diff --git a/docs/_static/img/metaworld-text.svg b/docs/_static/img/metaworld-text.svg
index 9afe04e2b..d6c12d6ec 100644
--- a/docs/_static/img/metaworld-text.svg
+++ b/docs/_static/img/metaworld-text.svg
@@ -71,7 +71,7 @@
    inkscape:groupmode="layer">
   <metadata
    id="CorelCorpID_0Corel-Layer" />
-  
+
  <rect
    style="fill:#ffffff;stroke-width:15;stroke-linecap:round"
    id="rect572"
diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
index a0e9c1f5d..a62e67f3c 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
@@ -26,13 +26,22 @@ class SawyerMocapBase(mjenv_gym):
         "render_fps": 80,
     }
 
-    def __init__(self, model_name, frame_skip=5, render_mode=None):
+    def __init__(
+        self,
+        model_name,
+        frame_skip=5,
+        render_mode=None,
+        camera_name=None,
+        camera_id=None,
+    ):
         mjenv_gym.__init__(
             self,
             model_name,
             frame_skip=frame_skip,
             observation_space=self.sawyer_observation_space,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
         self.reset_mocap_welds()
         self.frame_skip = frame_skip
@@ -113,6 +122,8 @@ def __init__(
         action_scale=1.0 / 100,
         action_rot_scale=1.0,
         render_mode=None,
+        camera_id=None,
+        camera_name=None,
     ):
         self.action_scale = action_scale
         self.action_rot_scale = action_rot_scale
@@ -140,7 +151,13 @@ def __init__(
 
         self._partially_observable = True
 
-        super().__init__(model_name, frame_skip=frame_skip, render_mode=render_mode)
+        super().__init__(
+            model_name,
+            frame_skip=frame_skip,
+            render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
+        )
 
         mujoco.mj_forward(
             self.model, self.data
@@ -484,7 +501,7 @@ def step(self, action):
                     "unscaled_reward": 0.0,
                 },
             )
-
+        mujoco.mj_forward(self.model, self.data)
         self._last_stable_obs = self._get_obs()
 
         self._last_stable_obs = np.clip(
@@ -524,6 +541,7 @@ def evaluate_state(self, obs, action):
     def reset(self, seed=None, options=None):
         self.curr_path_length = 0
         obs, info = super().reset()
+        mujoco.mj_forward(self.model, self.data)
         self._prev_obs = obs[:18].copy()
         obs[18:36] = self._prev_obs
         obs = np.float64(obs)
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py
index 4f074eb2d..18e6471f5 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_assembly_peg_v2.py
@@ -13,7 +13,7 @@
 class SawyerNutAssemblyEnvV2(SawyerXYZEnv):
     WRENCH_HANDLE_LENGTH = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (0, 0.6, 0.02)
@@ -26,9 +26,9 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
-        if tasks is not None:
-            self.tasks = tasks
 
         self.init_config = {
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py
index f11ed9e7f..a080ff770 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_basketball_v2.py
@@ -14,7 +14,7 @@ class SawyerBasketballEnvV2(SawyerXYZEnv):
     PAD_SUCCESS_MARGIN = 0.06
     TARGET_RADIUS = 0.08
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.6, 0.0299)
@@ -27,11 +27,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0, 0.6, 0.03], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py
index 20028bc6d..9d3bd4fcd 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py
@@ -23,7 +23,7 @@ class SawyerBinPickingEnvV2(SawyerXYZEnv):
         - (11/23/20) Updated reward function to new pick-place style
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.07)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.21, 0.65, 0.02)
@@ -37,9 +37,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
-        if tasks is not None:
-            self.tasks = tasks
+
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([-0.12, 0.7, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py
index 9a764d0c8..73c6477c5 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_box_close_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerBoxCloseEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.05, 0.5, 0.02)
@@ -24,9 +24,9 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
-        if tasks is not None:
-            self.tasks = tasks
 
