add LIBERO sim-client: Dockerfile, policy server adapter, vendored sources, updated REPRODUCE.md (part 5)

.gitattributes

@@ -121,3 +121,30 @@ eval/vendored/LIBERO/libero/libero/init_files/libero_90/LIVING_ROOM_SCENE2_pick_
 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/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/visual/basin_faucet_base_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/visual/drawer_high_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/visual/drawer_low_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/visual/drawer_middle_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/short_fridge/base/visual/base_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/black_book/visual/black_book_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/coffee_table_seats/collision/coffee_table_seats_ch.stl filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/coffee_table_seats/visual/coffee_table_seats_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/desk/visual/desk_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/floor_lamp/collision/floor_lamp_ch.stl filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/floor_lamp/visual/floor_lamp_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/fridge/visual/fridge_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/kitchen_background/visual/kitchen_background_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/kitchen_background_pot/collision/kitchen_background_pot_ch.stl filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/living_room/visual/living_room_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/living_room_table/collision/living_room_table_ch.stl filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/living_room_table/visual/living_room_table_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/plant/visual/plant_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/study_background/visual/study_background_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/scenes/yellow_book/visual/black_book_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/stable_hope_objects/alphabet_soup/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/stable_hope_objects/bbq_sauce/visual/bbq_sauce_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/stable_hope_objects/bigger_alphabet_soup/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+eval/vendored/LIBERO-PRO/libero/libero/assets/stable_hope_objects/bigger_milk/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text

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

@@ -0,0 +1,3 @@
+algo: EWC
+e_lambda: 50000
+gamma: 0.9

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

@@ -0,0 +1,2 @@
+algo: Multitask
+eval_in_train: false

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

@@ -0,0 +1,4 @@
+algo: PackNet
+prune_perc: 0.75
+post_prune_epochs: 50
+post_eval_every: 5

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

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

eval/vendored/LIBERO-PRO/libero/configs/policy/bc_rnn_policy.yaml

@@ -0,0 +1,15 @@
+policy_type: BCRNNPolicy
+image_embed_size: 64
+text_embed_size: 32
+
+rnn_hidden_size: 1024
+rnn_num_layers: 2
+rnn_dropout: 0.0
+rnn_bidirectional: false
+
+defaults:
+    - data_augmentation@color_aug: batch_wise_img_color_jitter_group_aug.yaml
+    - data_augmentation@translation_aug: translation_aug.yaml
+    - image_encoder: resnet_encoder
+    - language_encoder: mlp_encoder
+    - policy_head: gmm_head

eval/vendored/LIBERO-PRO/libero/configs/policy/bc_transformer_policy.yaml

@@ -0,0 +1,20 @@
+policy_type: BCTransformerPolicy 
+extra_num_layers: 0
+extra_hidden_size: 128
+embed_size: 64
+
+transformer_input_size: null
+transformer_num_layers: 4
+transformer_num_heads: 6
+transformer_head_output_size: 64
+transformer_mlp_hidden_size: 256
+transformer_dropout: 0.1
+transformer_max_seq_len: 10
+
+defaults:
+    - data_augmentation@color_aug: batch_wise_img_color_jitter_group_aug.yaml
+    - data_augmentation@translation_aug: translation_aug.yaml
+    - image_encoder: resnet_encoder.yaml
+    - language_encoder: mlp_encoder.yaml
+    - position_encoding@temporal_position_encoding: sinusoidal_position_encoding.yaml
+    - policy_head: gmm_head.yaml

eval/vendored/LIBERO-PRO/libero/configs/policy/bc_vilt_policy.yaml

@@ -0,0 +1,30 @@
+policy_type: BCViLTPolicy
+extra_num_layers: 0
+extra_hidden_size: 128
+embed_size: 128
+
+spatial_transformer_input_size: null
+spatial_transformer_num_layers: 7
+spatial_transformer_num_heads: 8
+spatial_transformer_head_output_size: 120
+spatial_transformer_mlp_hidden_size: 256
+spatial_transformer_dropout: 0.1
+
+spatial_down_sample: true
+spatial_down_sample_embed_size: 64
+
+transformer_input_size: null
+transformer_num_layers: 4
+transformer_num_heads: 6
+transformer_head_output_size: 64
+transformer_mlp_hidden_size: 256
+transformer_dropout: 0.1
+transformer_max_seq_len: 10
+
+defaults:
+    - data_augmentation@color_aug: batch_wise_img_color_jitter_group_aug.yaml
+    - data_augmentation@translation_aug: translation_aug.yaml
+    - image_encoder: patch_encoder.yaml
+    - language_encoder: mlp_encoder.yaml
+    - position_encoding@temporal_position_encoding: sinusoidal_position_encoding.yaml
+    - policy_head: gmm_head.yaml

