Scene Creation#

We have created multiple scenes for benchmarking purpose. In this section, we will walk you through the process to create a new scene to benefit your own purpose.

Prepare mesh files#

While the creation of mesh files are not the main focus of this repo, this process is critical to unlock task diversity. Here is a list of resources that you might find helpful:

You can also take a look files located under libero/libero/assets.

Create a problem class#

Problem class defines a domain. A domain is something you will define initial state distributions and task goals on top of it. All the problem definitions in the LIBERO is located in libero/libero/envs/problems. We also provide a template that make it easy for users to create their own problem class.