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Add libero/: 130 base LIBERO tasks vendored as portable MJCF + 193 deduped shared assets (library-free; checker 130/130 bitwise)

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  1. libero/README.md +46 -0
  2. libero/assets/libero/articulated_objects/flat_stove/metal.png +3 -0
  3. libero/assets/libero/articulated_objects/flat_stove/stove_burner/burnerplate.stl +3 -0
  4. libero/assets/libero/articulated_objects/flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh +3 -0
  5. libero/assets/libero/articulated_objects/flat_stove/stove_knob_button/visual/stove_knob_button_vis.msh +3 -0
  6. libero/assets/libero/articulated_objects/meshes/microwave/micro.stl +3 -0
  7. libero/assets/libero/articulated_objects/meshes/microwave/microbutton.stl +3 -0
  8. libero/assets/libero/articulated_objects/meshes/microwave/microdoor.stl +3 -0
  9. libero/assets/libero/articulated_objects/meshes/microwave/microfeet.stl +3 -0
  10. libero/assets/libero/articulated_objects/meshes/microwave/microhandle.stl +3 -0
  11. libero/assets/libero/articulated_objects/meshes/microwave/microwindow.stl +3 -0
  12. libero/assets/libero/articulated_objects/textures/metal1.png +3 -0
  13. libero/assets/libero/articulated_objects/white_cabinet/metal.png +3 -0
  14. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_base/visual/white_cabinet_base_vis.msh +3 -0
  15. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_bottom/visual/white_cabinet_bottom_vis.msh +3 -0
  16. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_bottom_handle/visual/white_cabinet_bottom_handle_vis.msh +3 -0
  17. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_middle/visual/white_cabinet_middle_vis.msh +3 -0
  18. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_middle_handle/visual/white_cabinet_middle_handle_vis.msh +3 -0
  19. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_top/visual/white_cabinet_top_vis.msh +3 -0
  20. libero/assets/libero/articulated_objects/white_cabinet/white_cabinet_top_handle/visual/white_cabinet_top_handle_vis.msh +3 -0
  21. libero/assets/libero/articulated_objects/white_cabinet/white_wood.png +3 -0
  22. libero/assets/libero/articulated_objects/wooden_cabinet/dark_fine_wood.png +3 -0
  23. libero/assets/libero/articulated_objects/wooden_cabinet/metal.png +3 -0
  24. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_base/visual/wooden_cabinet_base_vis.msh +3 -0
  25. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/visual/wooden_cabinet_bottom_vis.msh +3 -0
  26. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/visual/wooden_cabinet_bottom_handle_vis.msh +3 -0
  27. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_middle/visual/wooden_cabinet_middle_vis.msh +3 -0
  28. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_middle_handle/visual/wooden_cabinet_middle_handle_vis.msh +3 -0
  29. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_top/visual/wooden_cabinet_top_vis.msh +3 -0
  30. libero/assets/libero/articulated_objects/wooden_cabinet/wooden_cabinet_top_handle/visual/wooden_cabinet_top_handle_vis.msh +3 -0
  31. libero/assets/libero/scenes/black_book/black_book_texture.png +3 -0
  32. libero/assets/libero/scenes/black_book/visual/black_book_vis.msh +3 -0
  33. libero/assets/libero/scenes/desk/desk_texture.png +3 -0
  34. libero/assets/libero/scenes/desk/visual/desk_vis.msh +3 -0
  35. libero/assets/libero/scenes/floor_lamp/lamp_texture.png +3 -0
  36. libero/assets/libero/scenes/floor_lamp/visual/floor_lamp_vis.msh +3 -0
  37. libero/assets/libero/scenes/fridge/metal.png +3 -0
  38. libero/assets/libero/scenes/fridge/visual/fridge_vis.msh +3 -0
  39. libero/assets/libero/scenes/kitchen_background/kitchen_background.png +3 -0
  40. libero/assets/libero/scenes/kitchen_background/visual/kitchen_background_vis.msh +3 -0
  41. libero/assets/libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh +3 -0
  42. libero/assets/libero/scenes/kitchen_background_pot/kitchen_background_pot.png +3 -0
  43. libero/assets/libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh +3 -0
  44. libero/assets/libero/scenes/kitchen_background_stove/kitchen_background_stove.png +3 -0
  45. libero/assets/libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh +3 -0
  46. libero/assets/libero/scenes/living_room/living_room_wall_unit.png +3 -0
  47. libero/assets/libero/scenes/living_room/visual/living_room_vis.msh +3 -0
  48. libero/assets/libero/scenes/living_room_table/living_room_table_texture.png +3 -0
  49. libero/assets/libero/scenes/living_room_table/visual/living_room_table_vis.msh +3 -0
  50. libero/assets/libero/scenes/office_book_shelf/ceramic.png +3 -0
libero/README.md ADDED
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+ # LIBERO — vendored assets for library-free reproduction in RoboVerse / MetaSim
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+