eval/vendored/LIBERO-PRO/libero/configs/policy/data_augmentation/batch_wise_img_color_jitter_group_aug.yaml

@@ -0,0 +1,9 @@
+network: BatchWiseImgColorJitterAug
+
+network_kwargs:
+  input_shape: null
+  brightness: 0.3
+  contrast: 0.3
+  saturation: 0.3
+  hue: 0.3
+  epsilon: 0.1

eval/vendored/LIBERO-PRO/libero/configs/policy/data_augmentation/identity_aug.yaml

@@ -0,0 +1,4 @@
+network: IdentityAug
+
+network_kwargs:
+  input_shape: null

eval/vendored/LIBERO-PRO/libero/configs/policy/data_augmentation/translation_aug.yaml

@@ -0,0 +1,5 @@
+network: TranslationAug
+
+network_kwargs:
+  input_shape: null
+  translation: 8

eval/vendored/LIBERO-PRO/libero/configs/policy/data_augmentation/translation_aug_group.yaml

@@ -0,0 +1,5 @@
+network: TranslationAugGroup
+
+network_kwargs:
+  input_shapes: {}
+  translation: 8

eval/vendored/LIBERO-PRO/libero/configs/policy/image_encoder/patch_encoder.yaml

@@ -0,0 +1,4 @@
+network: PatchEncoder
+network_kwargs:
+    patch_size: [8, 8]
+    no_patch_embed_bias: false

eval/vendored/LIBERO-PRO/libero/configs/policy/image_encoder/resnet_encoder.yaml

@@ -0,0 +1,7 @@
+network: ResnetEncoder
+network_kwargs:
+    pretrained: false
+    freeze: false
+    remove_layer_num: 4
+    no_stride: false
+    language_fusion: 'film'

eval/vendored/LIBERO-PRO/libero/configs/policy/language_encoder/clip_encoder.yaml

@@ -0,0 +1,7 @@
+network: CLIPEncoder
+network_kwargs:
+    model_type: "ViT-B/32"
+    hidden_size: 128
+    output_size: 128
+    num_layers: 1
+    download_path: "./clip"

eval/vendored/LIBERO-PRO/libero/configs/policy/language_encoder/identity_encoder.yaml

@@ -0,0 +1,3 @@
+network: IdentityEncoder
+network_kwargs:
+    dummy: true

eval/vendored/LIBERO-PRO/libero/configs/policy/language_encoder/mlp_encoder.yaml

@@ -0,0 +1,6 @@
+network: MLPEncoder
+network_kwargs:
+    input_size: 768
+    hidden_size: 128
+    output_size: 128
+    num_layers: 1

eval/vendored/LIBERO-PRO/libero/configs/policy/language_encoder/rnn_encoder.yaml

@@ -0,0 +1,6 @@
+network: RNNEncoder
+network_kwargs:
+    input_size: 768
+    hidden_size: 128
+    output_size: 16
+    num_layers: 1

eval/vendored/LIBERO-PRO/libero/configs/policy/policy_head/gmm_head.yaml

@@ -0,0 +1,12 @@
+network: GMMHead
+
+network_kwargs:
+    hidden_size: 1024
+    num_layers: 2
+    min_std: 0.0001
+    num_modes: 5
+    low_eval_noise: false
+    activation: "softplus"
+
+loss_kwargs:
+    loss_coef: 1.0

eval/vendored/LIBERO-PRO/libero/configs/policy/position_encoding/sinusoidal_position_encoding.yaml

@@ -0,0 +1,6 @@
+network: SinusoidalPositionEncoding
+network_kwargs:
+    input_size: null
+    inv_freq_factor: 10
+    factor_ratio: null
+

eval/vendored/LIBERO-PRO/libero/configs/reproduce_experiment/default_experiment.yaml

