Add corner4 camera to Meta-World environments (#546)

Author: AoqunJin

README.md

@@ -28,7 +28,7 @@ To create a benchmark and interact with it:
 import gymnasium as gym
 import metaworld
 
-env = gym.make("Meta-World/MT1', env_name=reach-V3")
+env = gym.make("Meta-World/MT1", env_name="reach-v3")
 
 observation, info = env.reset()
 for _ in range(500):
@@ -121,7 +121,7 @@ import metaworld
 
 seed = 42
 
-train_envs = gym.make('Meta-World/ML1-train', env_name=reach-V3', seed=seed)
+train_envs = gym.make('Meta-World/ML1-train', env_name='reach-V3', seed=seed)
 test_envs = gym.make('Meta-World/ML1-test', env_name='reach-V3', seed=seed)
 
 # training procedure use train_envs

docs/introduction/basic_usage.md

@@ -147,5 +147,5 @@ The gym.make command supports multiple arguments:
 | reward_function_version | Use the original reward functions from Meta-World or the updated ones | "v1" or "v2" |
 | reward_normalization_method | Apply a reward normalization wrapper | None or 'gymnasium' or 'exponential' |
 | render_mode | The render mode of each environment | None or 'human' or 'rgb_array' or 'depth_array' |
-| camera_name | The Mujoco name of the camera that should be used to render | 'corner' or 'topview' or 'behindGripper' or 'gripperPOV' or 'corner2' or 'corner3' |
+| camera_name | The Mujoco name of the camera that should be used to render | 'corner' or 'topview' or 'behindGripper' or 'gripperPOV' or 'corner2' or 'corner3' or 'corner4' |
 | camera_id | The Mujoco ID of the camera that should be used to render | int |

docs/rendering/rendering.md

@@ -26,7 +26,7 @@ obs, reward, terminate, truncate, info = env.step(a)  # Step the environment wit
 In addition to the base render functions, Meta-World supports multiple camera positions.
 
 ```python
-camera_name = '' # one of: ['corner', 'corner2', 'corner3', 'topview', 'behindGripper', 'gripperPOV']
+camera_name = '' # one of: ['corner', 'corner2', 'corner3', 'corner4', 'topview', 'behindGripper', 'gripperPOV']
 
 env = gym.make(env_name=env_name, render_mode=render_mode, camera_name=camera_name)
 

metaworld/assets/objects/assets/xyz_base.xml

@@ -17,6 +17,7 @@
       <camera name="corner" mode="fixed" pos="-1.1 -0.4 0.6" xyaxes="-1 1 0 -0.2 -0.2 -1"/>
       <camera name="corner2" fovy="60" mode="fixed" pos="1.3 -0.2 1.1" euler="3.9 2.3 0.6"/>
       <camera name="corner3" fovy="45" mode="fixed" pos="0.9 0 1.5" euler="3.5 2.7 1"/>
+      <camera name="corner4" fovy="60" mode="fixed" pos="0.75 0.075 0.7" euler="3.9 2.3 0.6"/>
       <!--<geom name="floor" type="plane" pos="0 0 -.9" size="10 10 10"-->
             <!--rgba="0 0 0 1" contype="15" conaffinity="15" />-->
       <!--<geom name="tableTop" type="box" pos="0 0.6 -0.45" size="0.4 0.2 0.45"