarks are divided into Multi-Task and Meta reinforcement learning benchmarks.
 
 ### Multi-Task Benchmarks
-The MT1, MT10, and MT50 benchmarks are the Multi-Task Benchmarks. These benchmarks are used to learn a multi-task policy that can learn 1, 10, or 50 training tasks simultaneously. MT1 benchmarks can be created with any of the 50 tasks available in Meta-World. 
-In the MT10 and MT50 benchmarks, the observations returned by the benchmark will come with one-hot task IDs appended to the state. 
+The MT1, MT10, and MT50 benchmarks are the Multi-Task Benchmarks. These benchmarks are used to learn a multi-task policy that can learn 1, 10, or 50 training tasks simultaneously. MT1 benchmarks can be created with any of the 50 tasks available in Meta-World.
+In the MT10 and MT50 benchmarks, the observations returned by the benchmark will come with one-hot task IDs appended to the state.
 
 ### Meta-Learning Benchmarks
 The ML1, ML10, and ML45 benchmarks are 3 meta-reinforcement learning benchmarks available in Meta-World. The ML1 benchmark can be used with any of the 50 tasks available in Meta-World.
-The ML1 benchmark tests for few-shot adaptation to goal variations within a single task. The ML10 and ML45 both test few-shot adaptation to new tasks. ML10 comprises 10 train tasks with 5 test tasks, while ML45 comprises of 45 training tasks with 5 test tasks. 
+The ML1 benchmark tests for few-shot adaptation to goal variations within a single task. The ML10 and ML45 both test few-shot adaptation to new tasks. ML10 comprises 10 train tasks with 5 test tasks, while ML45 comprises of 45 training tasks with 5 test tasks.
 
 
 ## Creating Multi-Task Benchmarks
 
 ### MT1
 ```python
 import gymnasium as gym
-import metaworld 
+import metaworld
 
 seed = 42 # for reproducibility
 
@@ -36,8 +36,8 @@ obs, reward, truncate, terminate, info = env.step(a) # apply the randomly sample
 ```
 
 ### MT10
-MT10 has two different versions that can be returned by gym.make. The first version is the synchronous version of the benchmark where all environments are contained within the same process. 
-For users with limited compute resources, the synchronous option needs the least resources. 
+MT10 has two different versions that can be returned by gym.make. The first version is the synchronous version of the benchmark where all environments are contained within the same process.
+For users with limited compute resources, the synchronous option needs the least resources.
 ```python
 import gymnasium as gym
 import metaworld
@@ -59,7 +59,7 @@ envs = gym.make('Meta-World/MT10-async', seed=seed) # this returns an Asynchrono
 ```
 
 ### MT50
-MT50 also contains two different versions, a synchronous and an asynchronous version, of the environments. 
+MT50 also contains two different versions, a synchronous and an asynchronous version, of the environments.
 ```python
 import gymnasium as gym
 import metaworld
@@ -68,7 +68,7 @@ seed = 42
 
 envs = gym.make('Meta-World/MT50-sync', seed=seed) # this returns a Synchronous Vector Environment with 50 environments
 
-obs, info = envs.reset() # reset all 50 environments   
+obs, info = envs.reset() # reset all 50 environments
 
 a = env.action_space.sample() # sample an action for each environment
 
@@ -90,7 +90,7 @@ import metaworld
 
 seed = 42
 
-train_envs = gym.make('Meta-World/ML1-train-reach-V3', seed=seed) 
+train_envs = gym.make('Meta-World/ML1-train-reach-V3', seed=seed)
 test_envs = gym.make('Meta-World/ML1-test-reach-V3', seed=seed)
 
 # training procedure use train_envs
@@ -100,10 +100,10 @@ test_envs = gym.make('Meta-World/ML1-test-reach-V3', seed=seed)
 
 
 ### ML10
-Similar to the Multi-Task benchmarks, the ML10 and ML45 environments can be run in synchronous or asynchronous modes. 
+Similar to the Multi-Task benchmarks, the ML10 and ML45 environments can be run in synchronous or asynchronous modes.
 
 
-```python 
+```python
 import gymnasium as gym
 import metaworld
 
@@ -113,7 +113,7 @@ test_envs = gym.make('Meta-World/ML10-test-sync', seed=seed) # or ML10-test-asyn
 
 
 ### ML45
-```python 
+```python
 import gymnasium as gym
 import metaworld
 
@@ -123,10 +123,10 @@ test_envs = gym.make('Meta-World/ML45-test-sync', seed=seed) # or ML45-test-asyn
 
 
 ## Custom Benchmarks
-Finally, we also provide support for creating custom benchmarks by combining any number of Meta-World environments. 
+Finally, we also provide support for creating custom benchmarks by combining any number of Meta-World environments.
 
 The prefix 'mt' will return environments that are goal observable for Multi-Task reinforcement learning, while the prefix 'ml' will return environments that are partially observable for Meta-reinforcement learning.
-Like the included MT and ML benchmarks, these environments can also be run in synchronous or asyncronous mode.
+Like the included MT and ML benchmarks, these environments can also be run in synchronous or asynchronous mode.
 In order to create a custom benchmark, the user must provide a list of environment names with the suffix '-V3'.
 