@@ -0,0 +1,14 @@
+# @package _global_
+
+default:
+- override /policy: bc_transformer_policy
+
+train:
+  use_augmentation: true
+  grad_clip: 100
+  loss_scale: 1.0
+
+eval:
+  eval_every: 5
+  n_epochs: 50
+

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

@@ -0,0 +1,17 @@
+# training
+n_epochs: 50
+batch_size: 32
+num_workers: 4
+grad_clip: 100.
+loss_scale: 1.0
+
+# resume training
+resume: false
+resume_path: ""
+debug: false
+
+use_augmentation: true
+
+defaults:
+    - optimizer@optimizer: adam_w.yaml
+    - scheduler@scheduler: cosine_annealing.yaml

eval/vendored/LIBERO-PRO/libero/configs/train/optimizer/adam_w.yaml

@@ -0,0 +1,6 @@
+name: torch.optim.AdamW
+
+kwargs: 
+    lr: 0.0001
+    betas: [0.9, 0.999]    
+    weight_decay: 0.0001

eval/vendored/LIBERO-PRO/libero/configs/train/scheduler/cosine_annealing.yaml

@@ -0,0 +1,5 @@
+name: torch.optim.lr_scheduler.CosineAnnealingLR
+
+kwargs:
+    eta_min: 1e-5
+    last_epoch: -1

eval/vendored/LIBERO-PRO/libero/libero/__init__.py

@@ -0,0 +1,96 @@
+import os
+import yaml
+
+# This is a default path for localizing all the benchmark related files
+libero_config_path = os.environ.get(
+    "LIBERO_CONFIG_PATH", os.path.expanduser("~/.libero")
+)
+config_file = os.path.join(libero_config_path, "config.yaml")
+
+
+def get_default_path_dict(custom_location=None):
+    if custom_location is None:
+        benchmark_root_path = os.path.dirname(os.path.abspath(__file__))
+    else:
+        benchmark_root_path = custom_location
+
+    # This is a default path for localizing all the default bddl files
+    bddl_files_default_path = os.path.join(benchmark_root_path, "./bddl_files")
+
+    # This is a default path for localizing all the default bddl files
+    init_states_default_path = os.path.join(benchmark_root_path, "./init_files")
+
+    # This is a default path for localizing all the default datasets
+    dataset_default_path = os.path.join(benchmark_root_path, "../datasets")
+
+    # This is a default path for localizing all the default assets
+    assets_default_path = os.path.join(benchmark_root_path, "./assets")
+
+    return {
+        "benchmark_root": benchmark_root_path,
+        "bddl_files": bddl_files_default_path,
+        "init_states": init_states_default_path,
+        "datasets": dataset_default_path,
+        "assets": assets_default_path,
+    }
+
+
+def get_libero_path(query_key):
+    with open(config_file, "r") as f:
+        config = dict(yaml.load(f.read(), Loader=yaml.FullLoader))
+
+    # Give warnings in case the user needs to access the paths
+    for key in config:
+        if not os.path.exists(config[key]):
+            print(f"[Warning]: {key} path {config[key]} does not exist!")
+
+    assert (
+        query_key in config
+    ), f"Key {query_key} not found in config file {config_file}. You need to modify it. Available keys are: {config.keys()}"
+    return config[query_key]
+
+
+def set_libero_default_path(custom_location=os.path.dirname(os.path.abspath(__file__))):
+    print(
+        f"[Warning] You are changing the default path for Libero config. This will affect all the paths in the config file."
+    )
+    new_config = get_default_path_dict(custom_location)
+    with open(config_file, "w") as f:
+        yaml.dump(new_config, f)
+
+
+if not os.path.exists(libero_config_path):
+    os.makedirs(libero_config_path)
+
+if not os.path.exists(config_file):
+    # Create a default config file
+
+    default_path_dict = get_default_path_dict()
+    answer = input(
+        "Do you want to specify a custom path for the dataset folder? (Y/N): "
+    ).lower()
+    if answer == "y":
+        # If the user wants to specify a custom storage path, prompt them to enter it
+        custom_dataset_path = input(
+            "Enter the path where you want to store the datasets: "
+        )
+        full_custom_dataset_path = os.path.join(
+            os.path.abspath(os.path.expanduser(custom_dataset_path)), "datasets"
+        )
+        # Check if the custom storage path exists, and create if it doesn't
+
+        print("The full path of the custom storage path you entered is:")
+        print(full_custom_dataset_path)
+        print("Do you want to continue? (Y/N)")
+        confirm_answer = input().lower()
+        if confirm_answer == "y":
+            if not os.path.exists(full_custom_dataset_path):
+                os.makedirs(full_custom_dataset_path)
+            default_path_dict["datasets"] = full_custom_dataset_path
+    print("Initializing the default config file...")
+    print(f"The following information is stored in the config file: {config_file}")
+    # write all the paths into a yaml file
+    with open(config_file, "w") as f:
+        yaml.dump(default_path_dict, f)
+    for key, value in default_path_dict.items():
+        print(f"{key}: {value}")

