Add files using upload-large-folder tool

Ctrl-World/checkpoints/svd/image_encoder/config.json

@@ -0,0 +1,23 @@
+{
+  "_name_or_path": "/home/suraj_huggingface_co/.cache/huggingface/hub/models--diffusers--svd-test/snapshots/b9d5dcd269e2f7bff9f98a4907b8c69b7acd555d/image_encoder",
+  "architectures": [
+    "CLIPVisionModelWithProjection"
+  ],
+  "attention_dropout": 0.0,
+  "dropout": 0.0,
+  "hidden_act": "gelu",
+  "hidden_size": 1280,
+  "image_size": 224,
+  "initializer_factor": 1.0,
+  "initializer_range": 0.02,
+  "intermediate_size": 5120,
+  "layer_norm_eps": 1e-05,
+  "model_type": "clip_vision_model",
+  "num_attention_heads": 16,
+  "num_channels": 3,
+  "num_hidden_layers": 32,
+  "patch_size": 14,
+  "projection_dim": 1024,
+  "torch_dtype": "float16",
+  "transformers_version": "4.34.0.dev0"
+}

third_party/.libero_local/rethink_gripper_patched.xml

@@ -0,0 +1,73 @@
+<mujoco model="base">
+    <asset>
+        <mesh name="standard_narrow" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/grippers/meshes/rethink_gripper/standard_narrow.stl"  inertia="shell"/>
+        <mesh name="half_round_tip" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/grippers/meshes/rethink_gripper/half_round_tip.stl"  inertia="shell"/>
+	<material name="Material_001.001" specular="0.5" shininess="0.25" rgba="0.640000 0.000000 0.000000 1.000000"/>
+	<material name="Material_002" specular="0.5" shininess="0.25" rgba="0.640000 0.640000 0.640000 1.000000"/>
+	<mesh name="electric_gripper_base_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/grippers/obj_meshes/rethink_gripper/electric_gripper_base/electric_gripper_base_0.obj" inertia="shell"/>
+	<mesh name="electric_gripper_base_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/grippers/obj_meshes/rethink_gripper/electric_gripper_base/electric_gripper_base_1.obj" inertia="shell"/>
+	<material name="finger_mat" specular="0.5" shininess="0.25" rgba="0.000000 0.000000 0.000000 1.000000"/>
+	<material name="Material_001" specular="0.5" shininess="0.25" rgba="0.001651 0.001651 0.001651 1.000000"/>
+	<mesh name="connector_plate" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/grippers/obj_meshes/rethink_gripper/connector_plate/connector_plate.obj" inertia="shell"/>
+    </asset>
+    <actuator>
+        <position ctrllimited="true" ctrlrange="-0.0115 0.020833" joint="r_finger_joint" kp="1000" name="gripper_r_finger_joint" forcelimited="true" forcerange="-20 20"/>
+        <position ctrllimited="true" ctrlrange="-0.020833 0.0115" joint="l_finger_joint" kp="1000" name="gripper_l_finger_joint" forcelimited="true" forcerange="-20 20"/>
+    </actuator>
+    <default>
+      <default class="visual">
+	<geom contype="0" conaffinity="0" group="1" type="mesh"/>
+      </default>
+    </default>
+    <worldbody>
+        <body name="gripper_base" pos="0 0 0">
+            <site name="ft_frame" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1"/>
+            <inertial pos="0 0 0" quat="-0.5 0.5 0.5 0.5" mass="0.3" diaginertia="3e-08 2e-08 2e-08" />
+	    <geom material="Material_001" mesh="connector_plate" pos="0 0 0.0018" quat="0.7071068 0 0 0.7071068" class="visual"/>
+	    <geom mesh="electric_gripper_base_0" material="Material_002" pos="0 0 0.0194" quat="0.7071068 0 0 0.7071068" class="visual"/>
+	    <geom mesh="electric_gripper_base_1" material="Material_001.001" pos="0 0 0.0194" quat="0.7071068 0 0 0.7071068" class="visual"/>
+
+            <geom size="0.029 0.05" quat="0 0 0.707107 0.707107" type="cylinder" group="0" name="gripper_base_col" pos="0.004 0.0 0.04"/>
+            <!-- This site was added for visualization. -->
+            <body name="eef" pos="0 0 0.109" quat="0.707105 0 0 -0.707105">
+                <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 0.5" type="sphere" group="1"/>
+                <site name="ee_x" pos="0.1 0 0" size="0.005 .1"  quat="0.707105  0 0.707108 0 " rgba="1 0 0 0" type="cylinder" group="1"/>
+                <site name="ee_y" pos="0 0.1 0" size="0.005 .1" quat="0.707105 0.707108 0 0" rgba="0 1 0 0" type="cylinder" group="1"/>
+                <site name="ee_z" pos="0 0 0.1" size="0.005 .1" quat="1 0 0 0" rgba="0 0 1 0" type="cylinder" group="1"/>
+                <!-- This site was added for visualization. -->
+                <site name="grip_site_cylinder" pos="0 0 0" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
+            </body>
+            <body name="l_finger" pos="0 0.01 0.0444">
+                <inertial pos="0 0 0" quat="0 0 0 -1" mass="0.02" diaginertia="0.01 0.01 0.01" />
+                <joint name="l_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.0115 0.020833" damping="100" armature="1.0" frictionloss="1.0"/>
+                <geom name="l_finger" quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" material="finger_mat"/>
+                <geom size="0.005 0.00675 0.0375" pos="0 0.01725 0.04" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g0" friction="0 0 0"/>
+                <geom size="0.005 0.025 0.0085" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" type="box" group="0" conaffinity="1" contype="0" name="l_finger_g1" friction="0 0 0"/>
+                <body name="l_finger_tip" pos="0 0.01725 0.075">
+                    <inertial pos="0 0 0" quat="0 0 0 1" mass="0.01" diaginertia="0.01 0.01 0.01" />
+                    <geom name="l_fingertip_g0_vis" quat="0 0 0 1" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" material="finger_mat"/>
+
+                    <geom size="0.004 0.004 0.0185" pos="0 -0.0045 -0.015" quat="0 0 0 -1" type="box" group="0"  conaffinity="1" contype="0" name="l_fingertip_g0" friction="0 0 0"/>
+                    <geom size="0.0035 0.004 0.0165" pos="0 -0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="l_fingerpad_g0" friction="0 0 0"/>
+                </body>
+            </body>
+            <body name="r_finger" pos="0 -0.01 0.0444">
+                <inertial pos="0 0 0" mass="0.02" diaginertia="0.01 0.01 0.01" />
+                <joint name="r_finger_joint" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.020833 0.0115" damping="100" armature="1.0" frictionloss="1.0"/>
+                <geom name="r_finger" type="mesh" contype="0" conaffinity="0" group="1" mesh="standard_narrow" material="finger_mat"/>
+                <geom size="0.005 0.00675 0.0375" pos="0 -0.01725 0.04" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g0" friction="0 0 0"/>
+                <geom size="0.005 0.025 0.0085" pos="0.005 0.003 0.0083" type="box" group="0" conaffinity="1" contype="0" name="r_finger_g1" friction="0 0 0"/>
+                <body name="r_finger_tip" pos="0 -0.01725 0.075">
+                    <inertial pos="0 0 0" mass="0.01" diaginertia="0.01 0.01 0.01" />
+                    <geom name="r_fingertip_g0_vis" type="mesh" contype="0" conaffinity="0" group="1" mesh="half_round_tip" material="finger_mat"/>
+                    <geom size="0.004 0.004 0.0185" pos="0 0.0045 -0.015" type="box" group="0" conaffinity="1" contype="0" name="r_fingertip_g0" friction="0 0 0"/>
+                    <geom size="0.0035 0.004 0.0165" pos="0 0.0047 -0.017" type="box"  conaffinity="1" contype="0" name="r_fingerpad_g0" friction="0 0 0"/>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+    <sensor>
+        <force name="force_ee" site="ft_frame"/>
+        <torque name="torque_ee" site="ft_frame"/>
+    </sensor>
+</mujoco>