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+ This `libero/` subtree of [`RoboVerseOrg/roboverse_data`](https://huggingface.co/datasets/RoboVerseOrg/roboverse_data)
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+ makes the upstream **`libero` and `robosuite` Python packages deletable**: every
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+ one of the **130 base LIBERO tasks** (5 suites) can be loaded, evaluated and
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+ rendered inside MetaSim's MuJoCo substrate using only these files +
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+ `mujoco`+`numpy` (no `libero`, no `robosuite` import).
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+
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+ ## Layout
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+
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+ ```
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+ libero/
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+ manifest.json # task list + asset stats + sha
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+ assets/robosuite/<...> # Franka / Panda gripper / arena meshes (shared)
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+ assets/libero/<...> # chiliocosm objects, textures, meshes
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+ tasks/<suite>/<task>.xml # portable MJCF — file="…" are asset relpaths
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+ tasks/<suite>/<task>.goal.json # resolved BDDL goal + OSC config + body_pos/quat
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+ ```
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+
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+ - **193 unique assets / 265 MB**, deduplicated across all 130 tasks (vs ~30 GB if
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+ each task embedded its own meshes). `robosuite/` (64 files) is shared by every
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+ task; `libero/` (129 files) holds the per-scene objects/textures.
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+ - Each `<task>.xml` is the live robosuite-compiled MJCF with `file=` paths
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+ rewritten to the two-namespace relpaths above (resolve with `assets/<relpath>`).
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+ - `<task>.goal.json` carries the BDDL goal reduced to MuJoCo-evaluable predicates
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+ (`in`/`on`/`on_site`/`open`/`close`/`turnon`/`turnoff`), the OSC_POSE config, and
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+ the captured `body_pos`/`body_quat` (robosuite's runtime fixture placement,
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+ `seed=0`) which the loader re-applies to make the model bitwise-identical.
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+
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+ ## How it's produced & consumed (RoboVerse)
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+
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+ - Produced once by `scripts/native/migrate_libero_assets.py`.
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+ - Consumed by `roboverse_pack/tasks/libero_native`:
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+ `LiberoNativeTask.from_vendored(suite, task)` resolves the MJCF + every mesh via
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+ `_locator.py` (this dataset, local clone or HF download) — never importing libero.
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+
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+ ## Verification (`scripts/native/verify_vendored.py`)
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+
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+ All 130 tasks, vendored vs the original robosuite env:
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+
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+ - **model fields exact: 130/130** (`max|Δ| = 0` after the `body_pos/quat` re-apply)
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+ - **ported BDDL checker 1:1: 130/130** (0 mismatch vs `env._check_success` over
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+ full demo state-replay)
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+
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+ Render via MJCF recompile is ~2–5 MAE/255 vs robosuite (mesh-recompile shading
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+ only); physics and success-checking are bitwise.
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Git LFS Details

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Git LFS Details

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Git LFS Details

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Git LFS Details

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Git LFS Details

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