add LIBERO sim-client: Dockerfile, policy server adapter, vendored sources, updated REPRODUCE.md (part 4)

.gitattributes

@@ -113,3 +113,11 @@ eval/vendored/LIBERO/libero/libero/assets/turbosquid_objects/red_coffee_mug/visu
 eval/vendored/LIBERO/libero/libero/assets/turbosquid_objects/white_yellow_mug/visual/white_yellow_mug_vis.msh filter=lfs diff=lfs merge=lfs -text
 eval/vendored/LIBERO/libero/libero/assets/turbosquid_objects/wine_bottle/visual/wine_bottle_red_main_vis.msh filter=lfs diff=lfs merge=lfs -text
 eval/vendored/LIBERO/libero/libero/assets/turbosquid_objects/yellow_book/visual/yellow_book_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket.init filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/images/main_figure.pdf filter=lfs diff=lfs merge=lfs -text

eval/vendored/LIBERO-PRO/.gitignore

@@ -0,0 +1,18 @@
+*~
+.hydra
+*pyc
+datasets
+results
+outputs/*
+/MUJOCO_LOG.TXT
+wandb
+experiments/
+experiments_saved/
+clip/
+gpt/
+bert/
+logs/
+
+*.mp4
+libero.egg-info/
+.vscode/

eval/vendored/LIBERO-PRO/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Lifelong Robot Learning
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