         self.init_config = {
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py
index 8175c148e..26971329f 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerButtonPressTopdownEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.8, 0.115)
@@ -22,9 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
-        if tasks is not None:
-            self.tasks = tasks
+
         self.init_config = {
             "obj_init_pos": np.array([0, 0.8, 0.115], dtype=np.float32),
             "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py
index a10cebb80..b2d6a18b5 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_topdown_wall_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerButtonPressTopdownWallEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.8, 0.115)
@@ -22,11 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.8, 0.115], dtype=np.float32),
             "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py
index a62083862..456aca468 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerButtonPressEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.85, 0.115)
@@ -22,11 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0.0, 0.9, 0.115], dtype=np.float32),
             "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py
index 7548dffde..a421af5bd 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_button_press_wall_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerButtonPressWallEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.05, 0.85, 0.1149)
@@ -22,11 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0.0, 0.9, 0.115], dtype=np.float32),
             "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py
index ab3f36812..6e4892422 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_button_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerCoffeeButtonEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         self.max_dist = 0.03
 
         hand_low = (-0.5, 0.4, 0.05)
@@ -28,11 +28,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.9, 0.28]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py
index 8c3a88c91..71ff93148 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_pull_v2.py
@@ -12,7 +12,7 @@
 
 
 class SawyerCoffeePullEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.05, 0.7, -0.001)
@@ -25,11 +25,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.75, 0.0]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py
index 271126320..c312532de 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_coffee_push_v2.py
@@ -12,7 +12,7 @@
 
 
 class SawyerCoffeePushEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.55, -0.001)
@@ -25,10 +25,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.0, 0.6, 0.0]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py
index 86e6071d8..37f6fbf7a 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_dial_turn_v2.py
@@ -13,7 +13,7 @@
 class SawyerDialTurnEnvV2(SawyerXYZEnv):
     TARGET_RADIUS = 0.07
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.7, 0.0)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.7, 0.0]),
             "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py
index 5b7907e47..67a034710 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_disassemble_peg_v2.py
@@ -13,7 +13,7 @@
 class SawyerNutDisassembleEnvV2(SawyerXYZEnv):
     WRENCH_HANDLE_LENGTH = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (0.0, 0.6, 0.025)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0, 0.7, 0.025]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py
index e554b1ff6..ca2eee8a7 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_close_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerDoorCloseEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (0.2, 0.65, 0.1499)
         goal_high = (0.3, 0.75, 0.1501)
         hand_low = (-0.5, 0.40, 0.05)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.1, 0.95, 0.15], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py
index f4b465280..9e2fb5c4a 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_lock_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerDoorLockEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.15)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.8, 0.15)
@@ -22,11 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.85, 0.15], dtype=np.float32),
             "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py
index e8eca0095..fb6e984ef 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_unlock_v2.py
@@ -10,7 +10,7 @@
 
 
 class SawyerDoorUnlockEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.15)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.8, 0.15)
@@ -23,11 +23,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.85, 0.15]),
             "hand_init_pos": np.array([0, 0.6, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py
index a0f4aedce..f17766ce3 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_door_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerDoorEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (0.0, 0.85, 0.15)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": np.array([0.3]),
             "obj_init_pos": np.array([0.1, 0.95, 0.15]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py
index 48bcb30b7..f70365a96 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_close_v2.py
@@ -13,7 +13,7 @@
 class SawyerDrawerCloseEnvV2(SawyerXYZEnv):
     _TARGET_RADIUS = 0.04
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.9, 0.0)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": np.array(
                 [
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py
index f66b87a72..8482ff86e 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_drawer_open_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerDrawerOpenEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.9, 0.0)
@@ -22,11 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": np.array(
                 [
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py
index 432b35131..c62c72e95 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_close_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerFaucetCloseEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.15)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.8, 0.0)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.8, 0.0]),
             "hand_init_pos": np.array([0.0, 0.4, 0.2]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py
index 21ef8d449..85bc75956 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_faucet_open_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerFaucetOpenEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.15)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.05, 0.8, 0.0)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.8, 0.0]),
             "hand_init_pos": np.array([0.0, 0.4, 0.2]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py
index 6ed0e2f55..129e5ec41 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hammer_v2.py
@@ -13,7 +13,7 @@
 class SawyerHammerEnvV2(SawyerXYZEnv):
     HAMMER_HANDLE_LENGTH = 0.14
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.4, 0.0)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "hammer_init_pos": np.array([0, 0.5, 0.0]),
             "hand_init_pos": np.array([0, 0.4, 0.2]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py
index 32ea219f2..ec712a81c 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_hand_insert_v2.py
@@ -12,7 +12,7 @@
 class SawyerHandInsertEnvV2(SawyerXYZEnv):
     TARGET_RADIUS = 0.05
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.15)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.6, 0.05)
@@ -25,11 +25,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.6, 0.05]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py
index 9ab35aa61..32fe9ad7c 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_side_v2.py
@@ -26,7 +26,7 @@ class SawyerHandlePressSideEnvV2(SawyerXYZEnv):
 
