envpool-assets

Runtime data assets for EnvPool.

This repository builds platform-independent data wheels. Platform-specific executables and native libraries stay in the main envpool wheels.

Most assets are shipped in the main envpool-assets wheel. Asset groups that would push that wheel over PyPI's file-size limit are split into their own wheels. Every package has its own compatibility version; these versions are not derived from the main envpool package version.

Packages

envpool-assets
envpool-assets-mujoco-large
envpool-assets-mujoco-playground-humanoid
envpool-assets-mjlab

Build Locally

From this repository, with a checked-out EnvPool repository available:

python scripts/collect_envpool_assets.py \
  --envpool-root /path/to/envpool \
  --output-root .asset-root-base \
  --package base

python scripts/build_wheel.py \
  --asset-root .asset-root-base \
  --version 0.4.1 \
  --package base \
  --dist-dir dist

python scripts/optimize_wheel.py dist/envpool_assets-*.whl

If you already have an asset root with the EnvPool asset subtree layout, skip collection and run only scripts/build_wheel.py.

The base package's 0.4.1 release adds the DMC Composer locomotion and Soccer models, textures, skins, selected motion clips, and license notices. Use an EnvPool checkout containing the native locomotion implementation. The other two asset packages do not need a version change for this addition.

For the GitHub Actions workflow, select package: base and set envpool_ref to the EnvPool source commit to build only this wheel. The default all selection and version tags build all four packages.

The separate envpool-assets-mjlab package contains the twelve built-in MJLab 1.6.0 task presets, including meshes, textures, and serialized native CPU execution graphs. Shared arrays are stored once with lossless Zstandard compression. It contains no executable code, Python environment implementation, or reference motion; tracking tasks take an explicit motion file from the user. The native kernels are compiled into the main EnvPool wheel.

For the first MJLab asset release, select package: mjlab, version 0.1.0, and the exact EnvPool source commit containing the native MJLab port. The three existing asset packages keep their own versions and contents. Verify this one asset wheel with all four native platform builds before publishing it.

Expected Asset Root Layouts

The base package contains the smaller cross-family asset subtrees:

base:              atari/roms
                   gfootball/assets
                   mujoco/assets_dmc
                   mujoco/assets_gym
                   mujoco/locomotion/assets_dm_control
                   mujoco/locomotion/assets_labmaze
                   mujoco/metaworld/assets
                   mujoco/robotics/assets
                   procgen/assets
                   vizdoom/bin/freedoom2.wad
                   vizdoom/maps
mujoco-large:      mujoco/myosuite/assets
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/go1
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/spot
                   mujoco/playground/assets/mujoco_playground/_src/manipulation/aero_hand
                   mujoco/playground/assets/mujoco_playground/_src/manipulation/aloha
                   mujoco/playground/assets/mujoco_playground/_src/manipulation/franka_emika_panda
                   mujoco/playground/assets/mujoco_playground/_src/manipulation/franka_emika_panda_robotiq
                   mujoco/playground/assets/mujoco_playground/_src/manipulation/leap_hand
                   mujoco/playground/assets/mujoco_menagerie/google_barkour_vb
                   mujoco/playground/assets/mujoco_menagerie/unitree_go1
                   mujoco/playground/assets/mujoco_menagerie/boston_dynamics_spot
                   mujoco/playground/assets/mujoco_menagerie/tetheria_aero_hand_open
                   mujoco/playground/assets/mujoco_menagerie/aloha
                   mujoco/playground/assets/mujoco_menagerie/franka_emika_panda
                   mujoco/playground/assets/mujoco_menagerie/robotiq_2f85_v4
                   mujoco/playground/assets/mujoco_menagerie/leap_hand
mujoco-playground-humanoid:
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/apollo
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/berkeley_humanoid
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/g1
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/h1
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/op3
                   mujoco/playground/assets/mujoco_playground/_src/locomotion/t1
                   mujoco/playground/assets/mujoco_menagerie/apptronik_apollo
                   mujoco/playground/assets/mujoco_menagerie/berkeley_humanoid
                   mujoco/playground/assets/mujoco_menagerie/unitree_g1
                   mujoco/playground/assets/mujoco_menagerie/unitree_h1
                   mujoco/playground/assets/mujoco_menagerie/robotis_op3
                   mujoco/playground/assets/mujoco_menagerie/booster_t1
mjlab:             mujoco/mjlab/assets
                   mujoco/mjlab/licenses

vizdoom/bin/vizdoom and vizdoom/bin/vizdoom.pk3 are deliberately excluded because they are platform-specific runtime files shipped by the main EnvPool wheel.