From 04bfe6c832a53deb4bad16c13c8053e45ee51158 Mon Sep 17 00:00:00 2001 From: ShashwatPatil Date: Fri, 21 Mar 2025 19:00:21 +0530 Subject: [PATCH] added runtime download for stl files of husky --- node-hub/dora-mujoco-husky/README.md | 2 - .../dora_mujoco_husky/husky/meshes/base.dae | 136 -------- .../husky/meshes/base_link.dae | 199 ------------ .../dora_mujoco_husky/husky/meshes/bumper.dae | 199 ------------ .../husky/meshes/top_chassis.dae | 199 ------------ .../husky/meshes/top_plate.dae | 294 ------------------ .../husky/meshes/user_rail.dae | 199 ------------ .../dora_mujoco_husky/husky/meshes/wheel.dae | 199 ------------ .../dora_mujoco_husky/main.py | 3 + .../dora_mujoco_husky/mesh_downloader.py | 66 ++++ node-hub/dora-mujoco-husky/husky.gif | Bin 579630 -> 0 bytes node-hub/dora-mujoco-husky/pyproject.toml | 5 +- node-hub/gamepad/pyproject.toml | 2 +- 13 files changed, 73 insertions(+), 1430 deletions(-) delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/base.dae delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/base_link.dae delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/bumper.dae delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/top_chassis.dae delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/top_plate.dae delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/user_rail.dae delete mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/wheel.dae create mode 100644 node-hub/dora-mujoco-husky/dora_mujoco_husky/mesh_downloader.py delete mode 100644 node-hub/dora-mujoco-husky/husky.gif diff --git a/node-hub/dora-mujoco-husky/README.md b/node-hub/dora-mujoco-husky/README.md index 974b2740..819905e5 100644 --- a/node-hub/dora-mujoco-husky/README.md +++ b/node-hub/dora-mujoco-husky/README.md @@ -41,8 +41,6 @@ dora build demo.yml --uv ```bash dora run demo.yml --uv ``` -If everthing is correct, it should look like this -![Husky MuJoCo Simulation](husky.gif) ## Usage diff --git a/node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/base.dae b/node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/base.dae deleted file mode 100644 index 623f6110..00000000 --- a/node-hub/dora-mujoco-husky/dora_mujoco_husky/husky/meshes/base.dae +++ /dev/null @@ -1,136 +0,0 @@ - - - - - Blender User - Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76 - - 2014-08-08T14:23:19 - 2014-08-08T14:23:19 - - Z_UP - - - - - - - - - 0 0 0 1 - - - 0 0 0 1 - - - 0.5248 0.5248 0.5248 1 - - - 0.25 0.25 0.25 1 - - - 1 - - - 1 - - - - - - - - - - - 0 0 0 1 - - - 0 0 0 1 - - - 0.064 0.064 0.064 1 - - - 0.25 0.25 0.25 1 - - - 1 - - - 1 - - - - - - - - - - - - - - - - - - - -0.004459977 -0.1099999 0.002924919 0.004974365 -0.11 0.00416702 0.00514996 -0.11 0.005499899 0.002574861 -0.11 0.009959936 0.001332819 -0.1099999 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

0 0 1 0 2 0 3 1 4 1 5 1 5 2 4 2 6 2 7 3 8 3 9 3 10 4 11 4 12 4 12 5 11 5 0 5 13 6 14 6 15 6 15 7 14 7 16 7 17 8 18 8 19 8 19 9 18 9 7 9 19 10 7 10 16 10 16 11 7 11 15 11 15 12 7 12 9 12 15 13 9 13 2 13 2 14 9 14 5 14 2 15 5 15 0 15 0 16 5 16 6 16 0 17 6 17 12 17 20 18 21 18 22 18 23 19 24 19 25 19 25 20 24 20 26 20 27 21 28 21 29 21 30 22 31 22 32 22 32 23 31 23 20 23 32 24 20 24 26 24 33 25 34 25 35 25 35 26 34 26 36 26 37 27 38 27 39 27 39 28 38 28 27 28 26 29 20 29 25 29 25 30 20 30 22 30 25 31 22 31 29 31 29 32 22 32 35 32 29 33 35 33 27 33 27 34 35 34 36 34 27 35 36 35 39 35 8 36 7 36 37 36 37 37 7 37 38 37 21 38 20 38 10 38 10 39 20 39 11 39 1 40 0 40 40 40 40 41 0 41 31 41 41 42 27 42 17 42 17 43 27 43 18 43 0 44 11 44 31 44 31 45 11 45 20 45 7 46 18 46 38 46 38 47 18 47 27 47 1 48 42 48 2 48 2 49 42 49 43 49 2 50 43 50 15 50 15 51 43 51 44 51 15 52 44 52 13 52 13 53 44 53 45 53 14 54 46 54 16 54 16 55 