     TARGET_RADIUS = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1.0, 0.5)
         obj_low = (-0.35, 0.65, -0.001)
@@ -37,11 +37,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([-0.3, 0.7, 0.0]),
             "hand_init_pos": np.array(
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py
index ac77fb84c..6f3f2659f 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_press_v2.py
@@ -13,7 +13,7 @@
 class SawyerHandlePressEnvV2(SawyerXYZEnv):
     TARGET_RADIUS = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1.0, 0.5)
         obj_low = (-0.1, 0.8, -0.001)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.9, 0.0]),
             "hand_init_pos": np.array(
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py
index fea80b929..6ca32cfd5 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_side_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerHandlePullSideEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1.0, 0.5)
         obj_low = (-0.35, 0.65, 0.0)
@@ -22,11 +22,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([-0.3, 0.7, 0.0]),
             "hand_init_pos": np.array(
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py
index f29df9ca2..790fa1371 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_handle_pull_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerHandlePullEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1.0, 0.5)
         obj_low = (-0.1, 0.8, -0.001)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.9, 0.0]),
             "hand_init_pos": np.array(
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py
index af67a7ad8..074ef8ceb 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_lever_pull_v2.py
@@ -27,7 +27,7 @@ class SawyerLeverPullEnvV2(SawyerXYZEnv):
 
     LEVER_RADIUS = 0.2
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.15)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.7, 0.0)
@@ -38,11 +38,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.7, 0.0]),
             "hand_init_pos": np.array([0, 0.4, 0.2], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py
index 568457f6f..c68a9cad9 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_insertion_side_v2.py
@@ -30,7 +30,7 @@ class SawyerPegInsertionSideEnvV2(SawyerXYZEnv):
             the hole's position, as opposed to hand_low and hand_high
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_init_pos = (0, 0.6, 0.2)
 