third_party/.libero_local/sawyer_robot_patched.xml

@@ -0,0 +1,259 @@
+<mujoco model="sawyer">
+    <actuator>
+    	<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="right_j0" name="torq_right_j0"/>
+    	<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="right_j1" name="torq_right_j1"/>
+    	<motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="right_j2" name="torq_right_j2"/>
+    	<motor ctrllimited="true" ctrlrange="-40.0 40.0" joint="right_j3" name="torq_right_j3"/>
+    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j4" name="torq_right_j4"/>
+    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j5" name="torq_right_j5"/>
+    	<motor ctrllimited="true" ctrlrange="-9.0 9.0" joint="right_j6" name="torq_right_j6"/>
+    </actuator>
+    <asset>
+
+        <!-- base material and mesh -->
+	<material name="Mtl1.017" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl2.017" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<mesh name="base_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/base/base_0.obj" inertia="shell"/>
+	<mesh name="base_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/base/base_1.obj" inertia="shell"/>
+      
+        <!-- head material and mesh -->
+	<material name="Mtl1" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl2" specular="0.5" shininess="0.225" rgba="0.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl4" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl5" specular="0.5" shininess="0.225" rgba="0.870588 0.309804 0.086275 1.000000"/>
+	<material name="Mtl6" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<material name="Mtl7" specular="0.5" shininess="0.225" rgba="0.698039 0.698039 0.698039 1.000000"/>
+	<material name="Mtl8" specular="0.5" shininess="0.225" rgba="0.792157 0.819608 0.929412 1.000000"/>
+	<material name="Mtl9" specular="0.5" shininess="0.225" rgba="0.250980 0.250980 0.250980 1.000000"/>
+	<material name="Mtla" specular="0.5" shininess="0.225" rgba="0.000000 0.000000 1.000000 1.000000"/>
+	<material name="Mtlb" specular="0.5" shininess="0.225" rgba="0.290196 0.290196 0.290196 1.000000"/>
+        <!-- l0 material and mesh -->
+	<material name="Mtl1.014" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<material name="Mtl2.014" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl3.013" specular="0.5" shininess="0.225" rgba="0.168627 0.152941 0.141176 1.000000"/>
+	<material name="Mtl4.012" specular="0.5" shininess="0.225" rgba="1.000000 0.403922 0.121569 1.000000"/>
+	<material name="Mtl5.010" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl6.008" specular="0.5" shininess="0.225" rgba="0.792157 0.819608 0.929412 1.000000"/>
+	<material name="Mtl7.007" specular="0.5" shininess="0.225" rgba="0.250980 0.250980 0.250980 1.000000"/>
+	<mesh name="l0_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_0.obj" inertia="shell"/>
+	<mesh name="l0_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_1.obj" inertia="shell"/>
+	<mesh name="l0_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_2.obj" inertia="shell"/>
+	<mesh name="l0_3" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_3.obj" inertia="shell"/>
+	<mesh name="l0_4" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_4.obj" inertia="shell"/>
+	<mesh name="l0_5" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_5.obj" inertia="shell"/>
+	<mesh name="l0_6" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l0/l0_6.obj" inertia="shell"/>
+
+        <!-- l1 material and mesh -->
+	<material name="Mtl1.004" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl2.004" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl3.003" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<mesh name="l1_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l1/l1_0.obj" inertia="shell"/>
+	<mesh name="l1_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l1/l1_1.obj" inertia="shell"/>
+	<mesh name="l1_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l1/l1_2.obj" inertia="shell"/>
+
+        <!-- l2 material and mesh -->
+	<material name="Mtl1.005" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl2.005" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<material name="Mtl3.004" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl4.003" specular="0.5" shininess="0.225" rgba="0.792157 0.819608 0.929412 1.000000"/>
+	<material name="Mtl5.003" specular="0.5" shininess="0.225" rgba="0.105882 0.105882 0.105882 1.000000"/>
+	<mesh name="l2_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l2/l2_0.obj" inertia="shell"/>
+	<mesh name="l2_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l2/l2_1.obj" inertia="shell"/>
+	<mesh name="l2_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l2/l2_2.obj" inertia="shell"/>
+	<mesh name="l2_3" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l2/l2_3.obj" inertia="shell"/>
+	<mesh name="l2_4" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l2/l2_4.obj" inertia="shell"/>
+
+        <!-- l3 material and mesh -->
+	<material name="Mtl1.007" specular="0.5" shininess="0.225" rgba="0.290196 0.290196 0.290196 1.000000"/>
+	<material name="Mtl2.007" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl3.006" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl4.005" specular="0.5" shininess="0.225" rgba="0.792157 0.819608 0.929412 1.000000"/>
+	<mesh name="l3_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l3/l3_0.obj" inertia="shell"/>
+	<mesh name="l3_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l3/l3_1.obj" inertia="shell"/>
+	<mesh name="l3_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l3/l3_2.obj" inertia="shell"/>
+	<mesh name="l3_3" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l3/l3_3.obj" inertia="shell"/>
+
+        <!-- l4 material and mesh -->
+	<material name="Mtl1.010" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<material name="Mtl2.010" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl3.009" specular="0.5" shininess="0.225" rgba="0.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl4.008" specular="0.5" shininess="0.225" rgba="0.792157 0.819608 0.929412 1.000000"/>