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects.py

@@ -0,0 +1,341 @@
+import os
+import re
+import numpy as np
+
+from dataclasses import dataclass
+from robosuite.models.objects import MujocoXMLObject
+from easydict import EasyDict
+
+import pathlib
+
+absolute_path = pathlib.Path(__file__).parent.parent.parent.absolute()
+
+from libero.libero.envs.base_object import (
+    register_visual_change_object,
+    register_object,
+)
+
+
+class ArticulatedObject(MujocoXMLObject):
+    def __init__(self, name, obj_name, joints=[dict(type="free", damping="0.0005")]):
+        super().__init__(
+            os.path.join(
+                str(absolute_path), f"assets/articulated_objects/{obj_name}.xml"
+            ),
+            name=name,
+            joints=joints,
+            obj_type="all",
+            duplicate_collision_geoms=False,
+        )
+        self.category_name = "_".join(
+            re.sub(r"([A-Z])", r" \1", self.__class__.__name__).split()
+        ).lower()
+        self.rotation = (np.pi / 4, np.pi / 2)
+        self.rotation_axis = "x"
+
+        articulation_object_properties = {
+            "default_open_ranges": [],
+            "default_close_ranges": [],
+        }
+        self.object_properties = {
+            "articulation": articulation_object_properties,
+            "vis_site_names": {},
+        }
+
+    def is_open(self, qpos):
+        raise NotImplementedError
+
+    def is_close(self, qpos):
+        raise NotImplementedError
+
+
+@register_object
+class Microwave(ArticulatedObject):
+    def __init__(
+        self,
+        name="microwave",
+        obj_name="microwave",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+
+        self.object_properties["articulation"]["default_open_ranges"] = [-2.094, -1.3]
+        self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0]
+
+    def is_open(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
+            return True
+        else:
+            return False
+
+    def is_close(self, qpos):
+        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
+            return True
+        else:
+            return False
+
+
+@register_object
+class SlideCabinet(ArticulatedObject):
+    def __init__(
+        self,
+        name="slide_cabinet",
+        obj_name="slide_cabinet",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+
+
+@register_object
+class Window(ArticulatedObject):
+    def __init__(
+        self,
+        name="window",
+        obj_name="window",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+        self.z_on_table = 0.13
+
+
+@register_object
+class Faucet(ArticulatedObject):
+    def __init__(
+        self,
+        name="faucet",
+        obj_name="faucet",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+
+
+@register_object
+class BasinFaucet(ArticulatedObject):
+    def __init__(self, name="basin_faucet", obj_name="basin_faucet", joints=None):
+        super().__init__(name, obj_name, joints)
+
+
+@register_object
+class ShortCabinet(ArticulatedObject):
+    def __init__(
+        self,
+        name="short_cabinet",
+        obj_name="short_cabinet",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+
+        self.object_properties["articulation"]["default_open_ranges"] = [0.10, 0.16]
+        self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0]
+
+    def is_open(self, qpos):
+        if qpos > min(self.object_properties["articulation"]["default_open_ranges"]):
+            return True
+        else:
+            return False
+
+    def is_close(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_close_ranges"]):
+            return True
+        else:
+            return False
+
+
+@register_object
+class ShortFridge(ArticulatedObject):
+    def __init__(
+        self,
+        name="short_fridge",
+        obj_name="short_fridge",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+
+        self.object_properties["articulation"]["default_open_ranges"] = [2.0, 2.7]
+        self.object_properties["articulation"]["default_close_ranges"] = [-0.005, 0.0]
+
+    def is_open(self, qpos):
+        if qpos > min(self.object_properties["articulation"]["default_open_ranges"]):
+            return True
+        else:
+            return False
+
+    def is_close(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_close_ranges"]):
+            return True
+        else:
+            return False
+
+    # Sample initial joint positions for random door open or door closed
+
+
+@register_object
+class WoodenCabinet(ArticulatedObject):
+    def __init__(
+        self,
+        name="wooden_cabinet",
+        obj_name="wooden_cabinet",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+        self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14]