         hand_low = (-0.5, 0.40, 0.05)
@@ -45,11 +45,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.6, 0.02]),
             "hand_init_pos": np.array([0, 0.6, 0.2]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py
index 1b2d776ec..9dbec1653 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_peg_unplug_side_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerPegUnplugSideEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.25, 0.6, -0.001)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([-0.225, 0.6, 0.05]),
             "hand_init_pos": np.array((0, 0.6, 0.2)),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py
index b3ffeb807..ff4c1c3b7 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_out_of_hole_v2.py
@@ -12,7 +12,7 @@
 class SawyerPickOutOfHoleEnvV2(SawyerXYZEnv):
     _TARGET_RADIUS = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, -0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (0, 0.75, 0.02)
@@ -25,11 +25,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.6, 0.0]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py
index 5cbbdac9e..2be2710b5 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_v2.py
@@ -25,7 +25,7 @@ class SawyerPickPlaceEnvV2(SawyerXYZEnv):
         - (6/15/20) Separated reach-push-pick-place into 3 separate envs.
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.8, 0.05)
         goal_high = (0.1, 0.9, 0.3)
         hand_low = (-0.5, 0.40, 0.05)
@@ -38,11 +38,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0, 0.6, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py
index b16401988..725db8a97 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_pick_place_wall_v2.py
@@ -26,7 +26,7 @@ class SawyerPickPlaceWallEnvV2(SawyerXYZEnv):
           reach-push-pick-place-wall.
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.05, 0.85, 0.05)
         goal_high = (0.05, 0.9, 0.3)
         hand_low = (-0.5, 0.40, 0.05)
@@ -39,11 +39,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0, 0.6, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py
index 9ae3cef37..cb6392429 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_side_v2.py
@@ -27,7 +27,7 @@ class SawyerPlateSlideBackSideEnvV2(SawyerXYZEnv):
         - (6/22/20) Cabinet now sits on ground, instead of .02 units above it
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.05, 0.6, 0.015)
         goal_high = (0.15, 0.6, 0.015)
         hand_low = (-0.5, 0.40, 0.05)
@@ -40,11 +40,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([-0.25, 0.6, 0.02], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py
index 546169115..b09cfe186 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_back_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerPlateSlideBackEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.6, 0.015)
         goal_high = (0.1, 0.6, 0.015)
         hand_low = (-0.5, 0.40, 0.05)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.0, 0.85, 0.0], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py
index 652ced72d..59ee2686c 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_side_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerPlateSlideSideEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.3, 0.54, 0.0)
         goal_high = (-0.25, 0.66, 0.0)
         hand_low = (-0.5, 0.40, 0.05)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py
index 18c0751fa..0cdc46a4f 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_plate_slide_v2.py
@@ -13,7 +13,7 @@
 class SawyerPlateSlideEnvV2(SawyerXYZEnv):
     OBJ_RADIUS = 0.04
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.85, 0.0)
         goal_high = (0.1, 0.9, 0.0)
         hand_low = (-0.5, 0.40, 0.05)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.0, 0.6, 0.0], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py
index 1f8373aa8..141b60cd8 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_back_v2.py
@@ -14,7 +14,7 @@ class SawyerPushBackEnvV2(SawyerXYZEnv):
     OBJ_RADIUS = 0.007
     TARGET_RADIUS = 0.05
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.6, 0.0199)
         goal_high = (0.1, 0.7, 0.0201)
         hand_low = (-0.5, 0.40, 0.05)
@@ -27,11 +27,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.8, 0.02]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py
index 52122c050..d782670fb 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_v2.py
@@ -27,7 +27,7 @@ class SawyerPushEnvV2(SawyerXYZEnv):
 
     TARGET_RADIUS = 0.05
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.6, 0.02)
@@ -40,11 +40,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.0, 0.6, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py
index d4ee92936..3ad9e97ce 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_push_wall_v2.py
@@ -30,7 +30,7 @@ class SawyerPushWallEnvV2(SawyerXYZEnv):
 
     OBJ_RADIUS = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.05, 0.6, 0.015)
@@ -43,11 +43,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0, 0.6, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py
index 7b3f9cd6a..8ed1716ab 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_v2.py
@@ -26,7 +26,7 @@ class SawyerReachEnvV2(SawyerXYZEnv):
         - (6/15/20) Separated reach-push-pick-place into 3 separate envs.
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.8, 0.05)
         goal_high = (0.1, 0.9, 0.3)
         hand_low = (-0.5, 0.40, 0.05)
@@ -39,11 +39,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.0, 0.6, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py
index cf9049049..76a954485 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_reach_wall_v2.py
@@ -25,7 +25,7 @@ class SawyerReachWallEnvV2(SawyerXYZEnv):
             i.e. (self._target_pos - pos_hand)
     """
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.05, 0.85, 0.05)
         goal_high = (0.05, 0.9, 0.3)
         hand_low = (-0.5, 0.40, 0.05)
@@ -38,11 +38,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0, 0.6, 0.02]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py
index 9ac7f33de..cd873e3b3 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_shelf_place_v2.py
@@ -12,7 +12,7 @@
 
