Delete folder libero with huggingface_hub

libero/configs/config.yaml

@@ -1,24 +0,0 @@
-# @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"

libero/configs/data/default.yaml

@@ -1,39 +0,0 @@
-# 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

libero/configs/eval/default.yaml

@@ -1,10 +0,0 @@
-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

libero/configs/lifelong/agem.yaml

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

libero/configs/lifelong/base.yaml

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

libero/configs/lifelong/er.yaml

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

libero/configs/lifelong/ewc.yaml

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

libero/configs/lifelong/multitask.yaml

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

libero/configs/lifelong/packnet.yaml

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

libero/configs/lifelong/single_task.yaml

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

libero/configs/policy/bc_rnn_policy.yaml

@@ -1,15 +0,0 @@
-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

libero/configs/policy/bc_transformer_policy.yaml

@@ -1,20 +0,0 @@
-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

libero/configs/policy/bc_vilt_policy.yaml

@@ -1,30 +0,0 @@
-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

libero/configs/policy/data_augmentation/batch_wise_img_color_jitter_group_aug.yaml

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

libero/configs/policy/data_augmentation/identity_aug.yaml

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

libero/configs/policy/data_augmentation/translation_aug.yaml

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

libero/configs/policy/data_augmentation/translation_aug_group.yaml

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

libero/configs/policy/image_encoder/patch_encoder.yaml

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

libero/configs/policy/image_encoder/resnet_encoder.yaml

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

libero/configs/policy/language_encoder/clip_encoder.yaml

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

libero/configs/policy/language_encoder/identity_encoder.yaml

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

libero/configs/policy/language_encoder/mlp_encoder.yaml

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

libero/configs/policy/language_encoder/rnn_encoder.yaml

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

libero/configs/policy/policy_head/gmm_head.yaml

@@ -1,12 +0,0 @@
-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

libero/configs/policy/position_encoding/sinusoidal_position_encoding.yaml

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

libero/configs/reproduce_experiment/default_experiment.yaml

@@ -1,14 +0,0 @@
-# @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
-

libero/configs/train/default.yaml

@@ -1,17 +0,0 @@
-# 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

libero/configs/train/optimizer/adam_w.yaml

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

libero/configs/train/scheduler/cosine_annealing.yaml

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

libero/libero/__init__.py

@@ -1,96 +0,0 @@
-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("~/.safelibero")
-)
-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}")