+        self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005]
+
+    def is_open(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
+            return True
+        else:
+            return False
+
+    def is_close(self, qpos):
+        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
+            return True
+        else:
+            return False
+
+
+@register_object
+class WhiteCabinet(ArticulatedObject):
+    def __init__(
+        self,
+        name="white_cabinet",
+        obj_name="white_cabinet",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+        self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14]
+        self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005]
+
+    def is_open(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
+            return True
+        else:
+            return False
+
+    def is_close(self, qpos):
+        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
+            return True
+        else:
+            return False
+
+
+@register_object
+@register_visual_change_object
+class FlatStove(ArticulatedObject):
+    def __init__(
+        self,
+        name="flat_stove",
+        obj_name="flat_stove",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+        self.rotation = (0, 0)
+        self.rotation_axis = "y"
+
+        tracking_sites_dict = {}
+        tracking_sites_dict["burner"] = (self.naming_prefix + "burner", False)
+        self.object_properties["vis_site_names"].update(tracking_sites_dict)
+        self.object_properties["articulation"]["default_turnon_ranges"] = [0.5, 2.1]
+        self.object_properties["articulation"]["default_turnoff_ranges"] = [-0.005, 0.0]
+
+    def turn_on(self, qpos):
+        if qpos >= min(self.object_properties["articulation"]["default_turnon_ranges"]):
+            # TODO: Set visualization sites to be true
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                True,
+            )
+            return True
+        else:
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                False,
+            )
+            return False
+
+    def turn_off(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_turnoff_ranges"]):
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                False,
+            )
+            return True
+        else:
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                True,
+            )
+            return False
+
+
+@register_object
+class YellowCabinet(ArticulatedObject):
+    def __init__(
+        self,
+        name="yellow_cabinet",
+        obj_name="yellow_cabinet",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+        self.object_properties["articulation"]["default_open_ranges"] = [-0.16, -0.14]
+        self.object_properties["articulation"]["default_close_ranges"] = [0.0, 0.005]
+
+    def is_open(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_open_ranges"]):
+            return True
+        else:
+            return False
+
+    def is_close(self, qpos):
+        if qpos > min(self.object_properties["articulation"]["default_close_ranges"]):
+            return True
+        else:
+            return False
+
+@register_object
+@register_visual_change_object
+class YellowStove(ArticulatedObject):
+    def __init__(
+        self,
+        name="yellow_stove",
+        obj_name="yellow_stove",
+        joints=[dict(type="free", damping="0.0005")],
+    ):
+        super().__init__(name, obj_name, joints)
+        self.rotation = (0, 0)
+        self.rotation_axis = "y"
+
+        tracking_sites_dict = {}
+        tracking_sites_dict["burner"] = (self.naming_prefix + "burner", False)
+        self.object_properties["vis_site_names"].update(tracking_sites_dict)
+        self.object_properties["articulation"]["default_turnon_ranges"] = [0.5, 2.1]
+        self.object_properties["articulation"]["default_turnoff_ranges"] = [-0.005, 0.0]
+
+    def turn_on(self, qpos):
+        if qpos >= min(self.object_properties["articulation"]["default_turnon_ranges"]):
+            # TODO: Set visualization sites to be true
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                True,
+            )
+            return True
+        else:
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                False,
+            )
+            return False
+
+    def turn_off(self, qpos):
+        if qpos < max(self.object_properties["articulation"]["default_turnoff_ranges"]):
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                False,
+            )
+            return True
+        else:
+            self.object_properties["vis_site_names"]["burner"] = (
+                self.naming_prefix + "burner",
+                True,
+            )
+            return False

