git.diff

diff --git a/data/envs/metaworld/README.md b/data/envs/metaworld/README.md
index c8f64f6..2b2d72e 100644
--- a/data/envs/metaworld/README.md
+++ b/data/envs/metaworld/README.md
@@ -10,13 +10,59 @@ Command lines:
 Train:
 
 ```sh
-python train.py --env pick-place-v2 --with_wandb=True --wandb_user=qgallouedec --wandb_project sample_facotry_metaworld
+python train.py --env pick-place-v2 --experiment=pick-place-v2 --with_wandb=True --wandb_user=qgallouedec --wandb_project sample_facotry_metaworld --train_for_env_steps=10000000 --learning_rate 0.00005 --restart_behavior overwrite
 ```
 
 Push to hub:
 
 ```sh
-python enjoy.py --algo=APPO --env=pick-place-v2 --experiment=default_experiment --train_dir=./train_dir --max_num_episodes=10 --push_to_hub --hf_repository=qgallouedec/pick-place-v2-sf --save_video --no_render --enjoy_script=enjoy --train_script=train --load_checkpoint_kind best
+python enjoy.py --algo=PPO --env=pick-place-v2 --experiment=pick-place-v2 --train_dir=./train_dir --max_num_episodes=10 --push_to_hub --hf_repository=qgallouedec/pick-place-v2-sf --save_video --no_render --enjoy_script=enjoy --train_script=train --load_checkpoint_kind best
 ```
 
