[mujoco] Offload locomotion data to envpool-assets

Author: Trinkle23897

docs/content/build.rst

@@ -10,6 +10,8 @@ Runtime data ships in the three ``envpool-assets*`` packages from the ``0.4.x``
 compatibility line, including the updated MyoSuite and Playground models.
 The main wheel requires this asset version line; older EnvPool releases remain
 on ``0.3.x`` so they do not automatically receive the new models.
+The base ``envpool-assets`` package must be at least ``0.4.1`` for the DMC
+Composer locomotion and Soccer assets; the other two packages still accept ``0.4.0``.
 
 We use `bazel <https://bazel.build/>`_ to build EnvPool. Comparing with
 `pip <https://pip.pypa.io/>`_, using Bazel to build python package with C++ .so

docs/env/dm_control_locomotion.rst

@@ -208,8 +208,12 @@ not guarantee identical mazes across platforms. No maze or task algorithm is
 patched, and model geometry is checked before reset-state sync.
 
 Official XML, skins, textures, and LabMaze 1.0.6 sources are fetched at build
-time. Only the needed texture styles and model assets are packaged. The CMU
-2019 clip used to initialize Soccer and all 36 CMU 2020 ``WALK_TINY`` clips are
+time. The needed texture styles, model assets, motion clips, and license
+notices ship separately in ``envpool-assets>=0.4.1,<0.5.0``, keeping the main
+``envpool`` wheel below the PyPI size limit. Source builds use the generated
+Bazel assets directly, and the main wheel retains the native code's license
+notices. The CMU 2019 clip used to initialize Soccer and all 36 CMU 2020
+``WALK_TINY`` clips are
 extracted from the official, SHA-256-pinned datasets into approximately 7 MB
 of native data. Runtime installation does not download the full motion capture datasets
 or require HDF5, SciPy, LabMaze's Python extension, or ``dm_control``.

envpool/mujoco/locomotion/BUILD

@@ -31,6 +31,14 @@ copy_to_directory(
     strip_prefix = "mujoco_dmc_xml/",
 )
 
+copy_to_directory(
+    name = "licenses",
+    srcs = ["//third_party/dmc_locomotion:licenses"],
+    out = "licenses",
+    flatten = True,
+    strip_prefix = "",
+)
+
 cc_library(
     name = "simulation",
     srcs = [
@@ -118,6 +126,7 @@ py_library(
     data = [
         ":assets",
         ":labmaze_assets",
+        ":licenses",
         ":locomotion_envpool",
     ],
     imports = ["../../.."],

envpool/mujoco/locomotion/registration.py

@@ -28,6 +28,6 @@
         gymnasium_cls="LocomotionGymnasiumEnvPool",
         task_name=task,
         base_path=asset_base_path(
-            "envpool", "mujoco/locomotion/assets_dm_control"
+            "envpool_assets", "mujoco/locomotion/assets_dm_control"
         ),
     )

scripts/release_installed_wheel_smoke.py

@@ -18,6 +18,9 @@
             "gfootball/assets/data",
             "mujoco/assets_dmc/cartpole.xml",
             "mujoco/assets_gym/ant.xml",
+            "mujoco/locomotion/assets_dm_control/mocap_2019.bin",
+            "mujoco/locomotion/assets_dm_control/mocap_2020.bin",
+            "mujoco/locomotion/assets_labmaze/style_01/wall_blue_d.png",
             "mujoco/metaworld/assets/objects/assets/drawer.xml",
             "mujoco/robotics/assets/fetch/reach.xml",
             "procgen/assets/platformer/playerBlue_dead.png",
@@ -178,10 +181,22 @@ def main() -> None:
             f"{package_base_path}, expected {envpool_package}"
         )
 
+    bundled_locomotion_assets = list(
+        (envpool_package / "mujoco/locomotion").glob("assets_*")
+    )
+    if bundled_locomotion_assets:
+        raise RuntimeError(
+            "locomotion data must ship in envpool-assets, not envpool: "
+            f"{bundled_locomotion_assets}"
+        )
+
     for distribution, (module_name, rels) in _ASSET_PACKAGES.items():
         _check_asset_package(distribution, module_name, rels)
 
     required_package_files = [
+        envpool_package / "mujoco/locomotion/licenses/LICENSE",
+        envpool_package / "mujoco/locomotion/licenses/LICENSE.scipy",
+        envpool_package / "mujoco/locomotion/licenses/NOTICE",
         envpool_package / "vizdoom/bin/vizdoom",
         envpool_package / "vizdoom/bin/vizdoom.pk3",
     ]

setup.cfg

@@ -25,7 +25,7 @@ packages = find:
 python_requires = >=3.12
 install_requires =
     dm-env>=1.4
-    envpool-assets>=0.4.0,<0.5.0
+    envpool-assets>=0.4.1,<0.5.0
     envpool-assets-mujoco-large>=0.4.0,<0.5.0
     envpool-assets-mujoco-playground-humanoid>=0.4.0,<0.5.0
     glfw>=2.10.0
@@ -50,9 +50,7 @@ envpool =
     jumanji/_official_render/img/*.png
     jumanji/assets/**/*.npy
     mujoco/*.so.*
-    mujoco/locomotion/assets_dm_control/**/*
-    mujoco/locomotion/assets_dm_control/*
-    mujoco/locomotion/assets_labmaze/**/*
+    mujoco/locomotion/licenses/*
     vizdoom/bin/vizdoom
     vizdoom/bin/vizdoom.pk3
 

third_party/dmc_locomotion/BUILD

@@ -80,14 +80,21 @@ genrule(
 )
 
 filegroup(
-    name = "mocap_runtime",
+    name = "licenses",
     srcs = [
         "LICENSE.scipy",
         "NOTICE",
+        "@labmaze_source//:LICENSE",
+    ],
+)
+
+filegroup(
+    name = "mocap_runtime",
+    srcs = [
         "mocap.json",
         "mocap_2019.bin",
         "mocap_2020.bin",
-        "@labmaze_source//:LICENSE",
+        ":licenses",
     ],
 )