eval/vendored/LIBERO-PRO/README.md

@@ -0,0 +1,727 @@
+<div align="center">
+
+<img src="https://github.com/Zxy-MLlab/LIBERO-OOD/blob/master/images/liberopro_logo.png" width="360">
+
+## LIBERO-Pro: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization
+
+**Xueyang Zhou<sup>1</sup>, Yangming Xu<sup>1</sup>, Guiyao Tie<sup>1</sup>, Yongchao Chen<sup>2,3</sup>, Guowen Zhang<sup>1</sup>, Duanfeng Chu<sup>4</sup>, Pan Zhou<sup>1</sup>, Lichao Sun<sup>5</sup>**
+
+<sup>1</sup> **Huazhong University of Science and Technology**  
+<sup>2</sup> **Harvard University** <sup>3</sup> **Massachusetts Institute of Technology**  
+<sup>4</sup> **Wuhan University of Technology** <sup>5</sup> **Lehigh University**
+
+[![Tests Passing](https://github.com/anuraghazra/github-readme-stats/workflows/Test/badge.svg)](https://github.com/Zxy-MLlab/LIBERO-PRO/actions)
+[![Contributors](https://img.shields.io/github/contributors/Lifelong-Robot-Learning/LIBERO)](https://github.com/Zxy-MLlab/LIBERO-PRO/graphs/contributors)
+[![Paper](https://img.shields.io/badge/Paper-arXiv:2510.03827-b31b1b.svg)](https://arxiv.org/pdf/2510.03827)
+[![Website](https://img.shields.io/badge/Project-Webpage-4b7bec.svg)](https://zxy-mllab.github.io/LIBERO-PRO-Webpage/)
+[![Code](https://img.shields.io/badge/Code-LIBERO--PRO-2b9348.svg)](https://github.com/Zxy-MLlab/LIBERO-PRO/)
+[![License](https://img.shields.io/badge/License-MIT-green.svg)](LICENSE)
+
+
+📄 [Paper](https://arxiv.org/pdf/2510.03827) |
+💻 [Code](https://github.com/Zxy-MLlab/LIBERO-PRO) |
+🌐 [Webpage](https://zxy-mllab.github.io/LIBERO-PRO-Webpage/) |
+🤗 [Dataset](https://huggingface.co/datasets/zhouxueyang/LIBERO-Pro) |
+📱 [XHS](http://xhslink.com/o/5vmaip7wQCE/) |
+💬 [WeChat](https://github.com/Zxy-MLlab/LIBERO-OOD/blob/master/images/wechat.png)
+
+---
+
+![pull_figure](https://github.com/Zxy-MLlab/LIBERO-OOD/blob/master/images/overall.png)
+</div>
+
+## ✨ News ✨​
+- [2025/11/05] 📊 All bddl and init files have been uploaded to Huggingface (supports fast parallel evaluation): [Dataset](https://huggingface.co/datasets/zhouxueyang/LIBERO-Pro)
+- [2025/10/29] 🌐 We launched the official project website for LIBERO-Pro (with more demos & details): [Webpage](https://zxy-mllab.github.io/LIBERO-PRO-Webpage/)
+- [2025/10/22] 📱 We have shared a project promotion post on Xhs: [Xhs](http://xhslink.com/o/5vmaip7wQCE/)
+- [2025/10/20] 💬 We have created an official WeChat account (join discussions, get quick Q&A) [WeChat](https://github.com/Zxy-MLlab/LIBERO-OOD/blob/master/images/wechat.png)​
+- [2025/10/05] 🤖 We have released the full LIBERO-Pro code on GitHub: [Code​](https://github.com/Zxy-MLlab/LIBERO-PRO)
+- [2025/10/04] 🎉 Our paper, LIBERO-Pro: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization is now available on arXiv: [Paper](https://arxiv.org/pdf/2510.03827)
+
+## 🌟 Follow Us
+We are committed to continuously improving **LIBERO-Pro** based on your feedback. Our goal is to establish a fair and simple evaluation environment for Vision-Language-Action (VLA) models. Your input is invaluable in helping us achieve this goal!
+
+---
+
+## 🔍 Motivation
+Recent VLA models have demonstrated impressive performance on known tasks; however, our observations suggest that such success largely stems from mechanical memorization of training scenarios rather than genuine acquisition of transferable task-solving strategies.
+
+
+| **Model** | **Goal** | **P1** | **P2** | **Spatial** | **P1** | **P2** | **10** | **P1** | **P2** | **Object** | **P1** | **P2** |
+|:----------|:--------------------:|:----------------:|:--------------------:|:-----------------------:|:------------------:|:-----------------------:|:------------------:|:---------------:|:-------------------:|:----------------------:|:------------------:|:----------------------:|
+| **OpenVLA** | ![](https://img.shields.io/badge/0.98-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.95-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.93-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.99-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) |
+| **Pi0** | ![](https://img.shields.io/badge/0.92-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.90-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.82-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.98-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) |
+| **Pi0.5** | ![](https://img.shields.io/badge/0.97-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.4-green) | ![](https://img.shields.io/badge/0.96-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.2-green) | ![](https://img.shields.io/badge/0.93-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.1-green) | ![](https://img.shields.io/badge/0.98-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.2-green) |
+| **UniVLA** | ![](https://img.shields.io/badge/0.89-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.1-green) | ![](https://img.shields.io/badge/0.85-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.1-green) | ![](https://img.shields.io/badge/0.61-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) | ![](https://img.shields.io/badge/0.98-blue) | ![](https://img.shields.io/badge/0.0-orange) | ![](https://img.shields.io/badge/0.0-green) |
+
+> 🟦 **Original** 🟧 **+ P1: Task Perturbation** 🟩 **+ P2: Position Perturbation**  
+> 📉 *All models achieve >0.9 on original LIBERO tasks but collapse under LIBERO-PRO perturbations, showing poor true generalization.*
+
+---
+## 🌍 Fairer Environment
+**LIBERO-Pro** calls for a more *rigorous, standardized, and transparent* approach to measuring generalization, helping the community move **beyond memorization and toward true understanding**.
+
+
+## ⚙️ Five Core Generalization Dimensions
+<div align="center">
+
+<table>
+<thead>
+<tr>
+<th align="center">Dimension</th>
+<th align="center">Description</th>
+<th align="center">Example Evaluation</th>
+</tr>
+</thead>
+<tbody>
+
+<tr>
+<td align="center"><b>Object</b></td>
+<td align="center">Modifies object appearance, color, and scale to test adaptability to visual shifts.</td>
+<td align="center">"red cup" → "yellow cup"</td>
+</tr>
+
+<tr>
+<td align="center"><b>Position</b></td>
+<td align="center">Relocates objects within feasible spatial bounds to evaluate the model’s adaptability to spatial position changes.</td>
+<td align="center">Change the position of "cup" and "bowl"</td>
+</tr>
+
+<tr>
+<td align="center"><b>Semantic</b></td>
+<td align="center">Paraphrases natural language commands to probe linguistic robustness.</td>
+<td align="center">"Grasp the mug" → "Pick up the cup"</td>
+</tr>
+
+<tr>
+<td align="center"><b>Task</b></td>
+<td align="center">Redefines task logic and target states to test procedural generalization.</td>
+<td align="center">"Pick up the mug" → "Pick up the butter"</td>
+</tr>
+
+<tr>
+<td align="center"><b>Environment</b></td>
+<td align="center">Replaces working environments to evaluate cross-environment robustness.</td>
+<td align="center">"Main table" → "Kitchen table"</td>
+</tr>
+
+</tbody>
+</table>
+
+</div>
+
+
+> 🧩 These perturbations are **combinable and configurable** via YAML for scalable and controlled generalization studies.
+
+---
+
+**Welcome to join our wechat discussion group, we will answer any questions in real time, and also welcome more in-depth academic discussion.**
+
+<img src="https://github.com/Zxy-MLlab/LIBERO-OOD/blob/master/images/wechat.png" width="300">
+
+---
+
+# Contents
+- [Installation](#Installation)
+- [Evaluation](#libero-pro-evaluation)
+  - [OpenVLA](#evaluation-on-openvla)
+  - [LeaderBoard](#-libero-pro-model-leaderboard)
+- [Position Evaluation](#initial-position-perturbation-experiment)
+- [Citation](#Citation)
+- [License](#License)
+
+---
+
+# Installation
+
+Clone the official LIBERO-PRO repository by run:
+```bash
+git clone https://github.com/Zxy-MLlab/LIBERO-PRO/
+```
+
+LIBERO-PRO is developed based on the original LIBERO benchmark, so it uses the same runtime environment as LIBERO—no separate environment configuration for LIBERO-PRO is needed. You only need to install the environment in accordance with LIBERO’s official requirements, as shown below:
+
+```bash
+conda create -n libero_pro python=3.8.13
+conda activate libero_pro
+git clone https://github.com/Zxy-MLlab/LIBERO-PRO.git
+cd LIBERO-PRO
+pip install -r requirements.txt
+pip install torch==1.11.0+cu113 torchvision==0.12.0+cu113 torchaudio==0.11.0 --extra-index-url https://download.pytorch.org/whl/cu113
+pip install -e .
+```
+
+
+---
+
+# LIBERO-Pro Evaluation
+
+## ⚡️ Quick Start
+Follow the steps below to quickly set up and run **LIBERO-Pro** for your own evaluations.
+
+💡 **Note:**  
+To enable stable and fast parallel evaluation, we updated `libero/libero/benchmark/__init__.py` and `libero/libero/benchmark/libero_suite_task_map.py`. If you cloned the repo **before 2025/11/05**, please re-download and replace these two files.
+
+### 1️⃣ Download Required Files
+First, download all `bddl_files` and `init_files` from our official Huggingface dataset: 👉 [LIBERO-Pro Dataset](https://huggingface.co/datasets/zhouxueyang/LIBERO-Pro)
+
+### 2️⃣ Move Files into LIBERO-Pro Structure
+Move the downloaded files into the correct LIBERO-Pro directory structure:
+```
+mv libero_data/bddl_files/* libero/libero/bddl_files/
+mv libero_data/init_files/* libero/libero/init_files/
+```
+
+## 3️⃣ Configure Evaluation Settings
+All evaluation parameters can be set in the file:
+```
+evaluation_config.yaml
+```
+
+In the this evaluation mode, only one perturbation type can be active at a time. To specify the desired perturbation, modify the corresponding field in the config file:
+```
+use_swap: false
+use_object: false
+use_language: false
+use_task: true
+```
+
+## Custom Evaluation (Optional)
+To specify combined-type generalization evaluation, modify `evaluation_config.yaml` in your project directory.  
+
+| Parameter | Function |
+| ----------------- | -------------------------------------------------------------------------------------- |
+| use_environment | Enable/disable environment generalization evaluation |
+| use_swap | Enable/disable position generalization evaluation |
+| use_object | Enable/disable object generalization evaluation |
+| use_language | Enable/disable semantic (language) generalization evaluation |
+| use_task | Enable/disable task generalization evaluation |
+
+*Note: task generalization (`use_task: true`) cannot be combined with others.*
+
+## Evaluation on OpenVLA
+Below is a reference code snippet for conducting LIBERO-PRO generalization evaluation on OpenVLA. Please place LIBERO-PRO in the following directory:
+```
+# 📁 openvla-oft-main
+.
+├── .idea/
+├── experiments/
+│   └── robot/
+│       ├── aloha/
+│       └── libero/
+│           ├── experiments/
+│           ├── LIBERO-PRO/ # our project
+│           ├── libero_utils.py
+│           ├── regenerate_libero_dataset.py
+│           ├── run_libero_eval.py
+│           ├── sample_libero_spatial_observation.pkl
+│           ├── openvla_utils.py
+│           └── robot_utils.py
+```
+Before evaluating, modify the `run_libero_eval.py` to adapt to LIBERO-RPO:
+```
+from LIBERO-PRO import perturbation
+
+# Register for temporary evaluation tasks
+class TaskSuite(str, Enum):
+  ...
+  LIBERO_GOAL_TEMP = "libero_goal_temp"
+  LIBERO_SPATIAL_TEMP = "libero_spatial_temp"
+  LIBERO_10_TEMP = "libero_10_temp"
+  LIBERO_OBJECT_TEMP = "libero_object_temp"
+  LIBERO_GOAL_LAN = "libero_goal_lan"
+  LIBERO_SPATIAL_LAN = "libero_spatial_lan"
+  LIBERO_10_LAN = "libero_10_lan"
+  LIBERO_OBJECT_LAN = "libero_object_lan"
+  LIBERO_GOAL_OBJECT = "libero_goal_object"
+  LIBERO_SPATIAL_OBJECT = "libero_spatial_object"
+  LIBERO_10_OBJECT = "libero_10_object"
+  LIBERO_OBJECT_OBJECT = "libero_object_object"
+  LIBERO_GOAL_SWAP = "libero_goal_swap"
+  LIBERO_SPATIAL_SWAP = "libero_spatial_swap"
+  LIBERO_10_SWAP = "libero_10_swap"
+  LIBERO_OBJECT_SWAP = "libero_object_swap"
+  LIBERO_GOAL_TASK = "libero_goal_task"
+  LIBERO_SPATIAL_TASK = "libero_spatial_task"
+  LIBERO_10_TASK = "libero_10_task"
+  LIBERO_OBJECT_TASK = "libero_object_task"
+  LIBERO_GOAL_ENV = "libero_goal_env"
+  LIBERO_SPATIAL_ENV = "libero_spatial_env"
+  LIBERO_10_ENV = "libero_10_env"
+  LIBERO_OBJECT_ENV = "libero_object_env"
+
+TASK_MAX_STEPS = {
+  ...
+  TaskSuite.LIBERO_GOAL_TEMP: 300,
+  TaskSuite.LIBERO_SPATIAL_TEMP: 220,
+  TaskSuite.LIBERO_10_TEMP: 520,
+  TaskSuite.LIBERO_OBJECT_TEMP: 280,
+  TaskSuite.LIBERO_GOAL_LAN: 300,
+  TaskSuite.LIBERO_SPATIAL_LAN: 220,
+  TaskSuite.LIBERO_10_LAN: 520,
+  TaskSuite.LIBERO_OBJECT_LAN: 280,
+  TaskSuite.LIBERO_GOAL_OBJECT: 300,
+  TaskSuite.LIBERO_SPATIAL_OBJECT: 220,
+  TaskSuite.LIBERO_10_OBJECT: 520,
+  TaskSuite.LIBERO_OBJECT_OBJECT: 280,
+  TaskSuite.LIBERO_GOAL_SWAP: 300,
+  TaskSuite.LIBERO_SPATIAL_SWAP: 220,
+  TaskSuite.LIBERO_10_SWAP: 520,
+  TaskSuite.LIBERO_OBJECT_SWAP: 280,
+  TaskSuite.LIBERO_GOAL_TASK: 300,
+  TaskSuite.LIBERO_SPATIAL_TASK: 220,
+  TaskSuite.LIBERO_10_TASK: 520,
+  TaskSuite.LIBERO_OBJECT_TASK: 280,
+  TaskSuite.LIBERO_GOAL_ENV: 300,
+  TaskSuite.LIBERO_SPATIAL_ENV: 220,
+  TaskSuite.LIBERO_10_ENV: 520,
+  TaskSuite.LIBERO_OBJECT_ENV: 280,
+}
+
+# Modify this line
+def check_unnorm_key(cfg: GenerateConfig, model) -> None:
+  ...
+  unnorm_key = cfg.unnorm_key
+  ...
+
+# Modify this line
+def eval_libero(cfg: GenerateConfig) -> float:
+  ...
+      with open(cfg.evaluation_config_path, "r", encoding="utf-8") as f:
+        evaluation_cfg = yaml.safe_load(f)
+
+    evaluation_cfg["bddl_files_path"] = evaluation_cfg.get("bddl_files_path", "") + "/" + cfg.task_suite_name
+    evaluation_cfg["task_suite_name"] = cfg.task_suite_name
+
+    use_swap = evaluation_cfg.get("use_swap", False)
+    use_object = evaluation_cfg.get("use_object", False)
+    use_language = evaluation_cfg.get("use_language", False)
+    use_task = evaluation_cfg.get("use_task", False)
+    use_environment = evaluation_cfg.get("use_environment", False)
+
+    # Step 1: Check if only one of the use_xxx flags is True
+    if sum([use_swap, use_object, use_language, use_task, use_environment]) > 1:
+        # If more than one flag is True, use the temp environment
+        bddl_file_path = evaluation_cfg.get("bddl_files_path", "") + cfg.task_suite_name + "_temp/"
+
+        init_file_path = evaluation_cfg.get("init_file_dir", "") + cfg.task_suite_name + "_temp/"
+
+        # Check if the directories exist and the log.txt file contents match
+        if not os.path.exists(bddl_file_path) or not os.path.exists(init_file_path):
+            # If directories don't exist, create them and the log.txt file
+            os.makedirs(init_file_path, exist_ok=True)
+            os.makedirs(bddl_file_path, exist_ok=True)
+
+            # Create the log.txt dynamically based on current flag values