-Generate dataset:
\ No newline at end of file
+Generate dataset:
+
+
+
+usage: train.py [-h] [--algo ALGO] --env ENV [--experiment EXPERIMENT] [--train_dir TRAIN_DIR] [--restart_behavior {resume,restart,overwrite}]
+                [--device {gpu,cpu}] [--seed SEED] [--num_policies NUM_POLICIES] [--async_rl ASYNC_RL] [--serial_mode SERIAL_MODE]
+                [--batched_sampling BATCHED_SAMPLING] [--num_batches_to_accumulate NUM_BATCHES_TO_ACCUMULATE]
+                [--worker_num_splits WORKER_NUM_SPLITS] [--policy_workers_per_policy POLICY_WORKERS_PER_POLICY]
+                [--max_policy_lag MAX_POLICY_LAG] [--num_workers NUM_WORKERS] [--num_envs_per_worker NUM_ENVS_PER_WORKER]
+                [--batch_size BATCH_SIZE] [--num_batches_per_epoch NUM_BATCHES_PER_EPOCH] [--num_epochs NUM_EPOCHS] [--rollout ROLLOUT]
+                [--recurrence RECURRENCE] [--shuffle_minibatches SHUFFLE_MINIBATCHES] [--gamma GAMMA] [--reward_scale REWARD_SCALE]
+                [--reward_clip REWARD_CLIP] [--value_bootstrap VALUE_BOOTSTRAP] [--normalize_returns NORMALIZE_RETURNS]
+                [--exploration_loss_coeff EXPLORATION_LOSS_COEFF] [--value_loss_coeff VALUE_LOSS_COEFF] [--kl_loss_coeff KL_LOSS_COEFF]
+                [--exploration_loss {entropy,symmetric_kl}] [--gae_lambda GAE_LAMBDA] [--ppo_clip_ratio PPO_CLIP_RATIO]
+                [--ppo_clip_value PPO_CLIP_VALUE] [--with_vtrace WITH_VTRACE] [--vtrace_rho VTRACE_RHO] [--vtrace_c VTRACE_C]
+                [--optimizer {adam,lamb}] [--adam_eps ADAM_EPS] [--adam_beta1 ADAM_BETA1] [--adam_beta2 ADAM_BETA2]
+                [--max_grad_norm MAX_GRAD_NORM] [--learning_rate LEARNING_RATE]
+                [--lr_schedule {constant,kl_adaptive_minibatch,kl_adaptive_epoch}] [--lr_schedule_kl_threshold LR_SCHEDULE_KL_THRESHOLD]
+                [--lr_adaptive_min LR_ADAPTIVE_MIN] [--lr_adaptive_max LR_ADAPTIVE_MAX] [--obs_subtract_mean OBS_SUBTRACT_MEAN]
+                [--obs_scale OBS_SCALE] [--normalize_input NORMALIZE_INPUT] [--normalize_input_keys [NORMALIZE_INPUT_KEYS ...]]
+                [--decorrelate_experience_max_seconds DECORRELATE_EXPERIENCE_MAX_SECONDS]
+                [--decorrelate_envs_on_one_worker DECORRELATE_ENVS_ON_ONE_WORKER] [--actor_worker_gpus [ACTOR_WORKER_GPUS ...]]
+                [--set_workers_cpu_affinity SET_WORKERS_CPU_AFFINITY] [--force_envs_single_thread FORCE_ENVS_SINGLE_THREAD]
+                [--default_niceness DEFAULT_NICENESS] [--log_to_file LOG_TO_FILE]
+                [--experiment_summaries_interval EXPERIMENT_SUMMARIES_INTERVAL] [--flush_summaries_interval FLUSH_SUMMARIES_INTERVAL]
+                [--stats_avg STATS_AVG] [--summaries_use_frameskip SUMMARIES_USE_FRAMESKIP] [--heartbeat_interval HEARTBEAT_INTERVAL]
+                [--heartbeat_reporting_interval HEARTBEAT_REPORTING_INTERVAL] [--train_for_env_steps TRAIN_FOR_ENV_STEPS]
+                [--train_for_seconds TRAIN_FOR_SECONDS] [--save_every_sec SAVE_EVERY_SEC] [--keep_checkpoints KEEP_CHECKPOINTS]
+                [--load_checkpoint_kind {latest,best}] [--save_milestones_sec SAVE_MILESTONES_SEC] [--save_best_every_sec SAVE_BEST_EVERY_SEC]
+                [--save_best_metric SAVE_BEST_METRIC] [--save_best_after SAVE_BEST_AFTER] [--benchmark BENCHMARK]
+                [--encoder_mlp_layers [ENCODER_MLP_LAYERS ...]]
+                [--encoder_conv_architecture {convnet_simple,convnet_impala,convnet_atari,resnet_impala}]
+                [--encoder_conv_mlp_layers [ENCODER_CONV_MLP_LAYERS ...]] [--use_rnn USE_RNN] [--rnn_size RNN_SIZE] [--rnn_type {gru,lstm}]
+                [--rnn_num_layers RNN_NUM_LAYERS] [--decoder_mlp_layers [DECODER_MLP_LAYERS ...]] [--nonlinearity {elu,relu,tanh}]
+                [--policy_initialization {orthogonal,xavier_uniform,torch_default}] [--policy_init_gain POLICY_INIT_GAIN]
+                [--actor_critic_share_weights ACTOR_CRITIC_SHARE_WEIGHTS] [--adaptive_stddev ADAPTIVE_STDDEV]
+                [--continuous_tanh_scale CONTINUOUS_TANH_SCALE] [--initial_stddev INITIAL_STDDEV] [--use_env_info_cache USE_ENV_INFO_CACHE]
+                [--env_gpu_actions ENV_GPU_ACTIONS] [--env_gpu_observations ENV_GPU_OBSERVATIONS] [--env_frameskip ENV_FRAMESKIP]
+                [--env_framestack ENV_FRAMESTACK] [--pixel_format PIXEL_FORMAT]
+                [--use_record_episode_statistics USE_RECORD_EPISODE_STATISTICS] [--with_wandb WITH_WANDB] [--wandb_user WANDB_USER]
+                [--wandb_project WANDB_PROJECT] [--wandb_group WANDB_GROUP] [--wandb_job_type WANDB_JOB_TYPE] [--wandb_tags [WANDB_TAGS ...]]
+                [--with_pbt WITH_PBT] [--pbt_mix_policies_in_one_env PBT_MIX_POLICIES_IN_ONE_ENV]
+                [--pbt_period_env_steps PBT_PERIOD_ENV_STEPS] [--pbt_start_mutation PBT_START_MUTATION]
+                [--pbt_replace_fraction PBT_REPLACE_FRACTION] [--pbt_mutation_rate PBT_MUTATION_RATE]
+                [--pbt_replace_reward_gap PBT_REPLACE_REWARD_GAP] [--pbt_replace_reward_gap_absolute PBT_REPLACE_REWARD_GAP_ABSOLUTE]
+                [--pbt_optimize_gamma PBT_OPTIMIZE_GAMMA] [--pbt_target_objective PBT_TARGET_OBJECTIVE] [--pbt_perturb_min PBT_PERTURB_MIN]
+                [--pbt_perturb_max PBT_PERTURB_MAX]
\ No newline at end of file
diff --git a/data/envs/metaworld/enjoy.py b/data/envs/metaworld/enjoy.py
index 56f08f7..c33c4db 100644
--- a/data/envs/metaworld/enjoy.py
+++ b/data/envs/metaworld/enjoy.py
@@ -1,34 +1,81 @@
 import sys
 from typing import Optional
-from sample_factory.enjoy import enjoy
 