libero/libero/assets/articulated_objects/basin_faucet.xml

@@ -1,38 +0,0 @@
-<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>

libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.mtl

@@ -1,22 +0,0 @@
-# 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

libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.obj

@@ -1,2916 +0,0 @@
-# Blender v3.2.2 OBJ File: 'basin_faucet_base.blend'
-# www.blender.org
-mtllib basin_faucet_base.mtl
-o Basin_Tap_2_Pivot_Sphere_Basin_Tap_2_Pivot_SphereMesh
-v 2.372332 -0.023899 1.788160
-v 2.245565 0.102867 1.931615
-v 2.262255 -0.023899 1.931615
-v 2.351892 0.131357 1.788160
-v 2.196635 0.220995 1.931615
-v 2.291965 0.276033 1.788160
-v 2.118799 0.322433 1.931615
-v 2.196635 0.400269 1.788160
-v 2.072399 0.495599 1.788160
-v 2.017361 0.400269 1.931615
-v 1.899233 0.449199 1.931615
-v 1.927723 0.555526 1.788160
-v 1.772467 0.465889 1.931615
-v 1.772467 0.575966 1.788160
-v 1.645701 0.449199 1.931615
-v 1.617211 0.555526 1.788160
-v 1.527573 0.400269 1.931615
-v 1.472535 0.495599 1.788160
-v 1.426135 0.322433 1.931615
-v 1.348299 0.400270 1.788160
-v 1.252969 0.276034 1.788160
-v 1.348299 0.220995 1.931615
-v 1.299369 0.102868 1.931615
-v 1.193042 0.131358 1.788160
-v 1.282679 -0.023899 1.931615
-v 1.172602 -0.023899 1.788160
-v 1.299369 -0.150665 1.931615
-v 1.193042 -0.179155 1.788160
-v 1.348298 -0.268793 1.931615
-v 1.252969 -0.323831 1.788160
-v 1.426135 -0.370231 1.931615
-v 1.348298 -0.448067 1.788160
-v 1.472534 -0.543397 1.788160
-v 1.527573 -0.448067 1.931615
-v 1.645700 -0.496997 1.931615
-v 1.617210 -0.603324 1.788160
-v 1.772467 -0.513687 1.931615
-v 1.772467 -0.623764 1.788160
-v 1.899233 -0.496998 1.931615
-v 1.927723 -0.603324 1.788160
-v 2.017360 -0.448068 1.931615
-v 2.072399 -0.543397 1.788160
-v 2.118799 -0.370231 1.931615
-v 2.196635 -0.448068 1.788160
-v 2.291965 -0.323832 1.788160
-v 2.196635 -0.268793 1.931615
-v 2.245565 -0.150666 1.931615
-v 2.351892 -0.179156 1.788160
-v 2.441529 -0.023899 1.621103
-v 2.418731 0.149267 1.621103
-v 2.351892 0.310632 1.621103
-v 2.245565 0.449199 1.621103
-v 2.106998 0.555526 1.621103
-v 1.945633 0.622365 1.621103
-v 1.772467 0.645163 1.621103
-v 1.599301 0.622365 1.621103
-v 1.437936 0.555526 1.621103
-v 1.299369 0.449200 1.621103
-v 1.193042 0.310632 1.621103
-v 1.126203 0.149267 1.621103
-v 1.103405 -0.023899 1.621103
-v 1.126202 -0.197065 1.621103
-v 1.193042 -0.358430 1.621103
-v 1.299368 -0.496997 1.621103
-v 1.437936 -0.603324 1.621103
-v 1.599300 -0.670163 1.621103
-v 1.772466 -0.692961 1.621103
-v 1.945633 -0.670164 1.621103
-v 2.106998 -0.603324 1.621103
-v 2.245565 -0.496998 1.621103
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libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.xml

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libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.xml

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libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable_col.obj

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-f 5/8/4 6/7/4 2/9/4 1/10/4
-f 3/11/5 7/6/5 5/8/5 1/12/5
-f 8/5/6 4/13/6 2/14/6 6/7/6
-o Cube.001_Cube.002
-v 0.953706 0.821862 1.644789
-v 0.953706 0.821862 2.710869
-v 2.594143 0.821862 1.644789
-v 2.594143 0.821862 2.710869
-v 0.953706 -0.821862 1.644789
-v 0.953706 -0.821862 2.710869
-v 2.594143 -0.821862 1.644789
-v 2.594143 -0.821862 2.710869
-vt 0.375000 0.000000
-vt 0.625000 0.000000
-vt 0.625000 0.250000
-vt 0.375000 0.250000
-vt 0.625000 0.500000
-vt 0.375000 0.500000
-vt 0.625000 0.750000
-vt 0.375000 0.750000
-vt 0.625000 1.000000
-vt 0.375000 1.000000
-vt 0.125000 0.500000
-vt 0.125000 0.750000
-vt 0.875000 0.500000
-vt 0.875000 0.750000
-vn 0.0000 1.0000 0.0000
-vn 1.0000 0.0000 0.0000
-vn 0.0000 -1.0000 0.0000
-vn -1.0000 0.0000 0.0000
-vn 0.0000 0.0000 -1.0000
-vn 0.0000 0.0000 1.0000
-usemtl None
-s off
-f 9/15/7 10/16/7 12/17/7 11/18/7
-f 11/18/8 12/17/8 16/19/8 15/20/8
-f 15/20/9 16/19/9 14/21/9 13/22/9
-f 13/22/10 14/21/10 10/23/10 9/24/10
-f 11/25/11 15/20/11 13/22/11 9/26/11
-f 16/19/12 12/27/12 10/28/12 14/21/12

libero/libero/assets/articulated_objects/faucet.xml

@@ -1,56 +0,0 @@
-<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>

libero/libero/assets/articulated_objects/flat_stove.xml

@@ -1,67 +0,0 @@
-<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"/>
-		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" 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="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" 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="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" 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="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" 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="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" 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="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" 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="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" 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="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" 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="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" 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="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" 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="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" 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="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" 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="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" 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 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" 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>