+	<material name="Mtl5.006" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl6.004" specular="0.5" shininess="0.225" rgba="0.749020 0.749020 0.749020 1.000000"/>
+	<material name="Mtl7.004" specular="0.5" shininess="0.225" rgba="0.290196 0.290196 0.290196 1.000000"/>
+	<material name="Mtl8.002" specular="0.5" shininess="0.225" rgba="0.250980 0.250980 0.250980 1.000000"/>
+	<mesh name="l4_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_0.obj" inertia="shell"/>
+	<mesh name="l4_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_1.obj" inertia="shell"/>
+	<mesh name="l4_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_2.obj" inertia="shell"/>
+	<mesh name="l4_3" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_3.obj" inertia="shell"/>
+	<mesh name="l4_4" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_4.obj" inertia="shell"/>
+	<mesh name="l4_5" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_5.obj" inertia="shell"/>
+	<mesh name="l4_6" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_6.obj" inertia="shell"/>
+	<mesh name="l4_7" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l4/l4_7.obj" inertia="shell"/>
+
+        <!-- l5 material and mesh -->
+	<material name="Mtl1_001" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl2_001" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl3_001" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<material name="Mtl4_001" specular="0.5" shininess="0.225" rgba="0.866667 0.905882 1.000000 1.000000"/>
+	<material name="Mtl5_001" specular="0.5" shininess="0.225" rgba="0.501961 0.501961 0.501961 1.000000"/>
+	<mesh name="l5_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l5/l5_0.obj" inertia="shell"/>
+	<mesh name="l5_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l5/l5_1.obj" inertia="shell"/>
+	<mesh name="l5_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l5/l5_2.obj" inertia="shell"/>
+	<mesh name="l5_3" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l5/l5_3.obj" inertia="shell"/>
+	<mesh name="l5_4" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l5/l5_4.obj" inertia="shell"/>
+
+        <!-- l6 material and mesh -->
+	<material name="Mtl1.012" specular="0.5" shininess="0.225" rgba="0.298039 0.298039 0.298039 1.000000"/>
+	<material name="Mtl2.012" specular="0.5" shininess="0.225" rgba="0.282353 0.282353 0.282353 1.000000"/>
+	<material name="Mtl3.011" specular="0.5" shininess="0.225" rgba="0.286275 0.286275 0.286275 1.000000"/>
+	<material name="Mtl4.010" specular="0.5" shininess="0.225" rgba="1.000000 0.000000 0.000000 1.000000"/>
+	<material name="Mtl5.008" specular="0.5" shininess="0.225" rgba="1.000000 1.000000 1.000000 1.000000"/>
+	<material name="Mtl6.006" specular="0.5" shininess="0.225" rgba="1.000000 0.403922 0.121569 1.000000"/>
+	<mesh name="l6_0" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l6/l6_0.obj" inertia="shell"/>
+	<mesh name="l6_1" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l6/l6_1.obj" inertia="shell"/>
+	<mesh name="l6_2" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l6/l6_2.obj" inertia="shell"/>
+	<mesh name="l6_3" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l6/l6_3.obj" inertia="shell"/>
+	<mesh name="l6_4" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l6/l6_4.obj" inertia="shell"/>
+	<mesh name="l6_5" file="/scratch1/home/zhicao/miniconda3/envs/openpi/lib/python3.11/site-packages/robosuite/models/assets/robots/sawyer/obj_meshes/l6/l6_5.obj" inertia="shell"/>
+
+    </asset>
+    <worldbody>
+    	<body name="base" pos="0 0 0">
+			<!-- robot view -->
+			<camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
+    		<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
+            <!-- mount attached here -->
+    		<body name="right_arm_base_link" pos="0 0 0">
+    			<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558"/>
+			<geom mesh="base_0" material="Mtl2.017" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+			<geom mesh="base_1" material="Mtl1.017" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+  			
+    			<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" name="base_col"/>
+    			<body name="right_l0" pos="0 0 0.08">
+    				<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573"/>
+    				<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503"/>
+				<geom mesh="l0_0" material="Mtl7.007" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+				<geom mesh="l0_1" material="Mtl6.008" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+				<geom mesh="l0_2" material="Mtl5.010" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+				<geom mesh="l0_3" material="Mtl4.012" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+				<geom mesh="l0_4" material="Mtl3.013" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+				<geom mesh="l0_5" material="Mtl2.014" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+				<geom mesh="l0_6" material="Mtl1.014" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+
+    				<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" name="link0_collision"/>
+    				<body name="head" pos="0 0 0.2965">
+    					<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247"/>
+    					<!--Don't want to control the head joint so remove it from the kinematic tree-->
+    					<!--<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064"/>-->
+    					<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" name="head_collision"/>
+    					<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
+    						<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
+    						<geom rgba="0.2 0.2 0.2 1" size="0.001" name="screen_collision"/>
+    					</body>
+    					<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
+    						<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813"/>
+    					</body>
+    				</body>
+    				<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
+    					<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
+    				</body>
+    				<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
+    					<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296"/>
+    					<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736"/>