 ```python

metaworld/__init__.py

@@ -11,12 +11,13 @@
 import numpy.typing as npt
 
 import metaworld.env_dict as _env_dict
-from metaworld.types import Task
-from .sawyer_xyz_env import SawyerXYZEnv
 from metaworld.env_dict import (
     ALL_V2_ENVIRONMENTS_GOAL_HIDDEN,
     ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE,
 )
+from metaworld.types import Task
+
+from .sawyer_xyz_env import SawyerXYZEnv
 
 
 class MetaWorldEnv(abc.ABC):
@@ -290,4 +291,14 @@ def __init__(self, seed=None):
         )
 
 
-__all__ = ["ML1", "MT1", "ML10", "MT10", "ML45", "MT50", "ALL_V2_ENVIRONMENTS_GOAL_HIDDEN", "ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE", "SawyerXYZEnv"]
+__all__ = [
+    "ML1",
+    "MT1",
+    "ML10",
+    "MT10",
+    "ML45",
+    "MT50",
+    "ALL_V2_ENVIRONMENTS_GOAL_HIDDEN",
+    "ALL_V2_ENVIRONMENTS_GOAL_OBSERVABLE",
+    "SawyerXYZEnv",
+]

metaworld/env_dict.py

@@ -12,8 +12,8 @@
 import numpy as np
 from typing_extensions import TypeAlias
 
-from metaworld.sawyer_xyz_env import SawyerXYZEnv
 from metaworld import envs
+from metaworld.sawyer_xyz_env import SawyerXYZEnv
 