+            log_content = f"{use_swap},{use_object},{use_language},{use_task},{use_environment}"
+            with open(os.path.join(bddl_file_path, "log.txt"), "w") as log_file:
+                log_file.write(log_content)  # Write the dynamic state to the log file
+
+            perturbation.create_env(configs=evaluation_cfg)
+        else:
+            # If directories exist, check the contents of the log.txt file
+            with open(os.path.join(bddl_file_path, "log.txt"), "r") as log_file:
+                log_contents = log_file.read().strip()
+
+            # Define the expected log content based on the current flags
+            expected_log = f"{use_swap},{use_object},{use_language},{use_task},{use_environment}"
+
+            # If the log contents don't match, clean up and recreate the environment
+            if log_contents != expected_log:
+                # Remove existing files in both directories
+                for folder in [bddl_file_path, init_file_path]:
+                    for root, dirs, files in os.walk(folder, topdown=False):
+                        for name in files:
+                            os.remove(os.path.join(root, name))
+                        for name in dirs:
+                            os.rmdir(os.path.join(root, name))
+                # Create the environment again
+                os.makedirs(init_file_path, exist_ok=True)
+                os.makedirs(bddl_file_path, exist_ok=True)
+
+                # Write the updated log content based on current flags
+                with open(os.path.join(bddl_file_path, "log.txt"), "w") as log_file:
+                    log_file.write(expected_log)  # Write the updated log
+
+                perturbation.create_env(configs=evaluation_cfg)
+
+        # Update task_suite_name with "_temp" suffix
+        cfg.task_suite_name = cfg.task_suite_name + "_temp"
+
+    # Step 2: Handle the case when only one use_xxx flag is True
+    else:
+        if use_swap:
+            perturb_key = "use_swap"
+        elif use_object:
+            perturb_key = "use_object"
+        elif use_language:
+            perturb_key = "use_language"
+        elif use_task:
+            perturb_key = "use_task"
+        elif use_environment:
+            perturb_key = "use_environment"
+
+        init_file_path = evaluation_cfg.get("init_file_dir", "") + cfg.task_suite_name + "_" + evaluation_cfg.get(
+            "perturbation_mapping", {}).get(perturb_key, "")
+
+        if not os.path.exists(init_file_path):
+            perturbation.create_env(configs=evaluation_cfg)
+
+        cfg.task_suite_name = cfg.task_suite_name + "_" + evaluation_cfg.get("perturbation_mapping", {}).get(perturb_key, "")
+  ...
+```
+
+
+Note!!! For unknown reasons, in some cases replacing the environment will cause the objects on the table to move randomly. After many tests, replacing the environment with 'main_table' works and we are actively in contact with the authors of LIBERO to fix this issue.
+
+
+## 🏆 LIBERO-Pro Model Leaderboard
+
+The following table summarizes model performance under **five generalization perturbations** in LIBERO-Pro. Each cell represents the normalized success rate (**0.00–1.00**).
+
+<table align="center">
+<thead>
+<tr>
+<th rowspan="2" align="left">Model</th>
+<th colspan="5" align="center">LIBERO-Goal</th>
+<th colspan="5" align="center">LIBERO-Spatial</th>
+<th colspan="5" align="center">LIBERO-10</th>
+<th colspan="5" align="center">LIBERO-Object</th>
+<th rowspan="2" align="center">Total</th>
+</tr>
+<tr>
+<th align="center">Obj</th>
+<th align="center">Pos</th>
+<th align="center">Sem</th>
+<th align="center">Task</th>
+<th align="center">Env</th>
+<th align="center">Obj</th>
+<th align="center">Pos</th>
+<th align="center">Sem</th>
+<th align="center">Task</th>
+<th align="center">Env</th>
+<th align="center">Obj</th>
+<th align="center">Pos</th>
+<th align="center">Sem</th>
+<th align="center">Task</th>
+<th align="center">Env</th>
+<th align="center">Obj</th>
+<th align="center">Pos</th>
+<th align="center">Sem</th>
+<th align="center">Task</th>
+<th align="center">Env</th>
+</tr>
+</thead>
+<tbody>
+
+<tr>
+<td><b>OpenVLA</b></td>
+<td align="center" style="background-color:#f08080;">0.96</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffd6cc;">0.98</td>
+<td align="center" style="background-color:#ff9999;">0.00</td>
+<td align="center" style="background-color:#ffc2b3;">0.98</td>
+<td align="center" style="background-color:#f08080;">0.97</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffd6cc;">0.97</td>
+<td align="center" style="background-color:#ff9999;">0.00</td>
+<td align="center" style="background-color:#ffc2b3;">0.89</td>
+<td align="center" style="background-color:#f08080;">0.81</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffd6cc;">0.96</td>
+<td align="center" style="background-color:#ff9999;">0.00</td>
+<td align="center" style="background-color:#ffc2b3;">0.85</td>
+<td align="center" style="background-color:#f08080;">0.98</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffd6cc;">0.98</td>
+<td align="center" style="background-color:#ff9999;">0.00</td>
+<td align="center" style="background-color:#ffc2b3;">0.00</td>
+<td align="center" style="background-color:#e8f0fa;"><b>0.52</b></td>
+</tr>
+
+<tr>
+<td><b>Pi0</b></td>
+<td align="center" style="background-color:#f28c8c;">0.94</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffddcc;">0.93</td>
+<td align="center" style="background-color:#ffb3b3;">0.00</td>
+<td align="center" style="background-color:#ffc6b3;">0.39</td>
+<td align="center" style="background-color:#f28c8c;">0.95</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffddcc;">0.97</td>
+<td align="center" style="background-color:#ffb3b3;">0.00</td>
+<td align="center" style="background-color:#ffc6b3;">0.60</td>
+<td align="center" style="background-color:#f28c8c;">0.79</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffddcc;">0.82</td>
+<td align="center" style="background-color:#ffb3b3;">0.00</td>
+<td align="center" style="background-color:#ffc6b3;">0.27</td>
+<td align="center" style="background-color:#f28c8c;">0.94</td>
+<td align="center" style="background-color:#ffcccc;">0.00</td>
+<td align="center" style="background-color:#ffddcc;">0.90</td>
+<td align="center" style="background-color:#ffb3b3;">0.00</td>
+<td align="center" style="background-color:#ffc6b3;">0.29</td>
+<td align="center" style="background-color:#e8f0fa;"><b>0.44</b></td>
+</tr>
+
+<tr>
+<td><b>Pi0.5</b></td>
+<td align="center" style="background-color:#f29c9c;">0.97</td>
+<td align="center" style="background-color:#ffdddd;">0.38</td>
+<td align="center" style="background-color:#ffe6cc;">0.97</td>
+<td align="center" style="background-color:#ffc6b3;">0.00</td>
+<td align="center" style="background-color:#ffd9b3;">0.46</td>
+<td align="center" style="background-color:#f29c9c;">0.97</td>
+<td align="center" style="background-color:#ffdddd;">0.20</td>
+<td align="center" style="background-color:#ffe6cc;">0.97</td>
+<td align="center" style="background-color:#ffc6b3;">0.01</td>
+<td align="center" style="background-color:#ffd9b3;">0.46</td>
+<td align="center" style="background-color:#f29c9c;">0.92</td>
+<td align="center" style="background-color:#ffdddd;">0.08</td>
+<td align="center" style="background-color:#ffe6cc;">0.93</td>
+<td align="center" style="background-color:#ffc6b3;">0.01</td>
+<td align="center" style="background-color:#ffd9b3;">0.46</td>
+<td align="center" style="background-color:#f29c9c;">0.98</td>
+<td align="center" style="background-color:#ffdddd;">0.17</td>
+<td align="center" style="background-color:#ffe6cc;">0.96</td>
+<td align="center" style="background-color:#ffc6b3;">0.01</td>
+<td align="center" style="background-color:#ffd9b3;">0.73</td>
+<td align="center" style="background-color:#e0f5e0;"><b>0.53</b></td>
+</tr>
+
+
+<tr>
+<td><b>Molmoact</b></td>
+
+<!-- LIBERO-Goal -->
+<td align="center">0.68</td>
+<td align="center">0.00</td>
+<td align="center">0.85</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- LIBERO-Spatial -->
+<td align="center">0.90</td>
+<td align="center">0.00</td>
+<td align="center">0.88</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- LIBERO-10 -->
+<td align="center">0.54</td>
+<td align="center">0.00</td>
+<td align="center">0.74</td>
+<td align="center">0.06</td>
+<td align="center">-</td>
+
+<!-- LIBERO-Object -->
+<td align="center">0.92</td>
+<td align="center">0.06</td>
+<td align="center">0.96</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- Total (均值，可选) -->
+<td align="center"><b>0.41</b></td>
+</tr>
+
+<tr>
+<td><b>NORA</b></td>
+
+<!-- LIBERO-Goal -->
+<td align="center">0.58</td>
+<td align="center">0.00</td>
+<td align="center">0.88</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- LIBERO-Spatial -->
+<td align="center">0.92</td>
+<td align="center">0.00</td>
+<td align="center">0.91</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- LIBERO-10 -->
+<td align="center">0.46</td>
+<td align="center">0.00</td>
+<td align="center">0.74</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- LIBERO-Object -->
+<td align="center">0.86</td>
+<td align="center">0.00</td>
+<td align="center">0.92</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- Total -->
+<td align="center"><b>0.40</b></td>
+</tr>
+
+<tr>
+<td><b>x-VLA</b></td>
+
+<!-- LIBERO-Goal -->
+<td align="center">0.68</td>
+<td align="center">0.01</td>
+<td align="center">0.98</td>
+<td align="center">0.09</td>
+<td align="center">-</td>
+
+<!-- LIBERO-Spatial -->
+<td align="center">0.97</td>
+<td align="center">0.00</td>
+<td align="center">0.96</td>
+<td align="center">0.00</td>
+<td align="center">-</td>
+
+<!-- LIBERO-10 -->
+<td align="center">0.62</td>
+<td align="center">0.00</td>
+<td align="center">0.95</td>
+<td align="center">0.10</td>
+<td align="center">-</td>
+
+<!-- LIBERO-Object -->
+<td align="center">0.89</td>
+<td align="center">0.02</td>
+<td align="center">0.98</td>
+<td align="center">0.08</td>
+<td align="center">-</td>
+
+<!-- Total -->
+<td align="center"><b>0.46</b></td>
+</tr>
+
+</tbody>
+</table>
+
+✅ *We will continue to expand the LIBERO-PRO leaderboard with new model evaluations. Researchers are warmly invited to use LIBERO-PRO to assess their Vision-Language-Action (VLA) models and share the results with us for inclusion in the official online leaderboard.*
+
+# Initial Position Perturbation Experiment
+
+This guide provides a step-by-step procedure for reproducing the **Object Position Perturbation Evaluation** and replicating the results shown in **Figure 6** of the paper.
+
+> 💡 We have pre-packaged all necessary `.init` and `.bddl` files required for evaluation. You can easily reproduce the experiment by following the steps below.
+
+---
+
+## 🚀 **Quick Start**
+
+### **1️⃣ Prepare the BDDL Files**
+
+Execute the following commands to set up the perturbed BDDL configuration:
+
+```bash
+# Navigate to the BDDL directory
+cd libero/libero/bddl_files/
+
+# Create a new folder for the perturbation experiment
+mkdir -p libero_object_temp
+
+# Copy the target perturbation configuration (e.g., x0.1)
+cp -r libero_object_temp_x0.1/* libero_object_temp/
+```
+
+> 🧩 This creates the `libero_object_temp` directory containing all `.bddl` files required  for the **object position perturbation** experiment.
+
+---
+
+### **2️⃣ Prepare the Initialization Files**
+
+Similarly, set up the initialization configuration directory:
+
+```bash
+# Navigate to the initialization directory
+cd libero/libero/init_files/
+
+# Create a matching subdirectory
+mkdir -p libero_object_temp
+
+# Copy the initialization configuration (e.g., x0.1)
+cp -r libero_object_temp_x0.1/* libero_object_temp/
+```
+
+> 💡 Ensure that both `bddl_files` and `init_files` share consistent naming conventions (e.g., `libero_object_temp_x0.1` → `libero_object_temp`).
+
+---
+
+### **3️⃣ Configure Perturbation Intensity (Optional)**
+
+You can adjust the perturbation intensity based on your experimental requirements.  
+The following levels are supported:
+
+| **Perturbation Axis** | **Available Levels** | **Description** |
+|------------------------|----------------------|-----------------|
+| **X-axis Perturbation** | `x0.1`, `x0.2`, `x0.3`, `x0.4`, `x0.5` | Object translation along the X-axis |
+| **Y-axis Perturbation** | `y0.1`, `y0.2`, `y0.3`, `y0.4`, `y0.5` | Object translation along the Y-axis |
+
+Example: to test a specific perturbation level, simply copy the corresponding configuration:
+
+```bash
+# Example: apply perturbation magnitude x0.3
+cp -r libero_object_temp_x0.3/* libero_object_temp/
+
+# Example: apply perturbation magnitude y0.5
+cp -r libero_object_temp_y0.5/* libero_object_temp/
+```
+
+> ⚙️ Modify the perturbation axis and magnitude to simulate different spatial displacement conditions.
+
+---
+
+### **4️⃣ Run the Evaluation**
+
+Using **OpenVLA** as an example, execute the following command to perform the evaluation:
+
+```bash
+# Navigate to the project root
+cd libero/
+
+# Run the perturbation evaluation
+python run_libero_eval.py
+```
+
+> The script automatically detects and loads perturbation data from `libero/libero/bddl_files/libero_object_temp/` and `libero/libero/init_files/libero_object_temp/`.
+
+---
+
+# Citation
+
+If you use LIBERO-PRO in your research, please cite both **LIBERO** and **LIBERO-PRO**:
+
+```bibtex
+@article{liu2023libero,
+  title={LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning},
+  author={Liu, Bo and Zhu, Yifeng and Gao, Chongkai and Feng, Yihao and Liu, Qiang and Zhu, Yuke and Stone, Peter},
+  journal={arXiv preprint arXiv:2306.03310},
+  year={2023}
+}
+
+@article{zhou2025liberopro,
+  title={LIBERO-PRO: Towards Robust and Fair Evaluation of Vision-Language-Action Models Beyond Memorization},
+  author={Xueyang Zhou and Yangming Xu and Guiyao Tie and Yongchao Chen and Guowen Zhang and Duanfeng Chu and Pan Zhou and Lichao Sun},
+  journal={[arXiv preprint arXiv:2510.03827]},
+  year={2025},
+  publisher={[Publisher]} / eprint={[arXiv ID]}
+}
+```
+
+---
+
+# License
+
+| Component        | License                                                                                                                             |
+|------------------|-------------------------------------------------------------------------------------------------------------------------------------|
+| Codebase         | [MIT License](LICENSE)                                                                                                              |
+| Datasets         | [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/legalcode)                 |
+
+---
+
+<div align="center">
+
+💡 *LIBERO-Pro — advancing the frontier of robust and fair generalization evaluation for Vision-Language-Action Models.*
+
+</div>

