# Metaworld
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<img src="../_static/imgs/env_gifs/Metaworld.gif" style="margin: 5%; width: 45%;">
<p>Metaworld Dial Turn Task (metaworld/dial-turn-v2)</p>
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[Metaworld](https://meta-world.github.io/) is an open-source simulated benchmark designed to advance meta-reinforcement learning and multi-task learning, comprising 50 diverse robotic manipulation tasks. The benchmark features a universal tabletop environment equipped with a simulated Sawyer arm and a variety of everyday objects. This shared environment is pivotal for reusing structured learning and efficiently acquiring related tasks.
## Step-Based Environments
`fancy_gym` makes all metaworld ML1 tasks avaible via the standard gym interface.
| Name | Description | Horizon | Action Dimension | Observation Dimension | Context Dimension |
| ---------------------------------------- | ------------------------------------------------------------------------------------- | ------- | ---------------- | --------------------- | ----------------- |
| `metaworld/assembly-v2` | A task where the robot must assemble components. | 150 | 4 | 39 | 6 |
| `metaworld/basketball-v2` | A task where the robot must play a game of basketball. | 150 | 4 | 39 | 6 |
| `metaworld/bin-picking-v2` | A task involving the robot picking objects from a bin. | 150 | 4 | 39 | 6 |
| `metaworld/box-close-v2` | A task requiring the robot to close a box. | 150 | 4 | 39 | 6 |
| `metaworld/button-press-topdown-v2` | A task where the robot must press a button from a top-down perspective. | 150 | 4 | 39 | 6 |
| `metaworld/button-press-topdown-wall-v2` | A task involving the robot pressing a button with a wall from a top-down perspective. | 150 | 4 | 39 | 6 |
| `metaworld/button-press-v2` | A task where the robot must press a button. | 150 | 4 | 39 | 6 |
| `metaworld/button-press-wall-v2` | A task involving the robot pressing a button with a wall. | 150 | 4 | 39 | 6 |
| `metaworld/coffee-button-v2` | A task where the robot must press a button on a coffee machine. | 150 | 4 | 39 | 6 |
| `metaworld/coffee-pull-v2` | A task involving the robot pulling a lever on a coffee machine. | 150 | 4 | 39 | 6 |
| `metaworld/coffee-push-v2` | A task involving the robot pushing a component on a coffee machine. | 150 | 4 | 39 | 6 |
| `metaworld/dial-turn-v2` | A task where the robot must turn a dial. | 150 | 4 | 39 | 6 |
| `metaworld/disassemble-v2` | A task requiring the robot to disassemble an object. | 150 | 4 | 39 | 6 |
| `metaworld/door-close-v2` | A task where the robot must close a door. | 150 | 4 | 39 | 6 |
| `metaworld/door-lock-v2` | A task involving the robot locking a door. | 150 | 4 | 39 | 6 |
| `metaworld/door-open-v2` | A task where the robot must open a door. | 150 | 4 | 39 | 6 |
| `metaworld/door-unlock-v2` | A task involving the robot unlocking a door. | 150 | 4 | 39 | 6 |
| `metaworld/hand-insert-v2` | A task requiring the robot to insert a hand into an object. | 150 | 4 | 39 | 6 |
| `metaworld/drawer-close-v2` | A task where the robot must close a drawer. | 150 | 4 | 39 | 6 |
| `metaworld/drawer-open-v2` | A task involving the robot opening a drawer. | 150 | 4 | 39 | 6 |
| `metaworld/faucet-open-v2` | A task requiring the robot to open a faucet. | 150 | 4 | 39 | 6 |
| `metaworld/faucet-close-v2` | A task where the robot must close a faucet. | 150 | 4 | 39 | 6 |
| `metaworld/hammer-v2` | A task where the robot must use a hammer. | 150 | 4 | 39 | 6 |
| `metaworld/handle-press-side-v2` | A task involving the robot pressing a handle from the side. | 150 | 4 | 39 | 6 |
| `metaworld/handle-press-v2` | A task where the robot must press a handle. | 150 | 4 | 39 | 6 |
| `metaworld/handle-pull-side-v2` | A task requiring the robot to pull a handle from the side. | 150 | 4 | 39 | 6 |
| `metaworld/handle-pull-v2` | A task where the robot must pull a handle. | 150 | 4 | 39 | 6 |
| `metaworld/lever-pull-v2` | A task involving the robot pulling a lever. | 150 | 4 | 39 | 6 |
| `metaworld/peg-insert-side-v2` | A task requiring the robot to insert a peg from the side. | 150 | 4 | 39 | 6 |
| `metaworld/pick-place-wall-v2` | A task involving the robot picking and placing an object with a wall. | 150 | 4 | 39 | 6 |
| `metaworld/pick-out-of-hole-v2` | A task where the robot must pick an object out of a hole. | 150 | 4 | 39 | 6 |
| `metaworld/reach-v2` | A task where the robot must reach an object. | 150 | 4 | 39 | 6 |
| `metaworld/push-back-v2` | A task involving the robot pushing an object backward. | 150 | 4 | 39 | 6 |
| `metaworld/push-v2` | A task where the robot must push an object. | 150 | 4 | 39 | 6 |
| `metaworld/pick-place-v2` | A task involving the robot picking up and placing an object. | 150 | 4 | 39 | 6 |
| `metaworld/plate-slide-v2` | A task requiring the robot to slide a plate. | 150 | 4 | 39 | 6 |
| `metaworld/plate-slide-side-v2` | A task involving the robot sliding a plate from the side. | 150 | 4 | 39 | 6 |
| `metaworld/plate-slide-back-v2` | A task where the robot must slide a plate backward. | 150 | 4 | 39 | 6 |
| `metaworld/plate-slide-back-side-v2` | A task involving the robot sliding a plate backward from the side. | 150 | 4 | 39 | 6 |
| `metaworld/peg-unplug-side-v2` | A task where the robot must unplug a peg from the side. | 150 | 4 | 39 | 6 |
| `metaworld/soccer-v2` | A task where the robot must play soccer. | 150 | 4 | 39 | 6 |
| `metaworld/stick-push-v2` | A task involving the robot pushing a stick. | 150 | 4 | 39 | 6 |
| `metaworld/stick-pull-v2` | A task where the robot must pull a stick. | 150 | 4 | 39 | 6 |
| `metaworld/push-wall-v2` | A task involving the robot pushing against a wall. | 150 | 4 | 39 | 6 |
| `metaworld/reach-wall-v2` | A task where the robot must reach an object with a wall. | 150 | 4 | 39 | 6 |
| `metaworld/shelf-place-v2` | A task involving the robot placing an object on a shelf. | 150 | 4 | 39 | 6 |
| `metaworld/sweep-into-v2` | A task where the robot must sweep objects into a container. | 150 | 4 | 39 | 6 |
| `metaworld/sweep-v2` | A task requiring the robot to sweep. | 150 | 4 | 39 | 6 |
| `metaworld/window-open-v2` | A task where the robot must open a window. | 150 | 4 | 39 | 6 |
| `metaworld/window-close-v2` | A task involving the robot closing a window. | 150 | 4 | 39 | 6 |
## MP Environments
All envs also exist in MP-variants. Refer to them using `metaworld_ProMP/<name-v2>` or `metaworld_ProDMP/<name-v2>` (DMP is currently not supported as of now).