LIBERO — vendored mesh assets for the native MetaSim tasks
This libero/assets/ tree holds the deduplicated mesh/texture assets that the
native LIBERO tasks load to run all 130 base LIBERO tasks inside MetaSim with the
upstream libero / robosuite Python packages uninstalled.
Consumer: roboverse_pack/tasks/libero/native_libero.py (NativeLiberoEnv, a
first-class MetaSim BaseTaskEnv on the MuJoCo handler).
Layout
libero/assets/robosuite/<...> # shared Franka / Panda gripper / arena meshes
libero/assets/libero/<...> # per-scene objects, textures, meshes
193 unique files (~265 MB), shared across all 130 tasks — the Franka/arena meshes are referenced by every task, so they are stored once rather than per task.
How it is used
roboverse_pack/tasks/libero/_native_util.remap_libero_model rebases each task
bundle's MJCF file= paths onto this tree (the robosuite/ and libero/ roots)
and downloads any missing file from here on demand — so a machine with libero
and robosuite uninstalled still loads and runs the task. Override the roots with
ROBOVERSE_DATA_DIR, or LIBERO_ASSETS / ROBOSUITE_ASSETS to point at local
installs. (Re)build the tree with tools/libero_integration/vendor_shared_assets.py.
Verification
The native BDDL success checker matches LIBERO's env._check_success bitwise on
all 130 base tasks (0 mismatch over demo state-replay); per-task 1:1 side-by-side
videos are in the RoboVerse docs (LIBERO integration page).