eval/vendored/LIBERO-PRO/benchmark_scripts/check_task_suites.py

@@ -0,0 +1,117 @@
+"""
+This script is to test if users can successfully load all the environments, the benchmark initial states in their machines
+"""
+import os
+from termcolor import colored
+import cv2
+import h5py
+import subprocess
+import shutil
+import numpy as np
+
+from pathlib import Path
+
+# import init_path
+from libero.libero import benchmark, get_libero_path
+
+
+# def render_task(task, bddl_file, init_states, demo_file):
+#     env_args = {
+#         "bddl_file_name": bddl_file,
+#         "camera_heights": 128,
+#         "camera_widths": 128
+#     }
+
+#     env = OffScreenRenderEnv(**env_args)
+#     env.reset()
+#     obs = env.set_init_state(init_states[0])
+#     for _ in range(5):
+#         obs, _, _, _ = env.step([0.] * 7)
+#     images = [obs["agentview_image"]]
+
+#     with h5py.File(demo_file, "r") as f:
+#         states = f["data/demo_0/states"][()]
+#         obs = env.set_init_state(states[-1])
+
+#     images.append(obs["agentview_image"])
+#     images = np.concatenate(images, axis=1)
+#     cv2.imwrite(f"benchmark_tasks/{task.problem}-{task.language}.png", images[::-1, :, ::-1])
+#     env.close()
+
+
+def main():
+
+    benchmark_root_path = get_libero_path("benchmark_root")
+    init_states_default_path = get_libero_path("init_states")
+    datasets_default_path = get_libero_path("datasets")
+    bddl_files_default_path = get_libero_path("bddl_files")
+
+    # Check all the files
+    task_tuples = []
+    demo_files = []
+    for benchmark_name in [
+        "libero_object",
+        "libero_goal",
+        "libero_spatial",
+        "libero_10",
+        "libero_90",
+    ]:
+        benchmark_instance = benchmark.get_benchmark_dict()[benchmark_name]()
+        num_tasks = benchmark_instance.get_num_tasks()
+        # see how many tasks involved in the benchmark
+        print(f"{num_tasks} tasks in the benchmark {benchmark_instance.name}: ")
+
+        # Check if all the task names and their bddl file names
+        task_names = benchmark_instance.get_task_names()
+        print("The benchmark contains the following tasks:")
+        for task_id in range(num_tasks):
+            task_name = task_names[task_id]
+            task = benchmark_instance.get_task(task_id)
+            bddl_file = os.path.join(
+                bddl_files_default_path, task.problem_folder, task.bddl_file
+            )
+            assert os.path.exists(bddl_file), f"{bddl_file} does not exist!"
+            init_states_path = os.path.join(
+                init_states_default_path, task.problem_folder, task.init_states_file
+            )
+            assert os.path.exists(
+                init_states_path
+            ), f"{init_states_path} does not exist!"
+            demo_file = os.path.join(
+                datasets_default_path,
+                benchmark_instance.get_task_demonstration(task_id),
+            )
+            assert os.path.exists(demo_file), f"{demo_file} does not exist!"
+            init_states = benchmark_instance.get_task_init_states(task_id)
+            task_tuples.append((benchmark_name, task_id, bddl_file, demo_file))
+            demo_files.append(demo_file)
+
+    print(colored("All the files exist!", "green"))
+    processes = []
+    if os.path.exists("benchmark_tasks"):
+        shutil.rmtree("benchmark_tasks")
+
+    for i in range(len(task_tuples)):
+        command = f"python benchmark_scripts/render_single_task.py --benchmark_name {task_tuples[i][0]} --task_id {task_tuples[i][1]} --bddl_file {task_tuples[i][2]} --demo_file {task_tuples[i][3]}"
+        p = subprocess.Popen(command, shell=True)
+        processes.append(p)
+        if i % 10 == 9:
+            for p in processes:
+                p.wait()
+            processes = []
+
+    count = len(list(Path("benchmark_tasks").glob("*.png")))
+    print(f"Expected 130 tasks, Rendered {count} tasks successfully.")
+    if count < 130:
+        print(colored("Some tasks failed to render!", "red"))
+        for demo_file in demo_files:
+            if not os.path.exists(
+                os.path.join(
+                    "benchmark_tasks", demo_file.split("/")[-1].replace(".hdf5", ".png")
+                )
+            ):
+                print(demo_file)
+
+
+if __name__ == "__main__":
+    main()

eval/vendored/LIBERO-PRO/benchmark_scripts/download_libero_datasets.py

@@ -0,0 +1,66 @@
+import init_path
+import argparse
+import os
+import time
+
+import libero.libero.utils.download_utils as download_utils
+from libero.libero import get_libero_path
+
+
+def parse_args():
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--download-dir",
+        type=str,
+        default=get_libero_path("datasets"),
+    )
+    parser.add_argument(
+        "--datasets",
+        type=str,
+        choices=["all", "libero_goal", "libero_spatial", "libero_object", "libero_100"],
+        default="all",
+    )
+    parser.add_argument(
+        "--use-huggingface",
+        action="store_true",
+        help="Use Hugging Face instead of original download links"
+    )
+    return parser.parse_args()
+
+
+def main():
+
+    args = parse_args()
+
+    # Ask users to specify the download directory of datasets
+    os.makedirs(args.download_dir, exist_ok=True)
+    print(f"Datasets downloaded to {args.download_dir}")
+    print(f"Downloading {args.datasets} datasets")
+
+    if args.use_huggingface:
+        print("Using Hugging Face as the download source")
+    else:
+        print("Using original download links (note: these may expire soon)")
+        input_str = input("Download from original links may lead to failures. Do you want to continue? (y/n): ")
+        if input_str.lower() != 'y':
+            print("Switching to Hugging Face as the download source...")
+            args.use_huggingface = True
+
+    # If not, download
+    download_utils.libero_dataset_download(
+        download_dir=args.download_dir, 
+        datasets=args.datasets,
+        use_huggingface=args.use_huggingface
+    )
+
+
+    # wait for 1 second
+    time.sleep(1)
+    print("\n\n\n")
+
+    # Check if datasets exist first
+    download_utils.check_libero_dataset(download_dir=args.download_dir)
+
+
+if __name__ == "__main__":
+    main()

eval/vendored/LIBERO-PRO/benchmark_scripts/init_path.py

@@ -0,0 +1,8 @@
+import sys
+import os
+
+path = os.path.dirname(os.path.realpath(__file__))
+sys.path.insert(0, os.path.join(path, "../"))
+
+# import robosuite.utils.macros as macros
+# macros.IMAGE_CONVENTION = "opencv"

eval/vendored/LIBERO-PRO/benchmark_scripts/render_single_task.py

@@ -0,0 +1,82 @@
+import os
+from termcolor import colored
+import cv2
+import h5py
+import argparse
+import numpy as np
+
+from libero.libero.envs import OffScreenRenderEnv
+from libero.libero import benchmark, get_libero_path
+
+
+def render_task(task, bddl_file, init_states, demo_file):
+    env_args = {
+        "bddl_file_name": bddl_file,
+        "camera_heights": 128,
+        "camera_widths": 128,
+    }
+
+    env = OffScreenRenderEnv(**env_args)
+    env.reset()
+    obs = env.set_init_state(init_states[0])
+    for _ in range(5):
+        obs, _, _, _ = env.step([0.0] * 7)
+    images = [obs["agentview_image"]]
+
+    with h5py.File(demo_file, "r") as f:
+        states = f["data/demo_0/states"][()]
+        obs = env.set_init_state(states[-1])
+
+    images.append(obs["agentview_image"])
+    images = np.concatenate(images, axis=1)
+    cv2.imwrite(
+        f"benchmark_tasks/{task.problem}-{task.language}.png", images[::-1, :, ::-1]
+    )
+    env.close()
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--benchmark_name", type=str)
+    parser.add_argument("--task_id", type=int, default=0)
+    parser.add_argument("--bddl_file", type=str)
+    parser.add_argument("--demo_file", type=str)
+    args = parser.parse_args()
+
+    benchmark_name = args.benchmark_name
+    task_id = args.task_id
+    bddl_file = args.bddl_file
+    demo_file = args.demo_file
+
+    benchmark_instance = benchmark.get_benchmark_dict()[benchmark_name]()
+    env_args = {
+        "bddl_file_name": bddl_file,
+        "camera_heights": 128,
+        "camera_widths": 128,
+    }
+
+    os.makedirs("benchmark_tasks", exist_ok=True)
+
+    task = benchmark_instance.get_task(task_id)
+    init_states = benchmark_instance.get_task_init_states(task_id)
+
+    env = OffScreenRenderEnv(**env_args)
+    env.reset()
+    obs = env.set_init_state(init_states[0])
+    for _ in range(5):
+        obs, _, _, _ = env.step([0.0] * 7)
+    images = [obs["agentview_image"]]
+
+    with h5py.File(demo_file, "r") as f:
+        states = f["data/demo_0/states"][()]
+        obs = env.set_init_state(states[-1])
+
+    images.append(obs["agentview_image"])
+    images = np.concatenate(images, axis=1)
+    image_name = demo_file.split("/")[-1].replace(".hdf5", ".png")
+    cv2.imwrite(f"benchmark_tasks/{image_name}", images[::-1, :, ::-1])
+    env.close()
+
+
+if __name__ == "__main__":
+    main()