+					<geom mesh="l1_0" material="Mtl3.003" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+					<geom mesh="l1_1" material="Mtl2.004" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+					<geom mesh="l1_2" material="Mtl1.004" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+					
+
+    					<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" name="link1_collision"/>
+    					<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
+    						<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537"/>
+    						<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426"/>
+						<geom mesh="l2_0" material="Mtl4.003" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+						<geom mesh="l2_1" material="Mtl5.003" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+						<geom mesh="l2_2" material="Mtl3.004" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+						<geom mesh="l2_3" material="Mtl2.005" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+						<geom mesh="l2_4" material="Mtl1.005" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+
+    						<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" name="link2_collision"/>
+    						<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
+    							<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247"/>
+    							<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439"/>
+							<geom mesh="l3_0" material="Mtl4.005" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+							<geom mesh="l3_1" material="Mtl3.006" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+							<geom mesh="l3_2" material="Mtl2.007" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+							<geom mesh="l3_3" material="Mtl1.007" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+
+    							<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" name="link3_collision"/>
+    							<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
+    								<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582"/>
+    								<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761"/>
+								<geom mesh="l4_0" material="Mtl8.002" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_1" material="Mtl7.004" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_2" material="Mtl6.004" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_3" material="Mtl5.006" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_4" material="Mtl4.008" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_5" material="Mtl3.009" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_6" material="Mtl2.010" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+								<geom mesh="l4_7" material="Mtl1.010" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+
+    								<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" name="link4_collision"/>
+    								<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
+    									<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0"/>
+    								</body>
+    								<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
+    									<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335"/>
+    									<joint axis="0 0 1" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" damping="0.2"/>
+									<geom mesh="l5_0" material="Mtl5_001" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+									<geom mesh="l5_1" material="Mtl4_001" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+									<geom mesh="l5_2" material="Mtl2_001" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+									<geom mesh="l5_3" material="Mtl1_001" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+									<geom mesh="l5_4" material="Mtl3_001" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+
+    									<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" name="link5_collision"/>
+    									<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
+    										<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0"/>
+    									</body>
+    									<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
+    										<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0"/>
+    									</body>
+    									<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
+    										<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322"/>
+    										<joint axis="0 0 1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" damping="0.1"/>
+										<geom mesh="l6_0" material="Mtl6.006" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+										<geom mesh="l6_1" material="Mtl5.008" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+										<geom mesh="l6_2" material="Mtl4.010" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+										<geom mesh="l6_3" material="Mtl3.011" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+										<geom mesh="l6_4" material="Mtl2.012" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+										<geom mesh="l6_5" material="Mtl1.012" type="mesh" contype="0" conaffinity="0" group="1" shellinertia="true"/>
+										
+    										<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" name="link6_collision"/>
+    										<body name="right_hand" pos="0 0 0.024" quat="0.707105 0 0 0.707108">
+												<!-- This camera points out from the eef. -->
+                								<camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
+    											<!-- To add gripper -->
+    										</body>
+    									</body>
+    								</body>
+    								<body name="right_l4_2" pos="0 0 0">
+    									<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708"/>
+    									<geom pos="0 0.01 0.26" size="0.06" name="right_l4_2"/>
+    								</body>
+    							</body>
+    						</body>
+    						<body name="right_l2_2" pos="0 0 0">
+    							<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708"/>
+    							<geom pos="0 0 0.26" size="0.06" name="right_l2_2"/>
+    						</body>
+    					</body>
+    					<body name="right_l1_2" pos="0 0 0">
+    						<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708"/>
+    						<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" name="right_l1_2"/>
+    					</body>
+    				</body>
+    			</body>
+    		</body>
+    	</body>
+    </worldbody>
+</mujoco>