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet.xml

@@ -0,0 +1,38 @@
+<mujoco model="basin_faucet">
+    <compiler angle="radian" meshdir="./" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+        <mesh name="basin_faucet_base_vis" file="basin_faucet/basin_faucet_base/visual/basin_faucet_base_vis.msh" scale="0.02 0.02 0.02"/>
+        <mesh name="basin_faucet_movable_vis" file="basin_faucet/basin_faucet_movable/visual/basin_faucet_movable_vis.msh" scale="0.02 0.02 0.02"/>
+        <texture file="basin_faucet/ceramic.png" name="ceramic"/>
+	<material name="basin_faucet_base" reflectance="0.5" texrepeat="1 1" texture="ceramic" texuniform="false"/>	
+	<material name="basin_faucet_movable" reflectance="0.5" texrepeat="1 1" texture="ceramic" texuniform="false"/>	
+    </asset>
+    <worldbody>
+        <body>
+          <body name="object">
+	    <!-- <site name="hot_water" pos="-0.056 0. 0.005" size="0.01" rgba="1 0 0 1" type="sphere"/> -->
+	    <!-- <site name="cold_water" pos="-0.056 0. 0.005" size="0.01" rgba="0 0 1 1" type="sphere"/> -->
+	    <site name="hot_water" pos="-0.05 0. -0.04" size="0.007 0.05" rgba="0.984 0.384 0.227 0.3" type="cylinder"/>
+	    <site name="cold_water" pos="-0.05 0. -0.04" size="0.007 0.05" rgba="0.831 0.945 0.976 0.3" type="cylinder"/>
+	    <body name="base" pos="0 0 0">
+	      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basin_faucet_base_vis" conaffinity="0" contype="0" group="1" material="basin_faucet_base"/>
+	      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03549 0.00000 -0.00961" quat="0.00000 0.00000 1.00000 0.00000" size="0.01626 0.01660 0.03919" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03549 0.00000 -0.05157" quat="0.70711 0.00000 0.70711 0.00000" size="0.00251 0.02117 0.02136" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01850 -0.00035 0.00556" quat="0.70711 0.00000 0.70711 0.00000" size="0.00797 0.00954 0.03684" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      <body name="movable" pos="0 0 0.0">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="hinge" pos="0.03548 0 0" axis="0. 0. 1."
+		       limited="true" range="-1.5 1.5" damping="10"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basin_faucet_movable_vis" conaffinity="0" contype="0" group="1" material="basin_faucet_movable"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00328 0.00000 0.04356" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00386 0.00405 0.02498" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03548 -0.00000 0.04356" quat="0.50000 0.50000 -0.50000 0.50000" size="0.01066 0.01640 0.01644" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      </body>
+	    </body>
+          </body>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 -0.045" name="bottom_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 0.045" name="top_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0.045 0.045 0" name="horizontal_radius_site"/>
+        </body>
+    </worldbody>
+</mujoco>

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.mtl

@@ -0,0 +1,22 @@
+# Blender MTL File: 'basin_faucet_base.blend'
+# Material Count: 2
+
+newmtl Basin_Tap_2_Black_Mtl.002
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.007843 0.007843 0.007843
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1
+
+newmtl Chrome_Tap_2.002
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 1

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.obj

@@ -0,0 +1,2916 @@
+# Blender v3.2.2 OBJ File: 'basin_faucet_base.blend'
+# www.blender.org
+mtllib basin_faucet_base.mtl
+o Basin_Tap_2_Pivot_Sphere_Basin_Tap_2_Pivot_SphereMesh
+v 2.372332 -0.023899 1.788160
+v 2.245565 0.102867 1.931615
+v 2.262255 -0.023899 1.931615
+v 2.351892 0.131357 1.788160
+v 2.196635 0.220995 1.931615
+v 2.291965 0.276033 1.788160
+v 2.118799 0.322433 1.931615
+v 2.196635 0.400269 1.788160
+v 2.072399 0.495599 1.788160
+v 2.017361 0.400269 1.931615
+v 1.899233 0.449199 1.931615
+v 1.927723 0.555526 1.788160
+v 1.772467 0.465889 1.931615
+v 1.772467 0.575966 1.788160
+v 1.645701 0.449199 1.931615
+v 1.617211 0.555526 1.788160
+v 1.527573 0.400269 1.931615
+v 1.472535 0.495599 1.788160
+v 1.426135 0.322433 1.931615
+v 1.348299 0.400270 1.788160
+v 1.252969 0.276034 1.788160
+v 1.348299 0.220995 1.931615
+v 1.299369 0.102868 1.931615
+v 1.193042 0.131358 1.788160
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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.xml

