# 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).