46 55 47 55 16 56 47 56 19 56 19 57 47 57 48 57 19 58 29 58 17 58 17 59 29 59 49 59 50 60 51 60 52 60 52 61 51 61 53 61 52 62 53 62 54 62 54 63 53 63 55 63 54 64 55 64 56 64 56 65 55 65 57 65 56 66 57 66 58 66 46 67 14 67 59 67 59 68 14 68 60 68 59 69 60 69 61 69 61 70 60 70 62 70 61 71 62 71 63 71 63 72 62 72 64 72 63 73 64 73 65 73 65 74 64 74 66 74 65 75 66 75 67 75 67 76 66 76 58 76 67 77 58 77 68 77 68 78 58 78 57 78 13 79 45 79 69 79 69 80 45 80 70 80 69 81 70 81 71 81 71 82 70 82 72 82 71 83 72 83 73 83 73 84 72 84 74 84 73 85 74 85 75 85 75 86 74 86 76 86 75 87 76 87 77 87 78 88 79 88 80 88 80 89 79 89 81 89 80 90 81 90 82 90 82 91 81 91 83 91 82 92 83 92 84 92 84 93 83 93 85 93 84 94 85 94 86 94 86 95 85 95 77 95 86 96 77 96 87 96 87 97 77 97 76 97 14 98 13 98 69 98 14 99 69 99 60 99 60 100 69 100 71 100 60 101 71 101 62 101 62 102 71 102 73 102 62 103 73 103 64 103 64 104 73 104 75 104 64 105 75 105 66 105 66 106 75 106 77 106 66 107 77 107 58 107 58 108 77 108 85 108 58 109 85 109 56 109 56 110 85 110 83 110 56 111 83 111 54 111 54 112 83 112 81 112 54 113 81 113 52 113 52 114 81 114 79 114 52 115 79 115 50 115 51 116 78 116 80 116 51 117 80 117 53 117 53 118 80 118 82 118 53 119 82 119 55 119 55 120 82 120 84 120 55 121 84 121 57 121 57 122 84 122 86 122 57 123 86 123 68 123 68 124 86 124 87 124 68 125 87 125 67 125 67 126 87 126 76 126 67 127 76 127 65 127 65 128 76 128 74 128 65 129 74 129 63 129 63 130 74 130 72 130 63 131 72 131 61 131 61 132 72 132 70 132 61 133 70 133 59 133 59 134 70 134 45 134 59 135 45 135 46 135 88 136 89 136 50 136 50 137 89 137 51 137 90 138 91 138 78 138 78 139 91 139 79 139 91 140 88 140 79 140 79 141 88 141 50 141 51 142 89 142 78 142 78 143 89 143 90 143 88 144 91 144 89 144 89 145 91 145 90 145 9 146 39 146 5 146 5 147 39 147 36 147 5 148 36 148 3 148 3 149 36 149 34 149 4 150 33 150 6 150 6 151 33 151 35 151 6 152 35 152 12 152 12 153 35 153 22 153 8 154 37 154 9 154 9 155 37 155 39 155 12 156 22 156 10 156 10 157 22 157 21 157 33 158 4 158 92 158 92 159 4 159 93 159 92 160 93 160 94 160 94 161 93 161 95 161 94 162 95 162 96 162 96 163 95 163 97 163 96 164 97 164 98 164 98 165 97 165 99 165 98 166 99 166 100 166 100 167 99 167 101 167 100 168 101 168 102 168 102 169 101 169 103 169 102 170 103 170 104 170 104 171 103 171 105 171 104 172 105 172 106 172 106 173 105 173 107 173 106 174 107 174 108 174 108 175 107 175 109 175 110 176 111 176 112 176 112 177 111 177 113 177 112 178 113 178 114 178 114 179 113 179 115 179 114 180 115 180 116 180 116 181 115 181 117 181 116 182 117 182 118 182 118 183 117 183 119 183 118 184 119 184 120 184 120 185 119 185 121 185 120 186 121 186 122 186 122 187 121 187 123 187 122 188 123 188 124 188 124 189 123 189 125 189 124 190 125 190 126 190 126 191 125 191 127 191 126 192 127 192 34 192 34 193 127 193 3 193 4 194 3 194 127 194 4 195 127 195 93 195 93 196 127 196 125 196 93 197 125 197 95 197 95 198 125 198 123 198 95 199 123 199 97 199 97 200 123 200 121 200 97 201 121 201 99 201 99 202 121 202 119 202 99 203 119 203 101 203 101 204 119 204 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

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- - - - - - - - - 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 - - - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - \ No newline at end of file diff --git a/node-hub/dora-mujoco-husky/dora_mujoco_husky/main.py b/node-hub/dora-mujoco-husky/dora_mujoco_husky/main.py index d1fc47d7..1f6ed852 100644 --- a/node-hub/dora-mujoco-husky/dora_mujoco_husky/main.py +++ b/node-hub/dora-mujoco-husky/dora_mujoco_husky/main.py @@ -3,6 +3,7 @@ import mujoco import mujoco.viewer import pyarrow as pa import os +from .mesh_downloader import ensure_meshes def