Take it home: align download commands with what the new datasets actually ship. Isaac/usdview grab <vid>.usda + textures/; MuJoCo grabs mjcf/** (xml + visuals/ + collision/); Blender grabs .glb (no .blend files). Uses huggingface_hub snapshot_download in place of per-file curl.

index.html

@@ -357,94 +357,119 @@ const ENVS = [
   { id: "auto",    label: "Auto-detect",         fmt: "detects engine",
     os: ["mac", "win", "linux"],
     prereq: "Runs whichever engine you have installed (detected at run time)." },
-  { id: "isaac",   label: "Isaac Sim",           fmt: "USD",
+  { id: "isaac",   label: "Isaac Sim",           fmt: "USD + textures",
     os: ["win", "linux"],
     prereq: "Isaac Sim — Linux/Windows + an NVIDIA RTX GPU." },
-  { id: "mujoco",  label: "MuJoCo",              fmt: "MJCF",
+  { id: "mujoco",  label: "MuJoCo",              fmt: "MJCF + meshes",
     os: ["mac", "win", "linux"],
     prereq: "pip install mujoco  ·  any OS." },
-  { id: "usd",     label: "usdview / Omniverse", fmt: "USD",
+  { id: "usd",     label: "usdview / Omniverse", fmt: "USD + textures",
     os: ["mac", "win", "linux"],
     prereq: "usdview (pip install usd-core) — Omniverse needs Linux/Win + RTX." },
-  { id: "blender", label: "Blender",             fmt: ".blend",
+  { id: "blender", label: "Blender",             fmt: ".glb",
     os: ["mac", "win", "linux"],
-    prereq: "Blender — free at blender.org/download." },
+    prereq: "Blender 4.0+ — free at blender.org/download." },
 ];
 const envById = id => ENVS.find(e => e.id === id);
 const naOn = e => e.id !== "auto" && !e.os.includes(OS);
 if (!envById(curEnv)) curEnv = "auto";   // default: self-detect
 
-const resUrl = (cls, item, file) =>
-  `${HFDS}/${cls.dataset}/resolve/main/${cls.items_dir}/${item.id}/${file}`;
 const classLabel = cls =>
   cls.dataset.replace(/^articulated-/, "")
     .replace(/ies$/, "y").replace(/([sxz]|ch|sh)es$/, "$1").replace(/s$/, "");
 
+// One-shot snapshot download of a subtree from the dataset via huggingface_hub.
+// Files land at the same relative path they have on the hub.
+function hfDl(cls, item, patterns) {
+  const inc = patterns.map(p => `"assets/${cls.class}/${item.id}/${p}"`).join(", ");
+  return `python - <<'PY'\n` +
+    `from huggingface_hub import snapshot_download\n` +
+    `snapshot_download("projectsim/${cls.dataset}", repo_type="dataset",\n` +
+    `                  allow_patterns=[${inc}], local_dir=".")\n` +
+    `PY\n`;
+}
+
+// The path a downloaded file lives at, relative to projectsim-assets/.
+const assetPath = (cls, item, file) => `assets/${cls.class}/${item.id}/${file}`;
+
 // the open step, aware of OS (macOS needs mjpython; Blender launcher differs)
-function openCmd(env, id) {
+function openCmd(env, cls, item) {
+  const id = item.id;
+  const usda = assetPath(cls, item, `${id}.usda`);
+  const xml  = assetPath(cls, item, `mjcf/${id}.xml`);
+  const glb  = assetPath(cls, item, `${id}.glb`);
   if (env === "mujoco")
     return OS === "mac"
-      ? `mjpython -m mujoco.viewer --mjcf=${id}.xml`   // macOS: mjpython, not python
-      : `python -m mujoco.viewer --mjcf=${id}.xml`;
+      ? `mjpython -m mujoco.viewer --mjcf=${xml}`
+      : `python -m mujoco.viewer --mjcf=${xml}`;
   if (env === "blender")
-    return OS === "mac" ? `open -a Blender ${id}.blend` : `blender ${id}.blend`;
+    return OS === "mac" ? `open -a Blender ${glb}` : `blender ${glb}`;
   if (env === "usd")
-    return `usdview ${id}/${id}_scene.usda`;
+    return `usdview ${usda}`;
   return `"$ISAAC_SIM/python.sh" - <<PY\n` +            // isaac
     `from isaacsim import SimulationApp\n` +
-    `app = SimulationApp({"open_usd": "$PWD/${id}/${id}_scene.usda"})\n` +
+    `app = SimulationApp({"open_usd": "$PWD/${usda}"})\n` +
     `while app.is_running():\n    app.update()\nPY`;
 }
 