 # Utils
 

metaworld/envs/__init__.py

@@ -1,131 +1,55 @@
-from metaworld.envs.sawyer_assembly_peg_v2 import (
-    SawyerNutAssemblyEnvV2,
-)
-from metaworld.envs.sawyer_basketball_v2 import (
-    SawyerBasketballEnvV2,
-)
-from metaworld.envs.sawyer_bin_picking_v2 import (
-    SawyerBinPickingEnvV2,
-)
+from metaworld.envs.sawyer_assembly_peg_v2 import SawyerNutAssemblyEnvV2
+from metaworld.envs.sawyer_basketball_v2 import SawyerBasketballEnvV2
+from metaworld.envs.sawyer_bin_picking_v2 import SawyerBinPickingEnvV2
 from metaworld.envs.sawyer_box_close_v2 import SawyerBoxCloseEnvV2
-from metaworld.envs.sawyer_button_press_topdown_v2 import (
-    SawyerButtonPressTopdownEnvV2,
-)
+from metaworld.envs.sawyer_button_press_topdown_v2 import SawyerButtonPressTopdownEnvV2
 from metaworld.envs.sawyer_button_press_topdown_wall_v2 import (
     SawyerButtonPressTopdownWallEnvV2,
 )
-from metaworld.envs.sawyer_button_press_v2 import (
-    SawyerButtonPressEnvV2,
-)
-from metaworld.envs.sawyer_button_press_wall_v2 import (
-    SawyerButtonPressWallEnvV2,
-)
-from metaworld.envs.sawyer_coffee_button_v2 import (
-    SawyerCoffeeButtonEnvV2,
-)
-from metaworld.envs.sawyer_coffee_pull_v2 import (
-    SawyerCoffeePullEnvV2,
-)
-from metaworld.envs.sawyer_coffee_push_v2 import (
-    SawyerCoffeePushEnvV2,
-)
+from metaworld.envs.sawyer_button_press_v2 import SawyerButtonPressEnvV2
+from metaworld.envs.sawyer_button_press_wall_v2 import SawyerButtonPressWallEnvV2
+from metaworld.envs.sawyer_coffee_button_v2 import SawyerCoffeeButtonEnvV2
+from metaworld.envs.sawyer_coffee_pull_v2 import SawyerCoffeePullEnvV2
+from metaworld.envs.sawyer_coffee_push_v2 import SawyerCoffeePushEnvV2
 from metaworld.envs.sawyer_dial_turn_v2 import SawyerDialTurnEnvV2
-from metaworld.envs.sawyer_disassemble_peg_v2 import (
-    SawyerNutDisassembleEnvV2,
-)
-from metaworld.envs.sawyer_door_close_v2 import (
-    SawyerDoorCloseEnvV2,
-)
+from metaworld.envs.sawyer_disassemble_peg_v2 import SawyerNutDisassembleEnvV2
+from metaworld.envs.sawyer_door_close_v2 import SawyerDoorCloseEnvV2
 from metaworld.envs.sawyer_door_lock_v2 import SawyerDoorLockEnvV2
-from metaworld.envs.sawyer_door_unlock_v2 import (
-    SawyerDoorUnlockEnvV2,
-)
+from metaworld.envs.sawyer_door_unlock_v2 import SawyerDoorUnlockEnvV2
 from metaworld.envs.sawyer_door_v2 import SawyerDoorEnvV2
-from metaworld.envs.sawyer_drawer_close_v2 import (
-    SawyerDrawerCloseEnvV2,
-)
-from metaworld.envs.sawyer_drawer_open_v2 import (
-    SawyerDrawerOpenEnvV2,
-)
-from metaworld.envs.sawyer_faucet_close_v2 import (
-    SawyerFaucetCloseEnvV2,
-)
-from metaworld.envs.sawyer_faucet_open_v2 import (
-    SawyerFaucetOpenEnvV2,
-)
+from metaworld.envs.sawyer_drawer_close_v2 import SawyerDrawerCloseEnvV2
+from metaworld.envs.sawyer_drawer_open_v2 import SawyerDrawerOpenEnvV2
+from metaworld.envs.sawyer_faucet_close_v2 import SawyerFaucetCloseEnvV2
+from metaworld.envs.sawyer_faucet_open_v2 import SawyerFaucetOpenEnvV2
 from metaworld.envs.sawyer_hammer_v2 import SawyerHammerEnvV2
-from metaworld.envs.sawyer_hand_insert_v2 import (
-    SawyerHandInsertEnvV2,
-)
-from metaworld.envs.sawyer_handle_press_side_v2 import (
-    SawyerHandlePressSideEnvV2,
-)
-from metaworld.envs.sawyer_handle_press_v2 import (
-    SawyerHandlePressEnvV2,
-)
-from metaworld.envs.sawyer_handle_pull_side_v2 import (
-    SawyerHandlePullSideEnvV2,
-)
-from metaworld.envs.sawyer_handle_pull_v2 import (
-    SawyerHandlePullEnvV2,
-)
-from metaworld.envs.sawyer_lever_pull_v2 import (
-    SawyerLeverPullEnvV2,
-)
-from metaworld.envs.sawyer_peg_insertion_side_v2 import (
-    SawyerPegInsertionSideEnvV2,
-)
-from metaworld.envs.sawyer_peg_unplug_side_v2 import (
-    SawyerPegUnplugSideEnvV2,
-)
-from metaworld.envs.sawyer_pick_out_of_hole_v2 import (
-    SawyerPickOutOfHoleEnvV2,
-)
-from metaworld.envs.sawyer_pick_place_v2 import (
-    SawyerPickPlaceEnvV2,
-)
-from metaworld.envs.sawyer_pick_place_wall_v2 import (
-    SawyerPickPlaceWallEnvV2,
-)
-from metaworld.envs.sawyer_plate_slide_back_side_v2 import (
-    SawyerPlateSlideBackSideEnvV2,
-)
-from metaworld.envs.sawyer_plate_slide_back_v2 import (
-    SawyerPlateSlideBackEnvV2,
-)
-from metaworld.envs.sawyer_plate_slide_side_v2 import (
-    SawyerPlateSlideSideEnvV2,
-)
-from metaworld.envs.sawyer_plate_slide_v2 import (
-    SawyerPlateSlideEnvV2,
-)
+from metaworld.envs.sawyer_hand_insert_v2 import SawyerHandInsertEnvV2
+from metaworld.envs.sawyer_handle_press_side_v2 import SawyerHandlePressSideEnvV2
+from metaworld.envs.sawyer_handle_press_v2 import SawyerHandlePressEnvV2
+from metaworld.envs.sawyer_handle_pull_side_v2 import SawyerHandlePullSideEnvV2
+from metaworld.envs.sawyer_handle_pull_v2 import SawyerHandlePullEnvV2
+from metaworld.envs.sawyer_lever_pull_v2 import SawyerLeverPullEnvV2
+from metaworld.envs.sawyer_peg_insertion_side_v2 import SawyerPegInsertionSideEnvV2
+from metaworld.envs.sawyer_peg_unplug_side_v2 import SawyerPegUnplugSideEnvV2
+from metaworld.envs.sawyer_pick_out_of_hole_v2 import SawyerPickOutOfHoleEnvV2
+from metaworld.envs.sawyer_pick_place_v2 import SawyerPickPlaceEnvV2
+from metaworld.envs.sawyer_pick_place_wall_v2 import SawyerPickPlaceWallEnvV2
+from metaworld.envs.sawyer_plate_slide_back_side_v2 import SawyerPlateSlideBackSideEnvV2
+from metaworld.envs.sawyer_plate_slide_back_v2 import SawyerPlateSlideBackEnvV2
+from metaworld.envs.sawyer_plate_slide_side_v2 import SawyerPlateSlideSideEnvV2
+from metaworld.envs.sawyer_plate_slide_v2 import SawyerPlateSlideEnvV2
 from metaworld.envs.sawyer_push_back_v2 import SawyerPushBackEnvV2
 from metaworld.envs.sawyer_push_v2 import SawyerPushEnvV2
 from metaworld.envs.sawyer_push_wall_v2 import SawyerPushWallEnvV2
 from metaworld.envs.sawyer_reach_v2 import SawyerReachEnvV2
-from metaworld.envs.sawyer_reach_wall_v2 import (
-    SawyerReachWallEnvV2,
-)
-from metaworld.envs.sawyer_shelf_place_v2 import (
-    SawyerShelfPlaceEnvV2,
-)
+from metaworld.envs.sawyer_reach_wall_v2 import SawyerReachWallEnvV2
+from metaworld.envs.sawyer_shelf_place_v2 import SawyerShelfPlaceEnvV2
 from metaworld.envs.sawyer_soccer_v2 import SawyerSoccerEnvV2
-from metaworld.envs.sawyer_stick_pull_v2 import (
-    SawyerStickPullEnvV2,
-)
-from metaworld.envs.sawyer_stick_push_v2 import (
-    SawyerStickPushEnvV2,
-)
-from metaworld.envs.sawyer_sweep_into_goal_v2 import (
-    SawyerSweepIntoGoalEnvV2,
-)
+from metaworld.envs.sawyer_stick_pull_v2 import SawyerStickPullEnvV2
+from metaworld.envs.sawyer_stick_push_v2 import SawyerStickPushEnvV2
+from metaworld.envs.sawyer_sweep_into_goal_v2 import SawyerSweepIntoGoalEnvV2
 from metaworld.envs.sawyer_sweep_v2 import SawyerSweepEnvV2
-from metaworld.envs.sawyer_window_close_v2 import (
-    SawyerWindowCloseEnvV2,
-)
-from metaworld.envs.sawyer_window_open_v2 import (
-    SawyerWindowOpenEnvV2,
-)
+from metaworld.envs.sawyer_window_close_v2 import SawyerWindowCloseEnvV2
+from metaworld.envs.sawyer_window_open_v2 import SawyerWindowOpenEnvV2
 