third_party/libero/libero.egg-info/PKG-INFO

@@ -0,0 +1,185 @@
+Metadata-Version: 2.4
+Name: libero
+Version: 0.1.0
+Summary: LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
+Author: Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, Peter Stone
+Author-email: bliu@cs.utexas.edu, yifengz@cs.utexas.edu
+Requires-Python: >=3
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Dynamic: author
+Dynamic: author-email
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: license-file
+Dynamic: requires-python
+Dynamic: summary
+
+<div align="center">
+
+
+<p align="center">
+<a href="https://github.com/Lifelong-Robot-Learning/LIBERO/actions">
+<img alt="Tests Passing" src="https://github.com/anuraghazra/github-readme-stats/workflows/Test/badge.svg" />
+</a>
+<a href="https://github.com/Lifelong-Robot-Learning/LIBERO/graphs/contributors">
+<img alt="GitHub Contributors" src="https://img.shields.io/github/contributors/Lifelong-Robot-Learning/LIBERO" />
+</a>
+<a href="https://github.com/Lifelong-Robot-Learning/LIBERO/issues">
+<img alt="Issues" src="https://img.shields.io/github/issues/Lifelong-Robot-Learning/LIBERO?color=0088ff" />
+
+## **Benchmarking Knowledge Transfer for Lifelong Robot Learning**
+
+Bo Liu, Yifeng Zhu, Chongkai Gao, Yihao Feng, Qiang Liu, Yuke Zhu, Peter Stone
+
+[[Website]](https://libero-project.github.io)
+[[Paper]](https://arxiv.org/pdf/2306.03310.pdf)
+[[Docs]](https://lifelong-robot-learning.github.io/LIBERO/)
+______________________________________________________________________
+</div>
+
+**LIBERO** is designed for studying knowledge transfer in multitask and lifelong robot learning problems. Successfully resolving these problems require both declarative knowledge about objects/spatial relationships and procedural knowledge about motion/behaviors. **LIBERO** provides:
+- a procedural generation pipeline that could in principle generate an infinite number of manipulation tasks.
+- 130 tasks grouped into four task suites: **LIBERO-Spatial**, **LIBERO-Object**, **LIBERO-Goal**, and **LIBERO-100**. The first three task suites have controlled distribution shifts, meaning that they require the transfer of a specific type of knowledge. In contrast, **LIBERO-100** consists of 100 manipulation tasks that require the transfer of entangled knowledge. **LIBERO-100** is further splitted into **LIBERO-90** for pretraining a policy and **LIBERO-10** for testing the agent's downstream lifelong learning performance.
+- five research topics.
+- three visuomotor policy network architectures.
+- three lifelong learning algorithms with the sequential finetuning and multitask learning baselines.
+
+---
+
+
+# Contents
+
+- [Installation](#Installation)
+- [Datasets](#Dataset)
+- [Getting Started](#Getting-Started)
+  - [Task](#Task)
+  - [Training](#Training)
+  - [Evaluation](#Evaluation)
+- [Citation](#Citation)
+- [License](#License)
+
+
+# Installtion
+Please run the following commands in the given order to install the dependency for **LIBERO**.
+```
+conda create -n libero python=3.8.13
+conda activate libero
+git clone https://github.com/Lifelong-Robot-Learning/LIBERO.git
+cd LIBERO
+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
+```
+
+Then install the `libero` package:
+```
+pip install -e .
+```
+
+# Datasets
+We provide high-quality human teleoperation demonstrations for the four task suites in **LIBERO**. To download the demonstration dataset, run:
+```python
+python benchmark_scripts/download_libero_datasets.py
+```
+By default, the dataset will be stored under the ```LIBERO``` folder and all four datasets will be downloaded. To download a specific dataset, use
+```python
+python benchmark_scripts/download_libero_datasets.py --datasets DATASET
+```
+where ```DATASET``` is chosen from `[libero_spatial, libero_object, libero_100, libero_goal`.
+
+
+# Getting Started
+
+For a detailed walk-through, please either refer to the documentation or the notebook examples provided under the `notebooks` folder. In the following, we provide example scripts for retrieving a task, training and evaluation.
+
+## Task
+
+The following is a minimal example of retrieving a specific task from a specific task suite.
+```python
+from libero.libero import benchmark
+from libero.libero.envs import OffScreenRenderEnv
+
+
+benchmark_dict = benchmark.get_benchmark_dict()
+task_suite_name = "libero_10" # can also choose libero_spatial, libero_object, etc.
+task_suite = benchmark_dict[task_suite_name]()
+
+# retrieve a specific task
+task_id = 0
+task = task_suite.get_task(task_id)
+task_name = task.name
+task_description = task.language
+task_bddl_file = os.path.join(get_libero_path("bddl_files"), task.problem_folder, task.bddl_file)
+print(f"[info] retrieving task {task_id} from suite {task_suite_name}, the " + \
+      f"language instruction is {task_description}, and the bddl file is {task_bddl_file}")
+
+# step over the environment
+env_args = {
+    "bddl_file_name": task_bddl_file,
+    "camera_heights": 128,
+    "camera_widths": 128
+}
+env = OffScreenRenderEnv(**env_args)
+env.seed(0)
+env.reset()
+init_states = task_suite.get_task_init_states(task_id) # for benchmarking purpose, we fix the a set of initial states
+init_state_id = 0
+env.set_init_state(init_states[init_state_id])
+
+dummy_action = [0.] * 7
+for step in range(10):
+    obs, reward, done, info = env.step(dummy_action)
+env.close()
+```
+Currently, we only support sparse reward function (i.e., the agent receives `+1` when the task is finished). As sparse-reward RL is extremely hard to learn, currently we mainly focus on lifelong imitation learning.
+
+## Training
+To start a lifelong learning experiment, please choose:
+- `BENCHMARK` from `[LIBERO_SPATIAL, LIBERO_OBJECT, LIBERO_GOAL, LIBERO_90, LIBERO_10]`
+- `POLICY` from `[bc_rnn_policy, bc_transformer_policy, bc_vilt_policy]`
+- `ALGO` from `[base, er, ewc, packnet, multitask]`
+
+then run the following:
+
+```shell
+export CUDA_VISIBLE_DEVICES=GPU_ID && \
+export MUJOCO_EGL_DEVICE_ID=GPU_ID && \
+python libero/lifelong/main.py seed=SEED \
+                               benchmark_name=BENCHMARK \
+                               policy=POLICY \
+                               lifelong=ALGO
+```
+Please see the documentation for the details of reproducing the study results.
+
+## Evaluation
+
+By default the policies will be evaluated on the fly during training. If you have limited computing resource of GPUs, we offer an evaluation script for you to evaluate models separately.
+
+```shell
+python libero/lifelong/evaluate.py --benchmark BENCHMARK_NAME \
+                                   --task_id TASK_ID \ 
+                                   --algo ALGO_NAME \
+                                   --policy POLICY_NAME \
+                                   --seed SEED \
+                                   --ep EPOCH \
+                                   --load_task LOAD_TASK \
+                                   --device_id CUDA_ID
+```
+
+# Citation
+If you find **LIBERO** to be useful in your own research, please consider citing our paper:
+
+```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}
+}
+```
+
+# 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)                 |