-import metaworld
 import gym
-
+import metaworld
 from sample_factory.cfg.arguments import parse_full_cfg, parse_sf_args
+from sample_factory.enjoy import enjoy
 from sample_factory.envs.env_utils import register_env
-from sample_factory.train import run_rl
 
-def parse_args(argv=None, evaluation=False):
-    # parse the command line arguments to build
-    parser, partial_cfg = parse_sf_args(argv=argv, evaluation=evaluation)
-#    add_custom_env_args(partial_cfg.env, parser, evaluation=evaluation)
-#    custom_env_override_defaults(partial_cfg.env, parser)
-    final_cfg = parse_full_cfg(parser, argv)
-    return final_cfg
+ENV_NAMES = [
+    "assembly-v2",
+    "basketball-v2",
+    "bin-picking-v2",
+    "box-close-v2",
+    "button-press-topdown-v2",
+    "button-press-topdown-wall-v2",
+    "button-press-v2",
+    "button-press-wall-v2",
+    "coffee-button-v2",
+    "coffee-pull-v2",
+    "coffee-push-v2",
+    "dial-turn-v2",
+    "disassemble-v2",
+    "door-close-v2",
+    "door-lock-v2",
+    "door-open-v2",
+    "door-unlock-v2",
+    "hand-insert-v2",
+    "drawer-close-v2",
+    "drawer-open-v2",
+    "faucet-open-v2",
+    "faucet-close-v2",
+    "hammer-v2",
+    "handle-press-side-v2",
+    "handle-press-v2",
+    "handle-pull-side-v2",
+    "handle-pull-v2",
+    "lever-pull-v2",
+    "peg-insert-side-v2",
+    "pick-place-wall-v2",
+    "pick-out-of-hole-v2",
+    "reach-v2",
+    "push-back-v2",
+    "push-v2",
+    "pick-place-v2",
+    "plate-slide-v2",
+    "plate-slide-side-v2",
+    "plate-slide-back-v2",
+    "plate-slide-back-side-v2",
+    "peg-insert-side-v2",
+    "peg-unplug-side-v2",
+    "soccer-v2",
+    "stick-push-v2",
+    "stick-pull-v2",
+    "push-wall-v2",
+    "push-v2",
+    "reach-wall-v2",
+    "reach-v2",
+    "shelf-place-v2",
+    "sweep-into-v2",
+    "sweep-v2",
+    "window-open-v2",
+    "window-close-v2",
+]
 
 
 def make_custom_env(full_env_name: str, cfg=None, env_config=None, render_mode: Optional[str] = None):
-    # see the section below explaining arguments
-    return gym.make("pick-place-v2")
+    return gym.make(full_env_name, render_mode=render_mode)
+
 
 def main():
-    """Script entry point."""
-    register_env("pick-place-v2", make_custom_env)
-    cfg = parse_args(evaluation=True)
+    for env_name in ENV_NAMES:
+        register_env(env_name, make_custom_env)
+    parser, _ = parse_sf_args(argv=None, evaluation=True)
+    cfg = parse_full_cfg(parser)
     status = enjoy(cfg)
     return status
 
