Rendering

Each Meta-World environment uses Gymnasium to handle the rendering functions following the gymnasium.MujocoEnv interface.

Upon environment creation a user can select a render mode in ('rgb_array', 'human').

For example:

import metaworld
import random

env_name = '' # Pick an environment name

render_mode = '' # set a render mode

env = gym.make('Meta-World/MT1', env_name=env_name, render_mode=render_mode)

obs = env.reset()  # Reset environment
a = env.action_space.sample()  # Sample an action
obs, reward, terminate, truncate, info = env.step(a)  # Step the environment with the sampled random action

Render from a specific camera

In addition to the base render functions, Meta-World supports multiple camera positions.

camera_name = '' # one of: ['corner', 'corner2', 'corner3', 'topview', 'behindGripper', 'gripperPOV']

env = gym.make(env_name=env_name, render_mode=render_mode, camera_name=camera_name)

The ID of the camera (from Mujoco) can also be passed if known.

camera_id = '' # this is an integer that represents the camera ID from Mujoco

env = gym.make(env_name=env_name, render_mode=render_mode, camera_id=camera_id)