third_party/libero/libero.egg-info/SOURCES.txt

@@ -0,0 +1,9 @@
+LICENSE
+README.md
+setup.py
+libero.egg-info/PKG-INFO
+libero.egg-info/SOURCES.txt
+libero.egg-info/dependency_links.txt
+libero.egg-info/eager_resources.txt
+libero.egg-info/entry_points.txt
+libero.egg-info/top_level.txt

third_party/libero/libero.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

third_party/libero/libero.egg-info/eager_resources.txt

@@ -0,0 +1 @@
+*

third_party/libero/libero.egg-info/entry_points.txt

@@ -0,0 +1,5 @@
+[console_scripts]
+libero.config_copy = scripts.config_copy:main
+libero.create_template = scripts.create_template:main
+lifelong.eval = libero.lifelong.evaluate:main
+lifelong.main = libero.lifelong.main:main

third_party/libero/libero.egg-info/top_level.txt

@@ -0,0 +1 @@
+

third_party/libero/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

third_party/libero/libero/libero/assets/serving_region.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<mujoco model="serving_region">
+  <worldbody>
+      <body>
+        <body name="object" pos="0 0 0">
+	    <body name="base" pos="0 0 0" quat="1 0 0 0">	  
+	       <site name="plate" pos="0. 0. 0.022" size="1.0 1.0 0.05" rgba="1 0 0 1" type="box" material="MatRedWood"/>
+	    </body>
+        </body>
+        <site name="bottom_site" pos="0 0 -0.3" rgba="0 0 0 0" size="0.005"/>
+        <site name="top_site" pos="0 0 0.3" rgba="0 0 0 0" size="0.005"/>
+        <site name="horizontal_radius_site" pos="0.3 0 0" rgba="0 0 0 0" size="0.1"/>
+      </body>
+    </worldbody>
+</mujoco>

third_party/libero/libero/libero/assets/wall.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<mujoco model="wall">
+  <worldbody>
+      <body>
+        <body name="object" pos="0 0 0">
+	    <body name="base" pos="0 0 0" quat="1 0 0 0">	  
+	       <geom name="obstacle" pos="0. 0. 0.022" size="0.15 0.01 0.08" rgba="0 0 1 1" type="box" material="MatDarkWood" group="0"/>
+	       <geom name="visual_obj" pos="0. 0. 0.022" size="0.15 0.01 0.08" rgba="0 0 1 1" type="box" material="MatDarkWood" group="1"/>
+	    </body>
+        </body>
+        <site name="bottom_site" pos="0 0 -0.3" rgba="0 0 0 0" size="0.005"/>
+        <site name="top_site" pos="0 0 0.3" rgba="0 0 0 0" size="0.005"/>
+        <site name="horizontal_radius_site" pos="0.3 0 0" rgba="0 0 0 0" size="0.1"/>
+      </body>
+    </worldbody>
+</mujoco>