 __all__ = [
     "SawyerNutAssemblyEnvV2",

metaworld/envs/sawyer_assembly_peg_v2.py

@@ -8,8 +8,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils.reward_utils import tolerance
 from metaworld.types import InitConfigDict, ObservationDict
+from metaworld.utils.reward_utils import tolerance
 
 
 class SawyerNutAssemblyEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_basketball_v2.py

@@ -8,8 +8,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerBasketballEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_bin_picking_v2.py

@@ -8,8 +8,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerBinPickingEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_box_close_v2.py

@@ -9,8 +9,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerBoxCloseEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_button_press_topdown_v2.py

@@ -9,8 +9,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerButtonPressTopdownEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_button_press_topdown_wall_v2.py

@@ -9,8 +9,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerButtonPressTopdownWallEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_button_press_v2.py

@@ -8,8 +8,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerButtonPressEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_button_press_wall_v2.py

@@ -8,8 +8,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerButtonPressWallEnvV2(SawyerXYZEnv):

metaworld/envs/sawyer_coffee_button_v2.py

@@ -8,8 +8,8 @@
 
 from metaworld.asset_path_utils import full_v2_path_for
 from metaworld.sawyer_xyz_env import RenderMode, SawyerXYZEnv
-from metaworld.utils import reward_utils
 from metaworld.types import InitConfigDict
+from metaworld.utils import reward_utils
 
 
 class SawyerCoffeeButtonEnvV2(SawyerXYZEnv):