eval/vendored/LIBERO-PRO/benchmark_scripts/shasum_files.py

@@ -0,0 +1,49 @@
+import os
+import hashlib
+from pathlib import Path
+
+
+def shasum_file(file_path):
+    if os.path.exists(file_path):
+        with open(file_path, "rb") as f:
+            data = f.read()
+        sha_hash = hashlib.sha1(data).hexdigest()
+        file_name = file_path.split("/")[-1]
+        return {file_name: sha_hash}
+    else:
+        return None
+
+
+def shasum_datasets(download_dir="datasets"):
+    dataset_shasum = {}
+    for dataset_name in [
+        "libero_object",
+        "libero_goal",
+        "libero_spatial",
+        "libero_10",
+        "libero_90",
+    ]:
+        dataset_dir = os.path.join(download_dir, dataset_name)
+        if os.path.exists(dataset_dir):
+            count = 0
+            for path in Path(dataset_dir).glob("*.hdf5"):
+                count += 1
+            if not (
+                (count == 10 and dataset_name != "libero_90")
+                or (count == 90 and dataset_name == "libero_90")
+            ):
+                print("file count doesn't match")
+        else:
+            print("dataset not found")
+        for path in Path(dataset_dir).glob("*.hdf5"):
+            dataset_shasum.update(shasum_file(str(path)))
+        print(dataset_shasum)
+
+
+# def shalsum_pretrained_models():
+
+
+# def shalsum_pretrained_policies():
+
+
+shasum_datasets()

eval/vendored/LIBERO-PRO/evaluation_config.yaml

@@ -0,0 +1,23 @@
+bddl_files_path: "./LIBERO-PRO/libero/libero/bddl_files/"
+script_path: "./LIBERO-PRO/notebooks/generate_init_states.py"
+init_file_dir: "./LIBERO-PRO/libero/libero/init_files/"
+
+use_environment: true
+use_swap: false
+use_object: false
+use_language: false
+use_task: false
+
+ood_task_configs:
+  environment: "./libero_ood/ood_environment.yaml"
+  swap: "./libero_ood/ood_spatial_relation.yaml"
+  object: "./libero_ood/ood_object.yaml"
+  language: "./libero_ood/ood_language.yaml"
+  task: "./libero_ood/ood_task.yaml"
+
+perturbation_mapping:
+  use_environment: env
+  use_swap: swap
+  use_object: object
+  use_language: lan
+  use_task: task

eval/vendored/LIBERO-PRO/images/main_figure.pdf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93e04fd81b03efd2a0eae5c35103b61317abc74121089223489036eeec34487
+size 311543

eval/vendored/LIBERO-PRO/libero/configs/config.yaml

@@ -0,0 +1,24 @@
+# @package _global_
+
+defaults:
+  - _self_
+  - data: default
+  - policy: bc_transformer_policy
+  - train: default
+  - eval: default
+  - lifelong: base
+  - test: null
+
+seed: 10000
+use_wandb: false
+wandb_project: "lifelong learning"
+folder: null # use default path
+bddl_folder: null # use default path
+init_states_folder: null # use default path
+load_previous_model: false
+device: "cuda"
+task_embedding_format: "bert"
+task_embedding_one_hot_offset: 1
+pretrain: false
+pretrain_model_path: ""
+benchmark_name: "LIBERO_SPATIAL"

eval/vendored/LIBERO-PRO/libero/configs/data/default.yaml

@@ -0,0 +1,39 @@
+# observation related
+data_modality:
+  - "image"
+  - "proprio"
+seq_len: 10
+frame_stack: 1
+use_eye_in_hand: true
+use_gripper: true
+use_joint: true
+use_ee: false
+
+max_word_len: 25
+
+state_dim: null
+num_kp: 64
+img_h: 128
+img_w: 128
+
+task_group_size: 1
+task_order_index: 0
+shuffle_task: false
+
+obs:
+    modality:
+        rgb: ["agentview_rgb", "eye_in_hand_rgb"]
+        depth: []
+        low_dim: ["gripper_states", "joint_states"]
+
+# mapping from obs.modality keys to robosuite environment observation keys
+obs_key_mapping:
+  agentview_rgb: agentview_image
+  eye_in_hand_rgb: robot0_eye_in_hand_image
+  gripper_states: robot0_gripper_qpos
+  joint_states: robot0_joint_pos
+
+# action related
+affine_translate: 4
+action_scale: 1.0
+train_dataset_ratio: 0.8

eval/vendored/LIBERO-PRO/libero/configs/eval/default.yaml

@@ -0,0 +1,10 @@
+load_path: "" # only used when separately evaluating a pretrained model
+eval: true
+batch_size: 64
+num_workers: 4
+n_eval: 20
+eval_every: 5
+max_steps: 600
+use_mp: true
+num_procs: 20
+save_sim_states: false

eval/vendored/LIBERO-PRO/libero/configs/lifelong/agem.yaml

@@ -0,0 +1,2 @@
+algo: AGEM
+n_memories: 1000

eval/vendored/LIBERO-PRO/libero/configs/lifelong/base.yaml

@@ -0,0 +1 @@
+algo: Sequential

eval/vendored/LIBERO-PRO/libero/configs/lifelong/er.yaml

@@ -0,0 +1,2 @@
+algo: ER
+n_memories: 1000

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the butter and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    butter_1 - butter
+    basket_1 - basket
+    tomato_sauce_1 - tomato_sauce
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+  )
+
+  (:obj_of_interest
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (On butter_1 floor_target_object_region)
+    (On tomato_sauce_1 floor_other_object_region_0)
+    (On orange_juice_1 floor_other_object_region_1)
+    (On chocolate_pudding_1 floor_other_object_region_2)
+    (On bbq_sauce_1 floor_other_object_region_3)
+    (On ketchup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In butter_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the chocolate pudding and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    chocolate_pudding_1 - chocolate_pudding
+    basket_1 - basket
+    orange_juice_1 - orange_juice
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+  )
+
+  (:obj_of_interest
+    chocolate_pudding_1
+    basket_1
+  )
+
+  (:init
+    (On chocolate_pudding_1 floor_target_object_region)
+    (On orange_juice_1 floor_other_object_region_0)
+    (On bbq_sauce_1 floor_other_object_region_1)
+    (On ketchup_1 floor_other_object_region_2)
+    (On salad_dressing_1 floor_other_object_region_3)
+    (On alphabet_soup_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In chocolate_pudding_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the cream cheese and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    cream_cheese_1 - cream_cheese
+    basket_1 - basket
+    alphabet_soup_1 - alphabet_soup
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (On cream_cheese_1 floor_target_object_region)
+    (On alphabet_soup_1 floor_other_object_region_0)
+    (On milk_1 floor_other_object_region_1)
+    (On tomato_sauce_1 floor_other_object_region_2)
+    (On butter_1 floor_other_object_region_3)
+    (On orange_juice_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the ketchup and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    ketchup_1 - ketchup
+    basket_1 - basket
+    bbq_sauce_1 - bbq_sauce
+    salad_dressing_1 - salad_dressing
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+  )
+
+  (:obj_of_interest
+    ketchup_1
+    basket_1
+  )
+
+  (:init
+    (On ketchup_1 floor_target_object_region)
+    (On bbq_sauce_1 floor_other_object_region_0)
+    (On salad_dressing_1 floor_other_object_region_1)
+    (On alphabet_soup_1 floor_other_object_region_2)
+    (On cream_cheese_1 floor_other_object_region_3)
+    (On milk_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In ketchup_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the milk and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    milk_1 - milk
+    basket_1 - basket
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    milk_1
+    basket_1
+  )
+
+  (:init
+    (On milk_1 floor_target_object_region)
+    (On cream_cheese_1 floor_other_object_region_0)
+    (On tomato_sauce_1 floor_other_object_region_1)
+    (On butter_1 floor_other_object_region_2)
+    (On orange_juice_1 floor_other_object_region_3)
+    (On chocolate_pudding_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In milk_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the orange juice and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    orange_juice_1 - orange_juice
+    basket_1 - basket
+    butter_1 - butter
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+    ketchup_1 - ketchup
+    salad_dressing_1 - salad_dressing
+  )
+
+  (:obj_of_interest
+    orange_juice_1
+    basket_1
+  )
+
+  (:init
+    (On orange_juice_1 floor_target_object_region)
+    (On butter_1 floor_other_object_region_0)
+    (On chocolate_pudding_1 floor_other_object_region_1)
+    (On bbq_sauce_1 floor_other_object_region_2)
+    (On ketchup_1 floor_other_object_region_3)
+    (On salad_dressing_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In orange_juice_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the salad dressing and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    salad_dressing_1 - salad_dressing
+    basket_1 - basket
+    ketchup_1 - ketchup
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    milk_1 - milk
+    tomato_sauce_1 - tomato_sauce
+  )
+
+  (:obj_of_interest
+    salad_dressing_1
+    basket_1
+  )
+
+  (:init
+    (On salad_dressing_1 floor_target_object_region)
+    (On ketchup_1 floor_other_object_region_0)
+    (On alphabet_soup_1 floor_other_object_region_1)
+    (On cream_cheese_1 floor_other_object_region_2)
+    (On milk_1 floor_other_object_region_3)
+    (On tomato_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In salad_dressing_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Floor_Manipulation)
+  (:domain robosuite)
+  (:language Pick the tomato sauce and place it in the basket)
+    (:regions
+      (bin_region
+          (:target floor)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+      )
+      (target_object_region
+          (:target floor)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+      )
+      (other_object_region_0
+          (:target floor)
+          (:ranges (
+              (-0.145 -0.265 -0.095 -0.215)
+            )
+          )
+      )
+      (other_object_region_1
+          (:target floor)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+      )
+      (other_object_region_2
+          (:target floor)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+      )
+      (other_object_region_3
+          (:target floor)
+          (:ranges (
+              (0.125 0.0049999999999999975 0.175 0.055)
+            )
+          )
+      )
+      (other_object_region_4
+          (:target floor)
+          (:ranges (
+              (-0.225 -0.10500000000000001 -0.17500000000000002 -0.055)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    floor - floor
+  )
+
+  (:objects
+    tomato_sauce_1 - tomato_sauce
+    basket_1 - basket
+    milk_1 - milk
+    butter_1 - butter
+    orange_juice_1 - orange_juice
+    chocolate_pudding_1 - chocolate_pudding
+    bbq_sauce_1 - bbq_sauce
+  )
+
+  (:obj_of_interest
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (On tomato_sauce_1 floor_target_object_region)
+    (On milk_1 floor_other_object_region_0)
+    (On butter_1 floor_other_object_region_1)
+    (On orange_juice_1 floor_other_object_region_2)
+    (On chocolate_pudding_1 floor_other_object_region_3)
+    (On bbq_sauce_1 floor_other_object_region_4)
+    (On basket_1 floor_bin_region)
+  )
+
+  (:goal
+    (And (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_object/tasks_info.txt

@@ -0,0 +1,10 @@
+libero/bddl_files/libero_object/pick_up_the_alphabet_soup_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_cream_cheese_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_milk_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_tomato_sauce_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_butter_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_orange_juice_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_chocolate_pudding_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_bbq_sauce_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_ketchup_and_place_it_in_the_basket.bddl
+libero/bddl_files/libero_object/pick_up_the_salad_dressing_and_place_it_in_the_basket.bddl

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl between the plate and the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_between_plate_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl from table center and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_table_center)
+    (On akita_black_bowl_2 main_table_next_to_plate_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl

@@ -0,0 +1,136 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl in the top layer of the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (In akita_black_bowl_1 wooden_cabinet_1_top_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (Open wooden_cabinet_1_top_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_box_region)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the plate and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_plate_region)
+    (On akita_black_bowl_2 main_table_next_to_ramekin_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl next to the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 main_table_next_to_ramekin_region)
+    (On akita_black_bowl_2 main_table_next_to_box_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the cookies box and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 cookies_1)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the ramekin and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 glazed_rim_porcelain_ramekin_1)
+    (On akita_black_bowl_2 cookies_1)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the stove and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 flat_stove_1_cook_region)
+    (On akita_black_bowl_2 wooden_cabinet_1_top_side)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl

@@ -0,0 +1,135 @@
+(define (problem LIBERO_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language Pick the akita black bowl on the wooden cabinet and place it on the plate)
+    (:regions
+      (plate_region
+          (:target main_table)
+          (:ranges (
+              (0.05 0.19 0.07 0.21)
+            )
+          )
+      )
+      (next_to_plate_region
+          (:target main_table)
+          (:ranges (
+              (0.0 0.3 0.02 0.32)
+            )
+          )
+      )
+      (box_region
+          (:target main_table)
+          (:ranges (
+              (0.06 0.02 0.08 0.04)
+            )
+          )
+      )
+      (next_to_box_region
+          (:target main_table)
+          (:ranges (
+              (0.12 -0.08 0.14 -0.06)
+            )
+          )
+      )
+      (between_plate_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.06 0.19 -0.04 0.21)
+            )
+          )
+      )
+      (ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.21 0.19 -0.19 0.21)
+            )
+          )
+      )
+      (next_to_ramekin_region
+          (:target main_table)
+          (:ranges (
+              (-0.19 0.31 -0.17 0.33)
+            )
+          )
+      )
+      (table_center
+          (:target main_table)
+          (:ranges (
+              (-0.1 -0.01 -0.05 0.01)
+            )
+          )
+      )
+      (table_front
+          (:target main_table)
+          (:ranges (
+              (0.19 -0.01 0.21 0.01)
+            )
+          )
+      )
+      (cabinet_region
+          (:target main_table)
+          (:ranges (
+              (0.02 -0.28 0.04 -0.26)
+            )
+          )
+          (:yaw_rotation (
+              (2.6613777765410678 2.7242096296128633)
+            )
+          )
+      )
+      (stove_region
+          (:target main_table)
+          (:ranges (
+              (-0.42 -0.15 -0.4 -0.13)
+            )
+          )
+      )
+      (top_region
+          (:target wooden_cabinet_1)
+      )
+      (middle_region
+          (:target wooden_cabinet_1)
+      )
+      (bottom_region
+          (:target wooden_cabinet_1)
+      )
+      (top_side
+          (:target wooden_cabinet_1)
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    main_table - table
+    wooden_cabinet_1 - wooden_cabinet
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    akita_black_bowl_1 akita_black_bowl_2 - akita_black_bowl
+    cookies_1 - cookies
+    glazed_rim_porcelain_ramekin_1 - glazed_rim_porcelain_ramekin
+    plate_1 - plate
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    plate_1
+  )
+
+  (:init
+    (On akita_black_bowl_1 wooden_cabinet_1_top_side)
+    (On akita_black_bowl_2 flat_stove_1_cook_region)
+    (On plate_1 main_table_plate_region)
+    (On cookies_1 main_table_box_region)
+    (On glazed_rim_porcelain_ramekin_1 main_table_ramekin_region)
+    (On wooden_cabinet_1 main_table_cabinet_region)
+    (On flat_stove_1 main_table_stove_region)
+  )
+
+  (:goal
+    (And (On akita_black_bowl_1 plate_1))
+  )
+
+)

eval/vendored/LIBERO/libero/libero/bddl_files/libero_spatial/tasks_info.txt

@@ -0,0 +1,10 @@
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate.bddl
+libero/bddl_files/libero_spatial/pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate.bddl

eval/vendored/LIBERO/libero/libero/benchmark/__init__.py

@@ -0,0 +1,219 @@
+import abc
+import os
+import glob
+import random
+import torch
+
+from typing import List, NamedTuple, Type
+from libero.libero import get_libero_path
+from libero.libero.benchmark.libero_suite_task_map import libero_task_map
+
+BENCHMARK_MAPPING = {}
+
+
+def register_benchmark(target_class):
+    """We design the mapping to be case-INsensitive."""
+    BENCHMARK_MAPPING[target_class.__name__.lower()] = target_class
+
+
+def get_benchmark_dict(help=False):
+    if help:
+        print("Available benchmarks:")
+        for benchmark_name in BENCHMARK_MAPPING.keys():
+            print(f"\t{benchmark_name}")
+    return BENCHMARK_MAPPING
+
+
+def get_benchmark(benchmark_name):
+    return BENCHMARK_MAPPING[benchmark_name.lower()]
+
+
+def print_benchmark():
+    print(BENCHMARK_MAPPING)
+
+
+class Task(NamedTuple):
+    name: str
+    language: str
+    problem: str
+    problem_folder: str
+    bddl_file: str
+    init_states_file: str
+
+
+def grab_language_from_filename(x):
+    if x[0].isupper():  # LIBERO-100
+        if "SCENE10" in x:
+            language = " ".join(x[x.find("SCENE") + 8 :].split("_"))
+        else:
+            language = " ".join(x[x.find("SCENE") + 7 :].split("_"))
+    else:
+        language = " ".join(x.split("_"))
+    en = language.find(".bddl")
+    return language[:en]
+
+
+libero_suites = [
+    "libero_spatial",
+    "libero_object",
+    "libero_goal",
+    "libero_90",
+    "libero_10",
+]
+task_maps = {}
+max_len = 0
+for libero_suite in libero_suites:
+    task_maps[libero_suite] = {}
+
+    for task in libero_task_map[libero_suite]:
+        language = grab_language_from_filename(task + ".bddl")
+        task_maps[libero_suite][task] = Task(
+            name=task,
+            language=language,
+            problem="Libero",
+            problem_folder=libero_suite,
+            bddl_file=f"{task}.bddl",
+            init_states_file=f"{task}.pruned_init",
+        )
+
+        # print(language, "\n", f"{task}.bddl", "\n")
+        # print("")
+
+
+task_orders = [
+    [0, 1, 2, 3, 4, 5, 6, 7, 8, 9],
+    [4, 6, 8, 7, 3, 1, 2, 0, 9, 5],
+    [6, 3, 5, 0, 4, 2, 9, 1, 8, 7],
+    [7, 4, 3, 0, 8, 1, 2, 5, 9, 6],
+    [4, 5, 6, 3, 8, 0, 2, 7, 1, 9],
+    [1, 2, 3, 0, 6, 9, 5, 7, 4, 8],
+    [3, 7, 8, 1, 6, 2, 9, 4, 0, 5],
+    [4, 2, 9, 7, 6, 8, 5, 1, 3, 0],
+    [1, 8, 5, 4, 0, 9, 6, 7, 2, 3],
+    [8, 3, 6, 4, 9, 5, 1, 2, 0, 7],
+    [6, 9, 0, 5, 7, 1, 2, 8, 3, 4],
+    [6, 8, 3, 1, 0, 2, 5, 9, 7, 4],
+    [8, 0, 6, 9, 4, 1, 7, 3, 2, 5],
+    [3, 8, 6, 4, 2, 5, 0, 7, 1, 9],
+    [7, 1, 5, 6, 3, 2, 8, 9, 4, 0],
+    [2, 0, 9, 5, 3, 6, 8, 7, 1, 4],
+    [3, 5, 9, 6, 2, 4, 8, 7, 1, 0],
+    [7, 6, 5, 9, 0, 3, 4, 2, 8, 1],
+    [2, 5, 0, 9, 3, 1, 6, 4, 8, 7],
+    [3, 5, 1, 2, 7, 8, 6, 0, 4, 9],
+    [3, 4, 1, 9, 7, 6, 8, 2, 0, 5],
+]
+
+
+class Benchmark(abc.ABC):
+    """A Benchmark."""
+
+    def __init__(self, task_order_index=0):
+        self.task_embs = None
+        self.task_order_index = task_order_index
+
+    def _make_benchmark(self):
+        tasks = list(task_maps[self.name].values())
+        if self.name == "libero_90":
+            self.tasks = tasks
+        else:
+            print(f"[info] using task orders {task_orders[self.task_order_index]}")
+            self.tasks = [tasks[i] for i in task_orders[self.task_order_index]]
+        self.n_tasks = len(self.tasks)
+
+    def get_num_tasks(self):
+        return self.n_tasks
+
+    def get_task_names(self):
+        return [task.name for task in self.tasks]
+
+    def get_task_problems(self):
+        return [task.problem for task in self.tasks]
+
+    def get_task_bddl_files(self):
+        return [task.bddl_file for task in self.tasks]
+
+    def get_task_bddl_file_path(self, i):
+        bddl_file_path = os.path.join(
+            get_libero_path("bddl_files"),
+            self.tasks[i].problem_folder,
+            self.tasks[i].bddl_file,
+        )
+        return bddl_file_path
+
+    def get_task_demonstration(self, i):
+        assert (
+            0 <= i and i < self.n_tasks
+        ), f"[error] task number {i} is outer of range {self.n_tasks}"
+        # this path is relative to the datasets folder
+        demo_path = f"{self.tasks[i].problem_folder}/{self.tasks[i].name}_demo.hdf5"
+        return demo_path
+
+    def get_task(self, i):
+        return self.tasks[i]
+
+    def get_task_emb(self, i):
+        return self.task_embs[i]
+
+    def get_task_init_states(self, i):
+        init_states_path = os.path.join(
+            get_libero_path("init_states"),
+            self.tasks[i].problem_folder,
+            self.tasks[i].init_states_file,
+        )
+        init_states = torch.load(init_states_path)
+        return init_states
+
+    def set_task_embs(self, task_embs):
+        self.task_embs = task_embs
+
+
+@register_benchmark
+class LIBERO_SPATIAL(Benchmark):
+    def __init__(self, task_order_index=0):
+        super().__init__(task_order_index=task_order_index)
+        self.name = "libero_spatial"
+        self._make_benchmark()
+
+
+@register_benchmark
+class LIBERO_OBJECT(Benchmark):
+    def __init__(self, task_order_index=0):
+        super().__init__(task_order_index=task_order_index)
+        self.name = "libero_object"
+        self._make_benchmark()
+
+
+@register_benchmark
+class LIBERO_GOAL(Benchmark):
+    def __init__(self, task_order_index=0):
+        super().__init__(task_order_index=task_order_index)
+        self.name = "libero_goal"
+        self._make_benchmark()
+
+
+@register_benchmark
+class LIBERO_90(Benchmark):
+    def __init__(self, task_order_index=0):
+        super().__init__(task_order_index=task_order_index)
+        assert (
+            task_order_index == 0
+        ), "[error] currently only support task order for 10-task suites"
+        self.name = "libero_90"
+        self._make_benchmark()
+
+
+@register_benchmark
+class LIBERO_10(Benchmark):
+    def __init__(self, task_order_index=0):
+        super().__init__(task_order_index=task_order_index)
+        self.name = "libero_10"
+        self._make_benchmark()
+
+
+@register_benchmark
+class LIBERO_100(Benchmark):
+    def __init__(self, task_order_index=0):
+        super().__init__(task_order_index=task_order_index)
+        self.name = "libero_100"
+        self._make_benchmark()

