| # 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). |
|
|