clamp(value, min_val, max_val): """Clamp value between min_val and max_val""" @@ -14,6 +15,8 @@ def main(): node = Node("mujoco_husky") print("Initializing Mujoco Husky simulation...") + ensure_meshes() + # Load Husky model model_path = os.path.join(os.path.dirname(__file__), "husky/husky.xml") model = mujoco.MjModel.from_xml_path(model_path) diff --git a/node-hub/dora-mujoco-husky/dora_mujoco_husky/mesh_downloader.py b/node-hub/dora-mujoco-husky/dora_mujoco_husky/mesh_downloader.py new file mode 100644 index 00000000..6da4e64f --- /dev/null +++ b/node-hub/dora-mujoco-husky/dora_mujoco_husky/mesh_downloader.py @@ -0,0 +1,66 @@ +import os +import requests +import hashlib +from pathlib import Path +import shutil + +BASE_URL = "https://raw.githubusercontent.com/robotlearning123/dual_ur5_husky_mujoco/dual_ur5_husky_mujoco/husky_description/meshes_mujoco" + +MESH_URLS = { + "base_link.stl": f"{BASE_URL}/base_link.stl", + "wheel.stl": f"{BASE_URL}/wheel.stl", + "top_plate.stl": f"{BASE_URL}/top_plate.stl", + "user_rail.stl": f"{BASE_URL}/user_rail.stl", + "bumper.stl": f"{BASE_URL}/bumper.stl" +} + +def get_cache_dir(): + """Get or create cache directory for mesh files""" + cache_dir = Path.home() / ".cache" / "dora-mujoco-husky" / "meshes" + cache_dir.mkdir(parents=True, exist_ok=True) + return cache_dir + +def download_file(url: str, filepath: Path): + """Download file from URL with progress indicator""" + print(f"Downloading {filepath.name} from {url}") + try: + response = requests.get(url, stream=True) + response.raise_for_status() + + total_size = int(response.headers.get('content-length', 0)) + block_size = 8192 + + with open(filepath, 'wb') as f: + for chunk in response.iter_content(chunk_size=block_size): + if chunk: + f.write(chunk) + print(f"Successfully downloaded {filepath.name}") + + except requests.exceptions.RequestException as e: + print(f"Error downloading {filepath.name}: {e}") + raise + +def ensure_meshes(): + """Ensure all mesh files are available, downloading if necessary""" + cache_dir = get_cache_dir() + mesh_dir = Path(__file__).parent / "husky" / "meshes" + mesh_dir.mkdir(parents=True, exist_ok=True) + + print("Checking mesh files...") + for filename, url in MESH_URLS.items(): + cache_file = cache_dir / filename + mesh_file = mesh_dir / filename + + # Check if file exists in cache + if not cache_file.exists(): + download_file(url, cache_file) + + # Copy from cache to mesh directory if needed + if not mesh_file.exists(): + print(f"Installing {filename} to {mesh_file}") + shutil.copy2(cache_file, mesh_file) + + print("All mesh files are ready") + +if __name__ == "__main__": + ensure_meshes() \ No newline at end of file diff --git a/node-hub/dora-mujoco-husky/husky.gif b/node-hub/dora-mujoco-husky/husky.gif deleted file mode 100644 index b0e6e188c82c271e8f472b8d235a105b72163a92..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 579630 zcmV)1K+V5LNk%w1VUPjg0QUd@4-XC!6B82<6BHB^6(chi6BQN|78WBi79}+nB{vrp z7Z(>67biFuCpj1v7#Jx#85tTH7#bWJ932}S9UL7UHdG!RDIOmq9waRwA0Qw-TOmSb zA|N6oA~YjJX(L5yBSvW?8yqA)T_i;Dn(-}93U%9aV!QREGjB2Dl9E4F)cDUEjc4COJXff zb1hJGE+;51KVUBhBQG~UFHv+b2qZ8MCNNWXF)uJO3@0)bDl#xKGD~wZQ+G2R9y2dW 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dependencies = [ "dora-rs >= 0.3.9", "mujoco >= 3.1.6", - "pyarrow >= 14.0.1" + "pyarrow >= 14.0.1", + "requests >= 2.31.0", ] [dependency-groups] diff --git a/node-hub/gamepad/pyproject.toml b/node-hub/gamepad/pyproject.toml index 564dbc8e..5dda3316 100644 --- a/node-hub/gamepad/pyproject.toml +++ b/node-hub/gamepad/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "gamepad" -version = "0.0.0" +version = "0.1.0" authors = [{ name = "Shashwat Patil", email = "email@email.com" }] description = "gamepad" license = { text = "MIT" }