MetaWorld

EnvPool provides native C++ implementations for the MetaWorld v3 Sawyer manipulation benchmark. The implementation is pinned to Farama-Foundation/Metaworld tag v3.0.0 and exposes one EnvPool task ID for each official ALL_V3_ENVIRONMENTS entry.

The public task IDs use the MetaWorld/ namespace and CamelCase v3 task names, for example MetaWorld/Reach-v3.

Observation and Action Spaces

All MetaWorld v3 tasks share the same public space contract:

  • Observation space: Box(-inf, inf, shape=(39,), dtype=float64). The vector contains the current 18-dimensional Sawyer observation, the previous 18-dimensional observation, and the 3-dimensional goal vector.

  • Action space: Box(-1, 1, shape=(4,), dtype=float32). The first three components control hand displacement and the last component controls the gripper.

  • frame_skip: 5.

  • max_episode_steps: 500.

Render

Reset render frames for all official v3 tasks are shown below. Each task panel places the native EnvPool render on the left and the official MetaWorld v3.0.0 reference render on the right.

../_images/metaworld_official_compare.png

Registered Task IDs

MetaWorld/Assembly-v3
MetaWorld/Basketball-v3
MetaWorld/BinPicking-v3
MetaWorld/BoxClose-v3
MetaWorld/ButtonPressTopdown-v3
MetaWorld/ButtonPressTopdownWall-v3
MetaWorld/ButtonPress-v3
MetaWorld/ButtonPressWall-v3
MetaWorld/CoffeeButton-v3
MetaWorld/CoffeePull-v3
MetaWorld/CoffeePush-v3
MetaWorld/DialTurn-v3
MetaWorld/Disassemble-v3
MetaWorld/DoorClose-v3
MetaWorld/DoorLock-v3
MetaWorld/DoorOpen-v3
MetaWorld/DoorUnlock-v3
MetaWorld/HandInsert-v3
MetaWorld/DrawerClose-v3
MetaWorld/DrawerOpen-v3
MetaWorld/FaucetOpen-v3
MetaWorld/FaucetClose-v3
MetaWorld/Hammer-v3
MetaWorld/HandlePressSide-v3
MetaWorld/HandlePress-v3
MetaWorld/HandlePullSide-v3
MetaWorld/HandlePull-v3
MetaWorld/LeverPull-v3
MetaWorld/PickPlaceWall-v3
MetaWorld/PickOutOfHole-v3
MetaWorld/PickPlace-v3
MetaWorld/PlateSlide-v3
MetaWorld/PlateSlideSide-v3
MetaWorld/PlateSlideBack-v3
MetaWorld/PlateSlideBackSide-v3
MetaWorld/PegInsertSide-v3
MetaWorld/PegUnplugSide-v3
MetaWorld/Soccer-v3
MetaWorld/StickPush-v3
MetaWorld/StickPull-v3
MetaWorld/Push-v3
MetaWorld/PushWall-v3
MetaWorld/PushBack-v3
MetaWorld/Reach-v3
MetaWorld/ReachWall-v3
MetaWorld/ShelfPlace-v3
MetaWorld/SweepInto-v3
MetaWorld/Sweep-v3
MetaWorld/WindowOpen-v3
MetaWorld/WindowClose-v3

Validation

The native implementation is checked against the official MetaWorld v3.0.0 Python oracle. The alignment test reset-syncs MuJoCo state once, then drives both implementations with the same 128-step external action sequence and compares observations, rewards, termination flags, truncation flags, and exposed info fields. Separate tests cover registry completeness, deterministic rollouts, and rgb_array rendering for every registered task.