 
 class SawyerShelfPlaceEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.8, 0.299)
         goal_high = (0.1, 0.9, 0.301)
         hand_low = (-0.5, 0.40, 0.05)
@@ -25,11 +25,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.6, 0.02]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py
index d09c05014..362b2c0eb 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_soccer_v2.py
@@ -15,7 +15,7 @@ class SawyerSoccerEnvV2(SawyerXYZEnv):
     OBJ_RADIUS = 0.013
     TARGET_RADIUS = 0.07
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         goal_low = (-0.1, 0.8, 0.0)
         goal_high = (0.1, 0.9, 0.0)
         hand_low = (-0.5, 0.40, 0.05)
@@ -28,11 +28,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0, 0.6, 0.03]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py
index 8acd36c2d..8d6c3fcfa 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_pull_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerStickPullEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.35, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.55, 0.000)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "stick_init_pos": np.array([0, 0.6, 0.02]),
             "hand_init_pos": np.array([0, 0.6, 0.2]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py
index e83c69509..fd4ab0283 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_stick_push_v2.py
@@ -11,7 +11,7 @@
 
 
 class SawyerStickPushEnvV2(SawyerXYZEnv):
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.08, 0.58, 0.000)
@@ -24,11 +24,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "stick_init_pos": np.array([-0.1, 0.6, 0.02]),
             "hand_init_pos": np.array([0, 0.6, 0.2]),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py
index a2075a21a..cb62770b0 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_into_goal_v2.py
@@ -13,7 +13,7 @@
 class SawyerSweepIntoGoalEnvV2(SawyerXYZEnv):
     OBJ_RADIUS = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.6, 0.02)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0.0, 0.6, 0.02]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py
index 64e8a0f1e..54a3f2cf8 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_sweep_v2.py
@@ -12,7 +12,7 @@
 class SawyerSweepEnvV2(SawyerXYZEnv):
     OBJ_RADIUS = 0.02
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         init_puck_z = 0.1
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1.0, 0.5)
@@ -26,11 +26,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_pos": np.array([0.0, 0.6, 0.02]),
             "obj_init_angle": 0.3,
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py
index c64a046a2..09c06f119 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_close_v2.py
@@ -25,7 +25,7 @@ class SawyerWindowCloseEnvV2(SawyerXYZEnv):
 
     TARGET_RADIUS = 0.05
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         liftThresh = 0.02
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
@@ -37,11 +37,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": 0.3,
             "obj_init_pos": np.array([0.1, 0.785, 0.16], dtype=np.float32),
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py
index 7ad337a64..7e7c1dd64 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_window_open_v2.py
@@ -24,7 +24,7 @@ class SawyerWindowOpenEnvV2(SawyerXYZEnv):
 
     TARGET_RADIUS = 0.05
 
-    def __init__(self, tasks=None, render_mode=None):
+    def __init__(self, render_mode=None, camera_name=None, camera_id=None):
         hand_low = (-0.5, 0.40, 0.05)
         hand_high = (0.5, 1, 0.5)
         obj_low = (-0.1, 0.7, 0.16)
@@ -35,11 +35,10 @@ def __init__(self, tasks=None, render_mode=None):
             hand_low=hand_low,
             hand_high=hand_high,
             render_mode=render_mode,
+            camera_name=camera_name,
+            camera_id=camera_id,
         )
 
-        if tasks is not None:
-            self.tasks = tasks
-
         self.init_config = {
             "obj_init_angle": np.array(
                 [
diff --git a/pyproject.toml b/pyproject.toml
index d8582c321..e8e79653e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,7 +25,7 @@ classifiers = [
     'Topic :: Scientific/Engineering :: Artificial Intelligence',
 ]
 dependencies = [
-    "gymnasium>=0.29.0",
+    "gymnasium@git+https://github.com/Farama-Foundation/Gymnasium.git",
     "mujoco<3.0.0",
     "numpy>=1.18",
     "scipy>=1.4.1",