Add files using upload-large-folder tool

Isaac-GR00T/external_dependencies/LIBERO/benchmark_scripts/check_task_suites.py

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

Isaac-GR00T/external_dependencies/LIBERO/benchmark_scripts/download_libero_datasets.py

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

Isaac-GR00T/external_dependencies/LIBERO/benchmark_scripts/init_path.py

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

Isaac-GR00T/external_dependencies/LIBERO/benchmark_scripts/render_single_task.py

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

Isaac-GR00T/external_dependencies/LIBERO/benchmark_scripts/shasum_files.py

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/config.yaml

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

Isaac-GR00T/external_dependencies/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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/eval/default.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/agem.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/base.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/er.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/ewc.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/multitask.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/packnet.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/lifelong/single_task.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/bc_rnn_policy.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/bc_transformer_policy.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/bc_vilt_policy.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/data_augmentation/batch_wise_img_color_jitter_group_aug.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/data_augmentation/identity_aug.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/data_augmentation/translation_aug.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/data_augmentation/translation_aug_group.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/image_encoder/patch_encoder.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/image_encoder/resnet_encoder.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/language_encoder/clip_encoder.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/language_encoder/identity_encoder.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/language_encoder/mlp_encoder.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/language_encoder/rnn_encoder.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/policy_head/gmm_head.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/policy/position_encoding/sinusoidal_position_encoding.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/reproduce_experiment/default_experiment.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/train/default.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/train/optimizer/adam_w.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/configs/train/scheduler/cosine_annealing.yaml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/libero/__init__.py

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

Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/basin_faucet.xml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.mtl

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

Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.obj

@@ -0,0 +1,2916 @@
+# Blender v3.2.2 OBJ File: 'basin_faucet_base.blend'
+# www.blender.org
+mtllib basin_faucet_base.mtl
+o Basin_Tap_2_Pivot_Sphere_Basin_Tap_2_Pivot_SphereMesh
+v 2.372332 -0.023899 1.788160
+v 2.245565 0.102867 1.931615
+v 2.262255 -0.023899 1.931615
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+v 2.196635 0.220995 1.931615
+v 2.291965 0.276033 1.788160
+v 2.118799 0.322433 1.931615
+v 2.196635 0.400269 1.788160
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+v 2.017361 0.400269 1.931615
+v 1.899233 0.449199 1.931615
+v 1.927723 0.555526 1.788160
+v 1.772467 0.465889 1.931615
+v 1.772467 0.575966 1.788160
+v 1.645701 0.449199 1.931615
+v 1.617211 0.555526 1.788160
+v 1.527573 0.400269 1.931615
+v 1.472535 0.495599 1.788160
+v 1.426135 0.322433 1.931615
+v 1.348299 0.400270 1.788160
+v 1.252969 0.276034 1.788160
+v 1.348299 0.220995 1.931615
+v 1.299369 0.102868 1.931615
+v 1.193042 0.131358 1.788160
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Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.mtl

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Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.xml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable_col.obj

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+# Blender v3.2.2 OBJ File: 'basin_faucet_movable.blend'
+# www.blender.org
+mtllib basin_faucet_movable_col.mtl
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+o Cube.001_Cube.002
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+usemtl None
+s off
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Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/faucet.xml

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

Isaac-GR00T/external_dependencies/LIBERO/libero/libero/assets/articulated_objects/flat_stove.xml

@@ -0,0 +1,67 @@
+<mujoco model="flat_stove">
+    <compiler angle="radian" meshdir="./" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+      <texture file="flat_stove/metal.png" name="tex-stove_knob" type="2d"/>
+      <material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/>
+      <mesh file="flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0"/>      
+      <texture file="flat_stove/button_dark_texture.png" name="tex-stove_knob" type="2d"/>
+      <material name="stove_knob_button" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/>
+      <mesh file="flat_stove/stove_knob_button/visual/stove_knob_button_vis.msh" name="stove_knob_button_vis" scale="1.0 1.0 1.0"/>
+      <texture file="flat_stove/metal.png" name="tex-stove_metal" type="2d"/>
+      <material name="stove_knob_metal" reflectance="0.5" texrepeat="1
+								     1"
+		texture="tex-stove_metal" texuniform="false" shininess="1.0"/>
+      <mesh file="./flat_stove/stove_burner/burnerplate.stl" name="burnerplate" scale="0.55 0.55 0.45" />
+    </asset>
+    <worldbody>
+        <body>
+          <body name="object">
+	    <body name="base" pos="0 0.0 0.0">
+	      <body name="burner" pos="0.15 0 0">
+		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="cook_region"/>
+		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="1" name="base_vis"/>
+		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="0" name="base"/>
+		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="collision_burner"/>
+		<body name="burner_plate">
+	       	  <geom pos="0 0 0.025" type="mesh" mesh="burnerplate"
+			material="stove_knob_metal" group="1" name="burner"
+			contype="0" conaffinity="0"/>
+		</body>
+		<site name="burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder"/>
+	      </body>	      
+	      <body name="button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="button" type="hinge" pos="0 0 0" axis="0 0 1"
+		       limited="true" range="-0.005 2.1" damping="1"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1"
+		      density="100" friction="0.95 0.3 0.1"
+		      type="mesh" mesh="stove_knob_button_vis"
+		      conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3"/>
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