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sha256:75ef3781b752e4065891aea855e34dc161a38a549549cd0970cedd07eae6f887 -size 865884 diff --git a/public/urdf/so101/assets/sts3215_03a_v1.stl b/public/urdf/so101/assets/sts3215_03a_v1.stl deleted file mode 100644 index a14c57b9033b82f1daa38f45e7e3c91343702df4..0000000000000000000000000000000000000000 --- a/public/urdf/so101/assets/sts3215_03a_v1.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a37c871fb502483ab96c256baf457d36f2e97afc9205313d9c5ab275ef941cd0 -size 954084 diff --git a/public/urdf/so101/assets/under_arm_so101_v1.stl b/public/urdf/so101/assets/under_arm_so101_v1.stl deleted file mode 100644 index 47b611ef939e452f791ae749756f717317922cfd..0000000000000000000000000000000000000000 --- a/public/urdf/so101/assets/under_arm_so101_v1.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d01d1f2de365651dcad9d6669e94ff87ff7652b5bb2d10752a66a456a86dbc71 -size 1975884 diff --git a/public/urdf/so101/assets/upper_arm_so101_v1.stl b/public/urdf/so101/assets/upper_arm_so101_v1.stl deleted file mode 100644 index 8832740f9540065e6006907a9a826b01f96cd122..0000000000000000000000000000000000000000 --- a/public/urdf/so101/assets/upper_arm_so101_v1.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:475056e03a17e71919b82fd88ab9a0b898ab50164f2a7943652a6b2941bb2d4f -size 1303484 diff --git a/public/urdf/so101/assets/waveshare_mounting_plate_so101_v2.stl b/public/urdf/so101/assets/waveshare_mounting_plate_so101_v2.stl deleted file mode 100644 index e0d90d5b6554ab8ca91928fa6521a675089beb12..0000000000000000000000000000000000000000 --- a/public/urdf/so101/assets/waveshare_mounting_plate_so101_v2.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e197e24005a07d01bbc06a8c42311664eaeda415bf859f68fa247884d0f1a6e9 -size 62784 diff --git a/public/urdf/so101/assets/wrist_roll_follower_so101_v1.stl b/public/urdf/so101/assets/wrist_roll_follower_so101_v1.stl deleted file mode 100644 index 9a5fa8fe2d7d8e59cd4a30d4dba0ca337513ab4a..0000000000000000000000000000000000000000 --- a/public/urdf/so101/assets/wrist_roll_follower_so101_v1.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4b17b410a12d64ec39554abc3e8054d8a97384b2dc4a8d95a5ecb2a93670f5f4 -size 1439884 diff --git a/public/urdf/so101/assets/wrist_roll_pitch_so101_v2.stl b/public/urdf/so101/assets/wrist_roll_pitch_so101_v2.stl deleted file mode 100644 index 2f531712f88ec01d09824ee8e27c791a4616516f..0000000000000000000000000000000000000000 --- a/public/urdf/so101/assets/wrist_roll_pitch_so101_v2.stl +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6c7ec5525b4d8b9e397a30ab4bb0037156a5d5f38a4adf2c7d943d6c56eda5ae -size 2699784 diff --git a/public/urdf/so101/so100.urdf b/public/urdf/so101/so100.urdf deleted file mode 100644 index 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b/public/urdf/so101/so101_new_calib.urdf deleted file mode 100644 index 9552a231d8b23bed68ec15779eba620c5d875ec4..0000000000000000000000000000000000000000 --- a/public/urdf/so101/so101_new_calib.urdf +++ /dev/null @@ -1,453 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/PositionJointInterface - - - hardware_interface/PositionJointInterface - 1 - - - - \ No newline at end of file diff --git a/src/components/urdf-viewer.tsx b/src/components/urdf-viewer.tsx index 6fe4d25f7a505c7aa82289fc462bef3820ed6870..faf2f8b596124f1f25c2a043c62e75b63a75fbf3 100644 --- a/src/components/urdf-viewer.tsx +++ b/src/components/urdf-viewer.tsx @@ -33,18 +33,33 @@ const stlGeometryCache = new Map(); // In-flight promise cache — prevents duplicate simultaneous fetches const stlGeometryLoading = new Map>(); +// URDFs + meshes are hosted in the Hub bucket at +// https://huggingface.co/buckets/lerobot/robot-urdfs. URDFLoader resolves +// relative mesh paths against the URDF's own URL, so the bucket layout +// mirrors the upstream directory tree. Note: buckets don't have branches, +// so the resolve URL has no "/main" segment. +const URDF_BASE_URL = + process.env.NEXT_PUBLIC_URDF_BASE_URL ?? + "https://huggingface.co/buckets/lerobot/robot-urdfs/resolve"; + function getRobotConfig(robotType: string | null) { const lower = (robotType ?? "").toLowerCase(); if (lower.includes("g1") || lower.includes("unitree")) { - return { urdfUrl: "/urdf/g1/g1_body29_hand14.urdf", scale: 1 }; + return { urdfUrl: `${URDF_BASE_URL}/g1/g1_body29_hand14.urdf`, scale: 1 }; } if (lower.includes("openarm")) { - return { urdfUrl: "/urdf/openarm/openarm_bimanual.urdf", scale: 3 }; + return { + urdfUrl: `${URDF_BASE_URL}/openarm/openarm_bimanual.urdf`, + scale: 3, + }; } if (lower.includes("so100") && !lower.includes("so101")) { - return { urdfUrl: "/urdf/so101/so100.urdf", scale: 10 }; + return { urdfUrl: `${URDF_BASE_URL}/so101/so100.urdf`, scale: 10 }; } - return { urdfUrl: "/urdf/so101/so101_new_calib.urdf", scale: 10 }; + return { + urdfUrl: `${URDF_BASE_URL}/so101/so101_new_calib.urdf`, + scale: 10, + }; } // Detect unit: servo ticks (0-4096), degrees (>6.28), or radians