third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the moka pot on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the bottom drawer of the cabinet and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug in the microwave and close it)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    white_yellow_mug_1
+    microwave_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both moka pots on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the cream cheese box in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the tomato sauce in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the cream cheese box and the butter in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the left plate and put the yellow and white mug on the right plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_yellow_mug_1 - white_yellow_mug
+    plate_1 plate_2 - plate
+  )
+
+  (:obj_of_interest
+    plate_1
+    plate_2
+    white_yellow_mug_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the plate and put the chocolate pudding to the right of the plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    plate_1 - plate
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    plate_1
+    chocolate_pudding_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the book and place it in the back compartment of the caddy)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (black_book_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    black_book_1
+    desk_caddy_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In black_book_1 desk_caddy_1_back_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_arm/tasks_info.txt

@@ -0,0 +1,10 @@
+libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
+libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the moka pot on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the bottom drawer of the cabinet and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug in the microwave and close it)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    white_yellow_mug_1
+    microwave_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both moka pots on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the cream cheese box in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the tomato sauce in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the cream cheese box and the butter in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the left plate and put the yellow and white mug on the right plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_yellow_mug_1 - white_yellow_mug
+    plate_1 plate_2 - plate
+  )
+
+  (:obj_of_interest
+    plate_1
+    plate_2
+    white_yellow_mug_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the white mug on the plate and put the chocolate pudding to the right of the plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    plate_1 - plate
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    plate_1
+    chocolate_pudding_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the book and place it in the back compartment of the caddy)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (black_book_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    black_book_1
+    desk_caddy_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In black_book_1 desk_caddy_1_back_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_cross/tasks_info.txt

@@ -0,0 +1,10 @@
+libero/bddl_files/libero_10/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl
+libero/bddl_files/libero_10/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl
+libero/bddl_files/libero_10/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl
+libero/bddl_files/libero_10/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language switch stove on and put moka pot on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put black bowl inside bottom drawer and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place yellow and white mug in microwave and close door)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    white_yellow_mug_1
+    microwave_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place both moka pots on stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put alphabet soup and cream cheese box in basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place alphabet soup and tomato sauce into basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    tomato_sauce_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In tomato_sauce_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket.bddl

@@ -0,0 +1,134 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place cream cheese box and butter into basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (milk_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (orange_juice_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.275 0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 0.025 -0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (butter_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.275 -0.175 -0.225 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    orange_juice_1 - orange_juice
+    milk_1 - milk
+    butter_1 - butter
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    cream_cheese_1
+    butter_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In cream_cheese_1 basket_1_contain_region) (In butter_1 basket_1_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate.bddl

@@ -0,0 +1,92 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place white mug on left plate and yellow-white mug on right plate)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 -0.325 0.025 -0.27499999999999997)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.025 0.27499999999999997 0.025 0.325)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    white_yellow_mug_1 - white_yellow_mug
+    plate_1 plate_2 - plate
+  )
+
+  (:obj_of_interest
+    plate_1
+    plate_2
+    white_yellow_mug_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On white_yellow_mug_1 plate_2))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate.bddl

@@ -0,0 +1,101 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language place white mug on plate and chocolate pudding to right)
+    (:regions
+      (plate_left_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 -0.15000000000000002 0.2 -0.05)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_right_region
+          (:target living_room_table)
+          (:ranges (
+              (0.09999999999999999 0.05 0.2 0.15000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (plate_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.125 -0.025 0.175 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.125 -0.175 -0.07500000000000001 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (chocolate_pudding_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.07500000000000001 0.07500000000000001 -0.025 0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (red_coffee_mug_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.025 -0.17500000000000002 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    red_coffee_mug_1 - red_coffee_mug
+    plate_1 - plate
+    chocolate_pudding_1 - chocolate_pudding
+  )
+
+  (:obj_of_interest
+    plate_1
+    chocolate_pudding_1
+    porcelain_mug_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On porcelain_mug_1 plate_1) (On chocolate_pudding_1 living_room_table_plate_right_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_lan/STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy.bddl

@@ -0,0 +1,88 @@
+(define (problem LIBERO_Study_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language pick up the book and place in back compartment)
+    (:regions
+      (desk_caddy_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.21000000000000002 -0.15000000000000002 -0.19 -0.13)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (black_book_init_region
+          (:target study_table)
+          (:ranges (
+              (-0.025 0.125 0.025 0.175)
+            )
+          )
+          (:yaw_rotation (
+              (-1.5707963267948966 -0.7853981633974483)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target study_table)
+          (:ranges (
+              (0.07500000000000001 -0.025 0.125 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (desk_caddy_right_region
+          (:target study_table)
+          (:ranges (
+              (-0.25 0.09999999999999999 -0.15000000000000002 0.2)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (right_contain_region
+          (:target desk_caddy_1)
+      )
+      (left_contain_region
+          (:target desk_caddy_1)
+      )
+      (back_contain_region
+          (:target desk_caddy_1)
+      )
+      (front_contain_region
+          (:target desk_caddy_1)
+      )
+    )
+
+  (:fixtures
+    study_table - study_table
+    desk_caddy_1 - desk_caddy
+  )
+
+  (:objects
+    black_book_1 - black_book
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    black_book_1
+    desk_caddy_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In black_book_1 desk_caddy_1_back_contain_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it.bddl

