fix: fix libero_utils to correct libero asset paths too

libero/__init__.py

@@ -0,0 +1,2 @@
+# LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning
+__version__ = "0.1.0"

libero/libero/benchmark/__init__.py

@@ -161,7 +161,7 @@ def get_task_init_states(self, i):
             self.tasks[i].problem_folder,
             self.tasks[i].init_states_file,
         )
-        init_states = torch.load(init_states_path)
+        init_states = torch.load(init_states_path, weights_only=False)
         return init_states
 
     def set_task_embs(self, task_embs):

libero/libero/utils/utils.py

@@ -25,6 +25,9 @@ def postprocess_model_xml(xml_str, cameras_dict={}):
 
     path = os.path.split(robosuite.__file__)[0]
     path_split = path.split("/")
+    libero_path = os.path.split(__file__)[0]
+    libero_path_split = libero_path.split("/")
+    libero_path_split.pop()  # remove 'utils'
 
     # replace mesh and texture file paths
     tree = ET.fromstring(xml_str)
@@ -47,6 +50,21 @@ def postprocess_model_xml(xml_str, cameras_dict={}):
         new_path_split = path_split + old_path_split[ind + 1 :]
         new_path = "/".join(new_path_split)
         elem.set("file", new_path)
+
+    # Correcting the libero asset paths
+    for elem in all_elements:
+        old_path = elem.get("file")
+        if old_path is None:
+            continue
+        old_path_split = old_path.split("/")
+        if "chiliocosm" not in old_path_split:
+            continue
+        ind = max(
+            loc for loc, val in enumerate(old_path_split) if val == "chiliocosm"
+        )  # last occurrence index
+        new_path_split = libero_path_split + old_path_split[ind + 1 :]
+        new_path = "/".join(new_path_split)
+        elem.set("file", new_path)
 
     # cameras = root.find("worldbody").findall("camera")
     cameras = find_elements(root=tree, tags="camera", return_first=False)

pyproject.toml

@@ -0,0 +1,38 @@
+[project]
+name = "libero"
+version = "0.1.0"
+description = "LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning"
+readme = "README.md"
+requires-python = ">=3.8"
+authors = [
+    { name = "Bo Liu", email = "bliu@cs.utexas.edu" },
+    { name = "Yifeng Zhu", email = "yifengz@cs.utexas.edu" },
+    { name = "Chongkai Gao" },
+    { name = "Yihao Feng" },
+    { name = "Qiang Liu" },
+    { name = "Yuke Zhu" },
+    { name = "Peter Stone" },
+]
+dependencies = [
+    "easydict",
+    "robomimic==0.2.0",
+    "robosuite==1.4.0",
+    "bddl==1.0.1",
+    "future==0.18.2",
+    "matplotlib",
+    "cloudpickle",
+    "gym==0.25.2",
+]
+
+[project.scripts]
+"lifelong.main" = "libero.lifelong.main:main"
+"lifelong.eval" = "libero.lifelong.evaluate:main"
+"libero.config_copy" = "scripts.config_copy:main"
+"libero.create_template" = "scripts.create_template:main"
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["libero"]