 
 if __name__ == "__main__":
-    sys.exit(main())
\ No newline at end of file
+    sys.exit(main())
diff --git a/data/envs/metaworld/train.py b/data/envs/metaworld/train.py
index e01df51..f0d2bb9 100644
--- a/data/envs/metaworld/train.py
+++ b/data/envs/metaworld/train.py
@@ -1,30 +1,78 @@
-from typing import Optional
-import argparse
 import sys
-import metaworld
-import gym
+from typing import Optional
 
+import gym
+import metaworld
 from sample_factory.cfg.arguments import parse_full_cfg, parse_sf_args
 from sample_factory.envs.env_utils import register_env
 from sample_factory.train import run_rl
 
-
-def make_custom_env(full_env_name: str, cfg=None, env_config=None, render_mode: Optional[str] = None):
-    # see the section below explaining arguments
-    return gym.make("pick-place-v2", render_mode=render_mode)
+ENV_NAMES = [
+    "assembly-v2",
+    "basketball-v2",
+    "bin-picking-v2",
+    "box-close-v2",
+    "button-press-topdown-v2",
+    "button-press-topdown-wall-v2",
+    "button-press-v2",
+    "button-press-wall-v2",
+    "coffee-button-v2",
+    "coffee-pull-v2",
+    "coffee-push-v2",
+    "dial-turn-v2",
+    "disassemble-v2",
+    "door-close-v2",
+    "door-lock-v2",
+    "door-open-v2",
+    "door-unlock-v2",
+    "hand-insert-v2",
+    "drawer-close-v2",
+    "drawer-open-v2",
+    "faucet-open-v2",
+    "faucet-close-v2",
+    "hammer-v2",
+    "handle-press-side-v2",
+    "handle-press-v2",
+    "handle-pull-side-v2",
+    "handle-pull-v2",
+    "lever-pull-v2",
+    "peg-insert-side-v2",
+    "pick-place-wall-v2",
+    "pick-out-of-hole-v2",
+    "reach-v2",
+    "push-back-v2",
+    "push-v2",
+    "pick-place-v2",
+    "plate-slide-v2",
+    "plate-slide-side-v2",
+    "plate-slide-back-v2",
+    "plate-slide-back-side-v2",
+    "peg-insert-side-v2",
+    "peg-unplug-side-v2",
+    "soccer-v2",
+    "stick-push-v2",
+    "stick-pull-v2",
+    "push-wall-v2",
+    "push-v2",
+    "reach-wall-v2",
+    "reach-v2",
+    "shelf-place-v2",
+    "sweep-into-v2",
+    "sweep-v2",
+    "window-open-v2",
+    "window-close-v2",
+]
 
 
-def parse_args(argv=None, evaluation=False):
-    # parse the command line arguments to build
-    parser, partial_cfg = parse_sf_args(argv=argv, evaluation=evaluation)
-    final_cfg = parse_full_cfg(parser, argv)
-    return final_cfg
+def make_custom_env(full_env_name: str, cfg=None, env_config=None, render_mode: Optional[str] = None):
+    return gym.make(full_env_name, render_mode=render_mode)
 
 
 def main():
-    """Script entry point."""
-    register_env("pick-place-v2", make_custom_env)
-    cfg = parse_args()
+    for env_name in ENV_NAMES:
+        register_env(env_name, make_custom_env)
+    parser, _ = parse_sf_args(argv=None, evaluation=False)
+    cfg = parse_full_cfg(parser)
     status = run_rl(cfg)
     return status
 
diff --git a/setup.py b/setup.py
index 4cbcc4b..b35d687 100644
--- a/setup.py
+++ b/setup.py
@@ -65,7 +65,7 @@ REQUIRED_PKGS = [
     "huggingface_hub>=0.10",  # For sharing objects, environments & trained RL policies
     "gym==0.26.2",  # For RL action spaces and API
     "hydra-core",
-    "envpool",
+    # "envpool",
 ]