@@ -0,0 +1,68 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language turn on the stove and put the moka pot on it)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 0.19 -0.19 0.21000000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (frypan_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 -0.275 -0.025 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 -0.025 0.07500000000000001 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    chefmate_8_frypan_1 - chefmate_8_frypan
+    moka_pot_1 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Turnon flat_stove_1) (On moka_pot_1 flat_stove_1_cook_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it.bddl

@@ -0,0 +1,94 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the black bowl in the bottom drawer of the cabinet and close it)
+    (:regions
+      (white_cabinet_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.29 0.01 0.31)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_rack_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.11 -0.31 -0.09000000000000001 -0.29)
+            )
+          )
+          (:yaw_rotation (
+              (3.141592653589793 3.141592653589793)
+            )
+          )
+      )
+      (akita_black_bowl_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.0049999999999999975 -0.07500000000000001 0.055 -0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (wine_bottle_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.175 0.025 -0.125 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target white_cabinet_1)
+      )
+      (middle_region
+          (:target white_cabinet_1)
+      )
+      (bottom_region
+          (:target white_cabinet_1)
+      )
+      (top_region
+          (:target wine_rack_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    white_cabinet_1 - white_cabinet
+    wine_rack_1 - wine_rack
+  )
+
+  (:objects
+    akita_black_bowl_1 - akita_black_bowl
+    wine_bottle_1 - wine_bottle
+  )
+
+  (:obj_of_interest
+    akita_black_bowl_1
+    white_cabinet_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (Close white_cabinet_1_bottom_region) (In akita_black_bowl_1 white_cabinet_1_bottom_region))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it.bddl

@@ -0,0 +1,83 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put the yellow and white mug in the microwave and close it)
+    (:regions
+      (microwave_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.01 0.33999999999999997 0.01 0.36)
+            )
+          )
+          (:yaw_rotation (
+              (0 0)
+            )
+          )
+      )
+      (white_yellow_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.025 -0.025 0.025 0.025)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.125 -0.275 -0.07500000000000001 -0.225)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (porcelain_mug_front_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.05 -0.3 0.05 -0.2)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (top_side
+          (:target microwave_1)
+      )
+      (heating_region
+          (:target microwave_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    microwave_1 - microwave
+  )
+
+  (:objects
+    porcelain_mug_1 - porcelain_mug
+    white_yellow_mug_1 - white_yellow_mug
+  )
+
+  (:obj_of_interest
+    white_yellow_mug_1
+    microwave_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In white_yellow_mug_1 microwave_1_heating_region) (Close microwave_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_sawyer/KITCHEN_SCENE8_put_both_moka_pots_on_the_stove.bddl

@@ -0,0 +1,69 @@
+(define (problem LIBERO_Kitchen_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both moka pots on the stove)
+    (:regions
+      (flat_stove_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.21000000000000002 -0.21000000000000002 -0.19 -0.19)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_right_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (-0.07500000000000001 0.225 -0.025 0.275)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (moka_pot_left_init_region
+          (:target kitchen_table)
+          (:ranges (
+              (0.025 0.025 0.07500000000000001 0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cook_region
+          (:target flat_stove_1)
+      )
+    )
+
+  (:fixtures
+    kitchen_table - kitchen_table
+    flat_stove_1 - flat_stove
+  )
+
+  (:objects
+    moka_pot_1 moka_pot_2 - moka_pot
+  )
+
+  (:obj_of_interest
+    moka_pot_1
+    moka_pot_2
+    flat_stove_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (On moka_pot_1 flat_stove_1_cook_region) (On moka_pot_2 flat_stove_1_cook_region) (Turnon flat_stove_1))
+  )
+
+)

third_party/libero/libero/libero/bddl_files/libero_10_sawyer/LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket.bddl

@@ -0,0 +1,95 @@
+(define (problem LIBERO_Living_Room_Tabletop_Manipulation)
+  (:domain robosuite)
+  (:language put both the alphabet soup and the cream cheese box in the basket)
+    (:regions
+      (basket_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.01 0.25 0.01 0.27)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (alphabet_soup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.025 -0.125 0.07500000000000001 -0.07500000000000001)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (cream_cheese_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.175 0.034999999999999996 -0.125 0.08499999999999999)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (tomato_sauce_init_region
+          (:target living_room_table)
+          (:ranges (
+              (0.07500000000000001 -0.225 0.125 -0.17500000000000002)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (ketchup_init_region
+          (:target living_room_table)
+          (:ranges (
+              (-0.225 -0.175 -0.17500000000000002 -0.125)
+            )
+          )
+          (:yaw_rotation (
+              (0.0 0.0)
+            )
+          )
+      )
+      (contain_region
+          (:target basket_1)
+      )
+    )
+
+  (:fixtures
+    living_room_table - living_room_table
+  )
+
+  (:objects
+    alphabet_soup_1 - alphabet_soup
+    cream_cheese_1 - cream_cheese
+    tomato_sauce_1 - tomato_sauce
+    ketchup_1 - ketchup
+    basket_1 - basket
+  )
+
+  (:obj_of_interest
+    alphabet_soup_1
+    cream_cheese_1
+    basket_1
+  )
+
+  (:init
+    (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)
+  )
+
+  (:goal
+    (And (In alphabet_soup_1 basket_1_contain_region) (In cream_cheese_1 basket_1_contain_region))
+  )
+
+)