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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base_col.obj

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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/visual/basin_faucet_base_vis.msh

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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.mtl

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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.obj

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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.xml

@@ -0,0 +1,15 @@
+<mujoco model="basin_faucet_movable">
+  <asset>
+  <texture file="/home/yifengz/workspace/robosuite-master/robosuite/models/assets/textures/ceramic.png" name="tex-basin_faucet_movable" type="2d" />
+  <material name="basin_faucet_movable" reflectance="0.5" texrepeat="1 1" texture="tex-basin_faucet_movable" texuniform="false" />
+  <mesh file="visual/basin_faucet_movable_vis.msh" name="basin_faucet_movable_vis" scale="0.02 0.02 0.02" /></asset>
+  <worldbody>
+    <body>
+      <body name="object">
+      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basin_faucet_movable_vis" conaffinity="0" contype="0" group="1" material="basin_faucet_movable" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00328 0.00000 0.04356" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00386 0.00405 0.02498" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03548 -0.00000 0.04356" quat="0.50000 0.50000 -0.50000 0.50000" size="0.01066 0.01640 0.01644" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable_col.obj

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+# Blender v3.2.2 OBJ File: 'basin_faucet_movable.blend'
+# www.blender.org
+mtllib basin_faucet_movable_col.mtl
+o Cube_Cube.001
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+usemtl None
+s off
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+f 8/5/6 4/13/6 2/14/6 6/7/6
+o Cube.001_Cube.002
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+usemtl None
+s off
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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/faucet.xml

@@ -0,0 +1,56 @@
+<mujoco model="faucet">
+    <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/>
+    <asset>
+      <texture name="T_fauc_met" type="cube" file="textures/metal2.png"/>
+
+      <material name="faucet_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
+      <material name="faucet_white" rgba=".75 .75 .75 1" shininess="1" reflectance=".7" specular=".5"/>
+      <material name="faucet_red" rgba=".5 .1 .1 1" shininess="1" reflectance=".7" specular=".5"/>
+
+      <material name="faucet_metal" rgba=".7 .7 .7 1" texture="T_fauc_met" shininess="1" reflectance="1" specular=".5"/>
+
+      <mesh file="meshes/faucet/faucetbase.stl" name="faucetbase"/>
+      <mesh file="meshes/faucet/faucethandle1.stl" name="faucethandle1"/>
+      <mesh file="meshes/faucet/faucethead.stl" name="faucethead"/>
+    </asset>
+
+    <default>
+      <default class="faucet_base">
+          <joint armature="0.001" damping="2" limited="true"/>
+          <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+          <position ctrllimited="true" ctrlrange="0 1.57"/>
+      </default>
+      <default class="faucet_viz">
+        <geom condim="4" type="mesh"/>
+      </default>
+      <default class="faucet_col">
+        <geom conaffinity="1" condim="3" contype="1" group="0" material="faucet_col" solimp="0.99 0.99 0.01" solref="0.01 1"/>   
+      </default>
+    </default>
+
+    <worldbody>
+    <body>
+        <body name="object" pos="0 0.8 0">
+            <geom class="faucet_base" material="faucet_metal" mesh="faucetbase" pos="0 0 0.088"/>
+            <geom class="faucet_col" pos="0 0 0.009" size="0.046 0.009" type="cylinder"/>
+            <geom class="faucet_col" pos="0 0 0.061" size="0.017 0.044" type="cylinder"/>
+            <body name="faucet_link2" pos="0 0 0.124">
+                <joint name="knob_Joint_1" type="hinge" range="-1.57 1.57" axis="0 0 1"/>
+                <geom class="faucet_base" material="faucet_metal" euler="1.57 0 0" mesh="faucethandle1" pos="0 -0.06 0.001"/>
+                <geom class="faucet_base" material="faucet_metal" mesh="faucethead" pos="0 0 0.001"/>
+                <geom class="faucet_base" material="faucet_red" euler="1.57 0 0" pos="0 -0.12 0.001" size="0.017 0.055" type="capsule"/>
+
+                <geom class="faucet_col" euler="1.57 0 0" pos="0 -0.05 0.001" size="0.012 0.021" type="cylinder"/>
+                <geom class="faucet_col" euler="1.57 0 0" pos="0 -0.12 0.001" size="0.017 0.055" type="capsule"/>
+                <geom class="faucet_col" pos="0 0 0.001" size="0.032 0.02" type="cylinder"/>
+
+                <site name="handleStartClose" pos="0.015 -0.175 0" size="0.01" rgba="0 0 0 1"/>
+                <site name="handleStartOpen" pos="-0.015 -0.175 0" size="0.005" rgba="1 1 1 1"/>
+            </body>
+        </body>
+      <site rgba="0 0 0 0" size="0.0025" pos="0 0 -0.03" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.0025" pos="0 0 0.03" name="top_site" />
+      <site rgba="0 0 0 0" size="0.0025" pos="0.0075 0.0075 0" name="horizontal_radius_site" />
+    </body>
+    </worldbody>
+</mujoco>

