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feat(sim): add metaworld env (#2088)

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* add metaworld

* smol update

Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* update design

* Update src/lerobot/envs/metaworld.py

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Signed-off-by: Jade Choghari <chogharijade@gmail.com>

* update

* small changes

* iterate on review

* small fix

* small fix

* add docs

* update doc

* add better gif

* smol doc fix

* updage gymnasium

* add note

* depreciate gym-xarm

* more changes

* update doc

* comply with mypy

* more fixes

* update readme

* precommit

* update pusht

* add pusht instead

* changes

* style

* add changes

* update

* revert

* update v2

* chore(envs): move metaworld config to its own file + remove comments + simplify _format_raw_obs (#2200)

* update final changes

---------

Signed-off-by: Jade Choghari <chogharijade@gmail.com>
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Jade Choghari
2025-10-14 17:21:18 +02:00
committed by GitHub
parent 8e940bf361
commit 271d92dcaa
16 changed files with 612 additions and 89 deletions
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11
pyproject.toml
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@@ -80,7 +80,7 @@ dependencies = [
"torchvision>=0.21.0,<0.23.0", # TODO: Bumb dependency
"draccus==0.10.0", # TODO: Remove ==
"gymnasium>=0.29.1,<1.0.0", # TODO: Bumb dependency
"gymnasium>=1.0.0",
"rerun-sdk>=0.21.0,<0.23.0", # TODO: Bumb dependency
# Support dependencies
@@ -133,11 +133,10 @@ test = ["pytest>=8.1.0,<9.0.0", "pytest-timeout>=2.4.0,<3.0.0", "pytest-cov>=5.0
video_benchmark = ["scikit-image>=0.23.2,<0.26.0", "pandas>=2.2.2,<2.4.0"]
# Simulation
aloha = ["gym-aloha>=0.1.1,<0.2.0"]
aloha = ["gym-aloha>=0.1.2,<0.2.0"]
pusht = ["gym-pusht>=0.1.5,<0.2.0", "pymunk>=6.6.0,<7.0.0"] # TODO: Fix pymunk version in gym-pusht instead
xarm = ["gym-xarm>=0.1.1,<0.2.0"]
libero = ["lerobot[transformers-dep]", "libero @ git+https://github.com/huggingface/lerobot-libero.git@main#egg=libero"]
libero = ["lerobot[transformers-dep]", "libero @ git+https://github.com/huggingface/lerobot-libero.git@upgrade-dep#egg=libero"]
metaworld = ["metaworld>=3.0.0"]
# All
all = [
@@ -157,9 +156,9 @@ all = [
"lerobot[video_benchmark]",
"lerobot[aloha]",
"lerobot[pusht]",
"lerobot[xarm]",
"lerobot[phone]",
"lerobot[libero]",
"lerobot[metaworld]",
]
[project.scripts]