eval/vendored/LIBERO/libero/libero/benchmark/libero_suite_task_map.py

@@ -0,0 +1,142 @@
+libero_task_map = {
+    "libero_spatial": [
+        "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate",
+        "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate",
+    ],
+    "libero_object": [
+        "pick_up_the_alphabet_soup_and_place_it_in_the_basket",
+        "pick_up_the_cream_cheese_and_place_it_in_the_basket",
+        "pick_up_the_salad_dressing_and_place_it_in_the_basket",
+        "pick_up_the_bbq_sauce_and_place_it_in_the_basket",
+        "pick_up_the_ketchup_and_place_it_in_the_basket",
+        "pick_up_the_tomato_sauce_and_place_it_in_the_basket",
+        "pick_up_the_butter_and_place_it_in_the_basket",
+        "pick_up_the_milk_and_place_it_in_the_basket",
+        "pick_up_the_chocolate_pudding_and_place_it_in_the_basket",
+        "pick_up_the_orange_juice_and_place_it_in_the_basket",
+    ],
+    "libero_goal": [
+        "open_the_middle_drawer_of_the_cabinet",
+        "put_the_bowl_on_the_stove",
+        "put_the_wine_bottle_on_top_of_the_cabinet",
+        "open_the_top_drawer_and_put_the_bowl_inside",
+        "put_the_bowl_on_top_of_the_cabinet",
+        "push_the_plate_to_the_front_of_the_stove",
+        "put_the_cream_cheese_in_the_bowl",
+        "turn_on_the_stove",
+        "put_the_bowl_on_the_plate",
+        "put_the_wine_bottle_on_the_rack",
+    ],
+    "libero_10": [
+        "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket",
+        "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket",
+        "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it",
+        "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it",
+        "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate",
+        "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+        "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate",
+        "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket",
+        "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove",
+        "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it",
+    ],
+    "libero_90": [
+        "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it",
+        "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it",
+        "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it",
+        "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it",
+        "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet",
+        "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it",
+        "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate",
+        "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet",
+        "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate",
+        "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate",
+        "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate",
+        "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet",
+        "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle",
+        "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl",
+        "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove",
+        "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove",
+        "KITCHEN_SCENE3_turn_on_the_stove",
+        "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it",
+        "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet",
+        "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer",
+        "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet",
+        "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet",
+        "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet",
+        "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack",
+        "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate",
+        "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet",
+        "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet",
+        "KITCHEN_SCENE6_close_the_microwave",
+        "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug",
+        "KITCHEN_SCENE7_open_the_microwave",
+        "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate",
+        "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate",
+        "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove",
+        "KITCHEN_SCENE8_turn_off_the_stove",
+        "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf",
+        "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet",
+        "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf",
+        "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet",
+        "KITCHEN_SCENE9_turn_on_the_stove",
+        "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it",
+        "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket",
+        "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray",
+        "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray",
+        "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray",
+        "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate",
+        "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate",
+        "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate",
+        "LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate",
+        "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate",
+        "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate",
+        "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate",
+        "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate",
+        "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
+        "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
+        "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
+        "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy",
+        "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy",
+        "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
+        "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
+        "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
+        "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy",
+        "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy",
+        "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy",
+        "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy",
+        "STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy",
+        "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf",
+        "STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf",
+        "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf",
+        "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf",
+    ],
+}

