# LIBERO — vendored assets for library-free reproduction in RoboVerse / MetaSim

This `libero/` subtree of [`RoboVerseOrg/roboverse_data`](https://huggingface.co/datasets/RoboVerseOrg/roboverse_data)
makes the upstream **`libero` and `robosuite` Python packages deletable**: every
one of the **130 base LIBERO tasks** (5 suites) can be loaded, evaluated and
rendered inside MetaSim's MuJoCo substrate using only these files +
`mujoco`+`numpy` (no `libero`, no `robosuite` import).

## Layout

```
libero/
  manifest.json                       # task list + asset stats + sha
  assets/robosuite/<...>              # Franka / Panda gripper / arena meshes (shared)
  assets/libero/<...>                 # chiliocosm objects, textures, meshes
  tasks/<suite>/<task>.xml            # portable MJCF — file="…" are asset relpaths
  tasks/<suite>/<task>.goal.json      # resolved BDDL goal + OSC config + body_pos/quat
```

- **193 unique assets / 265 MB**, deduplicated across all 130 tasks (vs ~30 GB if
  each task embedded its own meshes). `robosuite/` (64 files) is shared by every
  task; `libero/` (129 files) holds the per-scene objects/textures.
- Each `<task>.xml` is the live robosuite-compiled MJCF with `file=` paths
  rewritten to the two-namespace relpaths above (resolve with `assets/<relpath>`).
- `<task>.goal.json` carries the BDDL goal reduced to MuJoCo-evaluable predicates
  (`in`/`on`/`on_site`/`open`/`close`/`turnon`/`turnoff`), the OSC_POSE config, and
  the captured `body_pos`/`body_quat` (robosuite's runtime fixture placement,
  `seed=0`) which the loader re-applies to make the model bitwise-identical.

## How it's produced & consumed (RoboVerse)

- Produced once by `scripts/native/migrate_libero_assets.py`.
- Consumed by `roboverse_pack/tasks/libero_native`:
  `LiberoNativeTask.from_vendored(suite, task)` resolves the MJCF + every mesh via
  `_locator.py` (this dataset, local clone or HF download) — never importing libero.

## Verification (`scripts/native/verify_vendored.py`)

All 130 tasks, vendored vs the original robosuite env:

- **model fields exact: 130/130** (`max|Δ| = 0` after the `body_pos/quat` re-apply)
- **ported BDDL checker 1:1: 130/130** (0 mismatch vs `env._check_success` over
  full demo state-replay)

Render via MJCF recompile is ~2–5 MAE/255 vs robosuite (mesh-recompile shading
only); physics and success-checking are bitwise.