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/flat_stove.xml

@@ -0,0 +1,67 @@
+<mujoco model="flat_stove">
+    <compiler angle="radian" meshdir="./" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+      <texture file="flat_stove/metal.png" name="tex-stove_knob" type="2d"/>
+      <material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/>
+      <mesh file="flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0"/>      
+      <texture file="flat_stove/button_dark_texture.png" name="tex-stove_knob" type="2d"/>
+      <material name="stove_knob_button" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/>
+      <mesh file="flat_stove/stove_knob_button/visual/stove_knob_button_vis.msh" name="stove_knob_button_vis" scale="1.0 1.0 1.0"/>
+      <texture file="flat_stove/metal.png" name="tex-stove_metal" type="2d"/>
+      <material name="stove_knob_metal" reflectance="0.5" texrepeat="1
+								     1"
+		texture="tex-stove_metal" texuniform="false" shininess="1.0"/>
+      <mesh file="./flat_stove/stove_burner/burnerplate.stl" name="burnerplate" scale="0.55 0.55 0.45" />
+    </asset>
+    <worldbody>
+        <body>
+          <body name="object">
+	    <body name="base" pos="0 0.0 0.0">
+	      <body name="burner" pos="0.15 0 0">
+		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="cook_region"/>
+		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="1" name="base_vis"/>
+		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="0" name="base"/>
+		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="collision_burner"/>
+		<body name="burner_plate">
+	       	  <geom pos="0 0 0.025" type="mesh" mesh="burnerplate"
+			material="stove_knob_metal" group="1" name="burner"
+			contype="0" conaffinity="0"/>
+		</body>
+		<site name="burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder"/>
+	      </body>	      
+	      <body name="button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="button" type="hinge" pos="0 0 0" axis="0 0 1"
+		       limited="true" range="-0.005 2.1" damping="1"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1"
+		      density="100" friction="0.95 0.3 0.1"
+		      type="mesh" mesh="stove_knob_button_vis"
+		      conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0"/>
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+	      </body>
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+          </body>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 -0.045" name="bottom_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 0.045" name="top_site"/>
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+    </worldbody>
+</mujoco>

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/stove_knob_base.mtl

@@ -0,0 +1,12 @@
+# Blender 3.3.0 MTL File: 'stove_knob_base.blend'
+# www.blender.org
+
+newmtl Material.001
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+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd steel-scratched.png

eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/stove_knob_base.obj

@@ -0,0 +1,268 @@
+# Blender 3.3.0
+# www.blender.org
+mtllib stove_knob_base.mtl
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eval/vendored/LIBERO-PRO/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/stove_knob_base.xml

@@ -0,0 +1,15 @@
+<mujoco model="stove_knob_base">
+  <asset>
+  <texture file="steel-scratched.png" name="tex-stove_knob_base" type="2d" />
+  <material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob_base" texuniform="false" />
+  <mesh file="visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0" /></asset>
+  <worldbody>
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