eval/vendored/LIBERO/libero/libero/benchmark/mu_creation.py

@@ -0,0 +1,1575 @@
+import re
+from libero.libero.envs import objects
+from libero.libero.utils.bddl_generation_utils import *
+from libero.libero.envs.objects import OBJECTS_DICT
+from libero.libero.utils.object_utils import get_affordance_regions
+
+from libero.libero.utils.mu_utils import register_mu, InitialSceneTemplates
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene1(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "wooden_cabinet": 1,
+        }
+
+        object_num_info = {
+            "akita_black_bowl": 1,
+            "plate": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.30],
+                region_name="wooden_cabinet_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.0],
+                region_name="akita_black_bowl_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.25],
+                region_name="plate_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"),
+            ("On", "plate_1", "kitchen_table_plate_init_region"),
+            ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene2(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "wooden_cabinet": 1,
+        }
+
+        object_num_info = {
+            "akita_black_bowl": 3,
+            "plate": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.30],
+                region_name="wooden_cabinet_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, 0.20],
+                region_name="akita_black_bowl_middle_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, 0.15],
+                region_name="akita_black_bowl_front_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.15, 0.05],
+                region_name="akita_black_bowl_back_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.0],
+                region_name="plate_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            (
+                "On",
+                "akita_black_bowl_1",
+                "kitchen_table_akita_black_bowl_front_init_region",
+            ),
+            (
+                "On",
+                "akita_black_bowl_2",
+                "kitchen_table_akita_black_bowl_middle_init_region",
+            ),
+            (
+                "On",
+                "akita_black_bowl_3",
+                "kitchen_table_akita_black_bowl_back_init_region",
+            ),
+            ("On", "plate_1", "kitchen_table_plate_init_region"),
+            ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene3(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "flat_stove": 1,
+        }
+
+        object_num_info = {"chefmate_8_frypan": 1, "moka_pot": 1}
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, 0.20],
+                region_name="flat_stove_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, -0.25],
+                region_name="frypan_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, 0.0],
+                region_name="moka_pot_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"),
+            ("On", "chefmate_8_frypan_1", "kitchen_table_frypan_init_region"),
+            ("On", "moka_pot_1", "kitchen_table_moka_pot_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene4(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "white_cabinet": 1,
+            "wine_rack": 1,
+        }
+
+        object_num_info = {"akita_black_bowl": 1, "wine_bottle": 1}
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.30],
+                region_name="white_cabinet_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.30],
+                region_name="wine_rack_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.03, -0.05],
+                region_name="akita_black_bowl_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.15, 0.05],
+                region_name="wine_bottle_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"),
+            ("On", "wine_bottle_1", "kitchen_table_wine_bottle_init_region"),
+            ("On", "white_cabinet_1", "kitchen_table_white_cabinet_init_region"),
+            ("On", "wine_rack_1", "kitchen_table_wine_rack_init_region"),
+            ("Open", "white_cabinet_1_bottom_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene5(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "white_cabinet": 1,
+        }
+
+        object_num_info = {
+            "akita_black_bowl": 1,
+            "plate": 1,
+            "ketchup": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.30],
+                region_name="white_cabinet_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.03, -0.05],
+                region_name="akita_black_bowl_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.10],
+                region_name="ketchup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, -0.25],
+                region_name="plate_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"),
+            ("On", "plate_1", "kitchen_table_plate_init_region"),
+            ("On", "white_cabinet_1", "kitchen_table_white_cabinet_init_region"),
+            ("On", "ketchup_1", "kitchen_table_ketchup_init_region"),
+            ("Open", "white_cabinet_1_top_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene6(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "microwave": 1,
+        }
+
+        object_num_info = {
+            "porcelain_mug": 1,
+            "white_yellow_mug": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.35],
+                region_name="microwave_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(0, 0),
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.0],
+                region_name="white_yellow_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.25],
+                region_name="porcelain_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.25],
+                region_name="porcelain_mug_front_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+            )
+        )
+
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "porcelain_mug_1", "kitchen_table_porcelain_mug_init_region"),
+            ("On", "white_yellow_mug_1", "kitchen_table_white_yellow_mug_init_region"),
+            ("On", "microwave_1", "kitchen_table_microwave_init_region"),
+            ("Open", "microwave_1"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene7(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "microwave": 1,
+        }
+
+        object_num_info = {
+            "white_bowl": 1,
+            "plate": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.25],
+                region_name="microwave_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.0],
+                region_name="plate_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.10],
+                region_name="plate_right_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+            )
+        )
+
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "white_bowl_1", "microwave_1_top_side"),
+            ("On", "microwave_1", "kitchen_table_microwave_init_region"),
+            ("Close", "microwave_1"),
+            ("On", "plate_1", "kitchen_table_plate_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene8(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "flat_stove": 1,
+        }
+
+        object_num_info = {"moka_pot": 2}
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, -0.20],
+                region_name="flat_stove_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, 0.25],
+                region_name="moka_pot_right_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, 0.05],
+                region_name="moka_pot_left_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"),
+            ("On", "moka_pot_1", "kitchen_table_moka_pot_right_init_region"),
+            ("On", "moka_pot_2", "kitchen_table_moka_pot_left_init_region"),
+            ("Turnon", "flat_stove_1"),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene9(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "flat_stove": 1,
+            "wooden_two_layer_shelf": 1,
+        }
+
+        object_num_info = {
+            "white_bowl": 1,
+            "chefmate_8_frypan": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, 0.30],
+                region_name="flat_stove_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0, -0.25],
+                region_name="wooden_two_layer_shelf_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, 0.0],
+                region_name="frypan_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.15, 0.10],
+                region_name="white_bowl_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "flat_stove_1", "kitchen_table_flat_stove_init_region"),
+            ("On", "chefmate_8_frypan_1", "kitchen_table_frypan_init_region"),
+            ("On", "white_bowl_1", "kitchen_table_white_bowl_init_region"),
+            (
+                "On",
+                "wooden_two_layer_shelf_1",
+                "kitchen_table_wooden_two_layer_shelf_init_region",
+            ),
+        ]
+        return states
+
+
+@register_mu(scene_type="kitchen")
+class KitchenScene10(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "kitchen_table": 1,
+            "wooden_cabinet": 1,
+        }
+
+        object_num_info = {
+            "akita_black_bowl": 1,
+            "butter": 2,
+            "chocolate_pudding": 1,
+        }
+
+        super().__init__(
+            workspace_name="kitchen_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.30],
+                region_name="wooden_cabinet_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, 0.0],
+                region_name="akita_black_bowl_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, 0.20],
+                region_name="butter_back_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.20],
+                region_name="butter_front_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.05],
+                region_name="chocolate_pudding_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "akita_black_bowl_1", "kitchen_table_akita_black_bowl_init_region"),
+            ("On", "butter_1", "kitchen_table_butter_front_init_region"),
+            ("On", "butter_2", "kitchen_table_butter_back_init_region"),
+            (
+                "On",
+                "chocolate_pudding_1",
+                "kitchen_table_chocolate_pudding_init_region",
+            ),
+            ("On", "wooden_cabinet_1", "kitchen_table_wooden_cabinet_init_region"),
+            ("Open", "wooden_cabinet_1_top_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="living_room")
+class LivingRoomScene1(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "living_room_table": 1,
+        }
+
+        object_num_info = {
+            "alphabet_soup": 1,
+            "cream_cheese": 1,
+            "tomato_sauce": 1,
+            "ketchup": 1,
+            "basket": 1,
+        }
+
+        super().__init__(
+            workspace_name="living_room_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.26],
+                region_name="basket_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, -0.10],
+                region_name="alphabet_soup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.15, 0.06],
+                region_name="cream_cheese_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, -0.20],
+                region_name="tomato_sauce_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, -0.15],
+                region_name="ketchup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"),
+            ("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"),
+            ("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"),
+            ("On", "ketchup_1", "living_room_table_ketchup_init_region"),
+            ("On", "basket_1", "living_room_table_basket_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="living_room")
+class LivingRoomScene2(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "living_room_table": 1,
+        }
+
+        object_num_info = {
+            "alphabet_soup": 1,
+            "cream_cheese": 1,
+            "tomato_sauce": 1,
+            "ketchup": 1,
+            "orange_juice": 1,
+            "milk": 1,
+            "butter": 1,
+            "basket": 1,
+        }
+
+        super().__init__(
+            workspace_name="living_room_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.26],
+                region_name="basket_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, -0.10],
+                region_name="milk_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, -0.20],
+                region_name="cream_cheese_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.25],
+                region_name="orange_juice_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.1, 0.05],
+                region_name="tomato_sauce_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.15],
+                region_name="alphabet_soup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, 0.05],
+                region_name="butter_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.25, -0.15],
+                region_name="ketchup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"),
+            ("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"),
+            ("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"),
+            ("On", "ketchup_1", "living_room_table_ketchup_init_region"),
+            ("On", "milk_1", "living_room_table_milk_init_region"),
+            ("On", "orange_juice_1", "living_room_table_orange_juice_init_region"),
+            ("On", "butter_1", "living_room_table_butter_init_region"),
+            ("On", "basket_1", "living_room_table_basket_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="living_room")
+class LivingRoomScene3(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "living_room_table": 1,
+        }
+
+        object_num_info = {
+            "alphabet_soup": 1,
+            "cream_cheese": 1,
+            "tomato_sauce": 1,
+            "ketchup": 1,
+            "butter": 1,
+            "wooden_tray": 1,
+        }
+
+        super().__init__(
+            workspace_name="living_room_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.26],
+                region_name="wooden_tray_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, -0.20],
+                region_name="cream_cheese_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.1, 0.05],
+                region_name="tomato_sauce_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.15],
+                region_name="alphabet_soup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, 0.05],
+                region_name="butter_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.25, -0.15],
+                region_name="ketchup_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "alphabet_soup_1", "living_room_table_alphabet_soup_init_region"),
+            ("On", "cream_cheese_1", "living_room_table_cream_cheese_init_region"),
+            ("On", "tomato_sauce_1", "living_room_table_tomato_sauce_init_region"),
+            ("On", "ketchup_1", "living_room_table_ketchup_init_region"),
+            ("On", "butter_1", "living_room_table_butter_init_region"),
+            ("On", "wooden_tray_1", "living_room_table_wooden_tray_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="living_room")
+class LivingRoomScene4(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "living_room_table": 1,
+        }
+
+        object_num_info = {
+            "akita_black_bowl": 2,
+            "new_salad_dressing": 1,
+            "chocolate_pudding": 1,
+            "wooden_tray": 1,
+        }
+
+        super().__init__(
+            workspace_name="living_room_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.26],
+                region_name="wooden_tray_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, -0.20],
+                region_name="chocolate_pudding_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.1, 0.05],
+                region_name="akita_black_bowl_right_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.15],
+                region_name="akita_black_bowl_left_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.25, -0.10],
+                region_name="salad_dressing_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            (
+                "On",
+                "chocolate_pudding_1",
+                "living_room_table_chocolate_pudding_init_region",
+            ),
+            (
+                "On",
+                "akita_black_bowl_1",
+                "living_room_table_akita_black_bowl_left_init_region",
+            ),
+            (
+                "On",
+                "akita_black_bowl_2",
+                "living_room_table_akita_black_bowl_right_init_region",
+            ),
+            (
+                "On",
+                "new_salad_dressing_1",
+                "living_room_table_salad_dressing_init_region",
+            ),
+            ("On", "wooden_tray_1", "living_room_table_wooden_tray_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="living_room")
+class LivingRoomScene5(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "living_room_table": 1,
+        }
+
+        object_num_info = {
+            "porcelain_mug": 1,
+            "red_coffee_mug": 1,
+            "white_yellow_mug": 1,
+            "plate": 2,
+        }
+
+        super().__init__(
+            workspace_name="living_room_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.30],
+                region_name="plate_left_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.30],
+                region_name="plate_right_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.15],
+                region_name="porcelain_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, 0.10],
+                region_name="white_yellow_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, 0.0],
+                region_name="red_coffee_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "plate_1", "living_room_table_plate_left_region"),
+            ("On", "plate_2", "living_room_table_plate_right_region"),
+            ("On", "red_coffee_mug_1", "living_room_table_red_coffee_mug_init_region"),
+            (
+                "On",
+                "white_yellow_mug_1",
+                "living_room_table_white_yellow_mug_init_region",
+            ),
+            ("On", "porcelain_mug_1", "living_room_table_porcelain_mug_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="living_room")
+class LivingRoomScene6(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "living_room_table": 1,
+        }
+
+        object_num_info = {
+            "porcelain_mug": 1,
+            "red_coffee_mug": 1,
+            "plate": 1,
+            "chocolate_pudding": 1,
+        }
+
+        super().__init__(
+            workspace_name="living_room_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.15, -0.10],
+                region_name="plate_left_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.15, 0.10],
+                region_name="plate_right_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.15, 0.0],
+                region_name="plate_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.10, -0.15],
+                region_name="porcelain_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, 0.10],
+                region_name="chocolate_pudding_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, 0.0],
+                region_name="red_coffee_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "plate_1", "living_room_table_plate_init_region"),
+            ("On", "red_coffee_mug_1", "living_room_table_red_coffee_mug_init_region"),
+            (
+                "On",
+                "chocolate_pudding_1",
+                "living_room_table_chocolate_pudding_init_region",
+            ),
+            ("On", "porcelain_mug_1", "living_room_table_porcelain_mug_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="study")
+class StudyScene1(InitialSceneTemplates):
+    def __init__(self):
+
+        fixture_num_info = {
+            "study_table": 1,
+            "desk_caddy": 1,
+        }
+
+        object_num_info = {
+            "black_book": 1,
+            "white_yellow_mug": 1,
+        }
+
+        super().__init__(
+            workspace_name="study_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, -0.14],
+                region_name="desk_caddy_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.15],
+                region_name="black_book_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+                yaw_rotation=(-np.pi / 2, -np.pi / 4),
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, 0.0],
+                region_name="white_yellow_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, 0.15],
+                region_name="desk_caddy_right_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "desk_caddy_1", "study_table_desk_caddy_init_region"),
+            ("On", "black_book_1", "study_table_black_book_init_region"),
+            ("On", "white_yellow_mug_1", "study_table_white_yellow_mug_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="study")
+class StudyScene2(InitialSceneTemplates):
+    def __init__(self):
+        fixture_num_info = {
+            "study_table": 1,
+            "desk_caddy": 1,
+        }
+
+        object_num_info = {
+            "black_book": 1,
+            "red_coffee_mug": 1,
+        }
+
+        super().__init__(
+            workspace_name="study_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.15],
+                region_name="red_coffee_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.05],
+                region_name="black_book_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+                yaw_rotation=(-np.pi / 2, -np.pi / 4),
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, -0.14],
+                region_name="desk_caddy_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "desk_caddy_1", "study_table_desk_caddy_init_region"),
+            ("On", "black_book_1", "study_table_black_book_init_region"),
+            ("On", "red_coffee_mug_1", "study_table_red_coffee_mug_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="study")
+class StudyScene3(InitialSceneTemplates):
+    def __init__(self):
+        fixture_num_info = {
+            "study_table": 1,
+            "desk_caddy": 1,
+        }
+
+        object_num_info = {
+            "black_book": 1,
+            "red_coffee_mug": 1,
+            "porcelain_mug": 1,
+        }
+
+        super().__init__(
+            workspace_name="study_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.20, 0.15],
+                region_name="red_coffee_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, 0.15],
+                region_name="red_coffee_mug_behind_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.0],
+                region_name="porcelain_mug_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.10, 0.0],
+                region_name="black_book_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, -0.14],
+                region_name="desk_caddy_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, -0.15],
+                region_name="desk_caddy_front_left_contain_region",
+                target_name=self.workspace_name,
+                region_half_len=0.025,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.20, 0.15],
+                region_name="desk_caddy_right_region",
+                target_name=self.workspace_name,
+                region_half_len=0.05,
+                yaw_rotation=(np.pi, np.pi),
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            ("On", "desk_caddy_1", "study_table_desk_caddy_init_region"),
+            ("On", "black_book_1", "study_table_desk_caddy_front_left_contain_region"),
+            ("On", "porcelain_mug_1", "study_table_porcelain_mug_init_region"),
+            ("On", "red_coffee_mug_1", "study_table_red_coffee_mug_init_region"),
+        ]
+        return states
+
+
+@register_mu(scene_type="study")
+class StudyScene4(InitialSceneTemplates):
+    def __init__(self):
+        fixture_num_info = {
+            "study_table": 1,
+            "wooden_two_layer_shelf": 1,
+        }
+
+        object_num_info = {
+            "black_book": 1,
+            "yellow_book": 2,
+        }
+
+        super().__init__(
+            workspace_name="study_table",
+            fixture_num_info=fixture_num_info,
+            object_num_info=object_num_info,
+        )
+
+    def define_regions(self):
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.0],
+                region_name="yellow_book_right_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[-0.05, -0.25],
+                region_name="yellow_book_left_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.05, -0.15],
+                region_name="black_book_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+            )
+        )
+        self.regions.update(
+            self.get_region_dict(
+                region_centroid_xy=[0.0, 0.28],
+                region_name="wooden_two_layer_shelf_init_region",
+                target_name=self.workspace_name,
+                region_half_len=0.01,
+                yaw_rotation=(0, 0),
+            )
+        )
+        self.xy_region_kwargs_list = get_xy_region_kwargs_list_from_regions_info(
+            self.regions
+        )
+
+    @property
+    def init_states(self):
+        states = [
+            (
+                "On",
+                "wooden_two_layer_shelf_1",
+                "study_table_wooden_two_layer_shelf_init_region",
+            ),
+            ("On", "yellow_book_1", "study_table_yellow_book_right_init_region"),
+            ("On", "yellow_book_2", "study_table_yellow_book_left_init_region"),
+            ("On", "black_book_1", "study_table_black_book_init_region"),
+        ]
+        return states