 function cmdFor(env, cls, item) {
-  const id = item.id;
   if (env === "auto") return autoScript(cls, item);
-  const head = `mkdir -p projectsim-assets && cd projectsim-assets\n\n`;
-  const grab = (file) =>
-    `curl --fail --location --progress-bar \\\n` +
-    `  "${resUrl(cls, item, file)}?download=true" \\\n` +
-    `  --output ${file}\n`;
+  const head = `mkdir -p projectsim-assets && cd projectsim-assets\npip install -q huggingface_hub\n\n`;
   const naNote = naOn(envById(env))
     ? `# ${envById(env).label} doesn't run on ${OS_LABEL} — run this on a\n` +
       `# Linux/Windows box with an NVIDIA RTX GPU (or a cloud instance).\n\n`
     : "";
-  if (env === "blender")
-    return naNote + head + grab(`${id}.blend`) + `\n${openCmd(env, id)}`;
-  if (env === "mujoco")
-    return naNote + head + grab(`${id}.xml`) +
-      `\n# self-contained model (colliders + joints + a floor) — press Play\n` +
-      openCmd(env, id);
-  const tail = env === "isaac"
+  const patterns = {
+    isaac:   [`${item.id}.usda`, "textures/**"],
+    usd:     [`${item.id}.usda`, "textures/**"],
+    mujoco:  ["mjcf/**"],
+    blender: [`${item.id}.glb`],
+  }[env];
+  const preOpen = env === "isaac"
     ? `\n# open the play-ready scene in Isaac Sim, then press Play\n` +
-      `# (set ISAAC_SIM to your install, e.g. ~/isaacsim)\n${openCmd(env, id)}`
-    : `\n${openCmd(env, id)}`;
-  return naNote + head + grab(`${id}_usd.zip`) + `unzip -o ${id}_usd.zip\n` + tail;
+      `# (set ISAAC_SIM to your install, e.g. ~/isaacsim)\n`
+    : env === "mujoco"
+    ? `\n# self-contained model (visuals + colliders + joints + latches)\n`
+    : "\n";
+  return naNote + head + hfDl(cls, item, patterns) + preOpen + openCmd(env, cls, item);
 }
 
 // The browser can't read your disk — so this script does the detection itself,
 // at run time, and launches whichever engine you actually have installed.
 function autoScript(cls, item) {
   const id = item.id;
-  const u = file => `${resUrl(cls, item, file)}?download=true`;
+  const usda = assetPath(cls, item, `${id}.usda`);
+  const xml  = assetPath(cls, item, `mjcf/${id}.xml`);
+  const glb  = assetPath(cls, item, `${id}.glb`);
+  const dl = (patterns) =>
+    `python - <<PY\n` +
+    `from huggingface_hub import snapshot_download\n` +
+    `snapshot_download("projectsim/${cls.dataset}", repo_type="dataset",\n` +
+    `                  allow_patterns=[${patterns.map(p=>`"assets/${cls.class}/${id}/${p}"`).join(", ")}], local_dir=".")\n` +
+    `PY`;
   return `# Paste in a macOS/Linux terminal — finds your installed engine.\n` +
     `mkdir -p projectsim-assets && cd projectsim-assets\n` +
-    `get(){ curl --fail -L --progress-bar "$1" -o "$2"; }\n\n` +
+    `pip install -q huggingface_hub\n\n` +
     `if [ -n "$ISAAC_SIM" ] && [ -x "$ISAAC_SIM/python.sh" ]; then\n` +
-    `  echo "→ Isaac Sim"; get "${u(id + '_usd.zip')}" ${id}_usd.zip; unzip -o ${id}_usd.zip\n` +
+    `  echo "→ Isaac Sim"\n` +
+    `  ${dl([`${id}.usda`, "textures/**"])}\n` +
     `  "$ISAAC_SIM/python.sh" - <<PY\n` +
     `from isaacsim import SimulationApp\n` +
-    `app = SimulationApp({"open_usd": "$PWD/${id}/${id}_scene.usda"})\n` +
+    `app = SimulationApp({"open_usd": "$PWD/${usda}"})\n` +
     `while app.is_running(): app.update()\nPY\n` +
     `elif command -v mjpython >/dev/null 2>&1 || python -c "import mujoco" 2>/dev/null; then\n` +
-    `  echo "→ MuJoCo"; get "${u(id + '.xml')}" ${id}.xml\n` +
-    `  { command -v mjpython >/dev/null 2>&1 && mjpython -m mujoco.viewer --mjcf=${id}.xml; } \\\n` +
-    `    || python -m mujoco.viewer --mjcf=${id}.xml\n` +
+    `  echo "→ MuJoCo"\n` +
+    `  ${dl(["mjcf/**"])}\n` +
+    `  { command -v mjpython >/dev/null 2>&1 && mjpython -m mujoco.viewer --mjcf=${xml}; } \\\n` +
+    `    || python -m mujoco.viewer --mjcf=${xml}\n` +
     `elif command -v usdview >/dev/null 2>&1; then\n` +
-    `  echo "→ usdview"; get "${u(id + '_usd.zip')}" ${id}_usd.zip; unzip -o ${id}_usd.zip\n` +
-    `  usdview ${id}/${id}_scene.usda\n` +
+    `  echo "→ usdview"\n` +
+    `  ${dl([`${id}.usda`, "textures/**"])}\n` +
+    `  usdview ${usda}\n` +
     `elif command -v blender >/dev/null 2>&1 || [ -d /Applications/Blender.app ]; then\n` +
-    `  echo "→ Blender"; get "${u(id + '.blend')}" ${id}.blend\n` +
-    `  { command -v blender >/dev/null 2>&1 && blender ${id}.blend; } || open -a Blender ${id}.blend\n` +
+    `  echo "→ Blender"\n` +
+    `  ${dl([`${id}.glb`])}\n` +
+    `  { command -v blender >/dev/null 2>&1 && blender ${glb}; } || open -a Blender ${glb}\n` +
     `else\n` +
     `  echo "No engine found — easiest is:  pip install mujoco  (then re-run)."\n` +
     `fi`;