use zipped assets

remote_control_space/app.py

@@ -476,6 +476,14 @@ def webrtc_video_generator():
 app = FastAPI()
 
 viz_dir = os.path.join(os.path.dirname(__file__), "dist")
+if not os.path.exists(viz_dir) and os.path.exists(os.path.join(os.path.dirname(__file__), "dist.zip")):
+    # unzip the dist.zip file
+    import zipfile
+    zip_path = os.path.join(os.path.dirname(__file__), "dist.zip")
+    with zipfile.ZipFile(zip_path, 'r') as zip_ref:
+        zip_ref.extractall(os.path.dirname(__file__))
+    viz_dir = os.path.join(os.path.dirname(__file__), "dist")    
+
 if os.path.exists(viz_dir):
     app.mount(
         "/viz",

remote_control_space/dist/assets/kinematics_data.json

@@ -1,272 +0,0 @@
-{
-    "motor_arm_length": 0.04000000000000001,
-    "rod_length": 0.08499999999999995,
-    "head_z_offset": 0.177,
-    "passive_joint_kinematics": {
-        "t_xl330_in_platform_frame": [
-                [ 0.4822, -0.7068, -0.5177,  0.0206],
-                [ 0.1766, -0.5003,  0.8476, -0.0218],
-                [-0.8581, -0.5001, -0.1164, -0.0    ],
-                [ 0.0    ,  0.0    ,  0.0    ,  1.0    ]
-            ],
-        "orientation_offset_in_servo_arm_frame": [
-                [-0.13754,-0.0882156, 2.10349],   
-                [-3.14159, 5.37396e-16, -3.14159], 
-                [0.373569, 0.0882156, -1.0381],  
-                [-0.0860846, 0.0882156, 1.0381],
-                [0.123977, 0.0882156, -1.0381],
-                [3.0613, 0.0882156, 1.0381],
-                [3.14159, 2.10388e-17, 4.15523e-17] 
-            ],
-        "stewart_rod_direction_in_passive_frame":[
-                [1, 0, 0], 
-                [ 0.50606941, -0.85796418, -0.08826792],
-                [-1, 0, 0],  
-                [-1, 0, 0], 
-                [-1, 0, 0],
-                [-1, 0, 0] 
-            ]
-    },
-    "motors": [
-        {
-            "name": "stewart_1",
-            "branch_frame": "closing_1_2",
-            "offset": 0,
-            "solution": 0,
-            "T_motor_world": [
-                [
-                    0.8660247915798898,
-                    -0.5000010603626028,
-                    -2.298079077119539e-06,
-                    -0.009999848080267933
-                ],
-                [
-                    4.490195936008854e-06,
-                    3.1810770986818273e-06,
-                    0.999999999984859,
-                    -0.07663346037245178
-                ],
-                [
-                    -0.500001060347722,
-                    -0.8660247915770963,
-                    4.999994360718464e-06,
-                    0.03666015757925319
-                ],
-                [
-                    0.0,
-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "branch_position": [
-                0.020648178337122566,
-                0.021763723638894568,
-                1.0345743467476964e-07
-            ],
-            "limits": [
-                -0.8377580409572196, 1.3962634015955222
-            ]
-        },
-        {
-            "name": "stewart_2",
-            "branch_frame": "closing_2_2",
-            "offset": 0,
-            "solution": 1,
-            "T_motor_world": [
-                [
-                    -0.8660211183436269,
-                    0.5000074225224785,
-                    2.298069723064582e-06,
-                    -0.01000055227585102
-                ],
-                [
-                    -4.490219645842903e-06,
-                    -3.181063409649239e-06,
-                    -0.999999999984859,
-                    0.07663346037219607
-                ],
-                [
-                    -0.5000074225075973,
-                    -0.8660211183408337,
-                    5.00001124330122e-06,
-                    0.03666008712637943
-                ],
-                [
-                    0.0,
-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "branch_position": [
-                0.00852381571767217,
-                0.028763668526131346,
-                1.183437210727778e-07
-            ],
-            "limits": [
-                -1.396263401595614, 1.2217304763958803
-            ]
-        },
-        {
-            "name": "stewart_3",
-            "branch_frame": "closing_3_2",
-            "offset": 0,
-            "solution": 0,
-            "T_motor_world": [
-                [
-                    6.326794896519466e-06,
-                    0.9999999999799852,
-                    -7.0550646912150425e-12,
-                    -0.009999884140839245
-                ],
-                [
-                    -1.0196153102346142e-06,
-                    1.3505961633338446e-11,
-                    0.9999999999994795,
-                    -0.07663346037438698
-                ],
-                [
-                    0.9999999999794655,
-                    -6.326794896940104e-06,
-                    1.0196153098685706e-06,
-                    0.036660683387545835
-                ],
-                [
-                    0.0,
-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "branch_position": [
-                -0.029172011376922807,
-                0.0069999429399361995,
-                4.0290270064691214e-08
-            ],
-            "limits": [
-                -0.8377580409572173, 1.3962634015955244
-            ]
-        },
-        {
-            "name": "stewart_4",
-            "branch_frame": "closing_4_2",
-            "offset": 0,
-            "solution": 1,
-            "T_motor_world": [
-                [
-                    -3.673205069955933e-06,
-                    -0.9999999999932537,
-                    -6.767968877969483e-14,
-                    -0.010000000000897517
-                ],
-                [
-                    1.0196153102837198e-06,
-                    -3.6775764393585005e-12,
-                    -0.9999999999994795,
-                    0.0766334603742898
-                ],
-                [
-                    0.9999999999927336,
-                    -3.673205070385213e-06,
-                    1.0196153102903487e-06,
-                    0.03666065685180194
-                ],
-                [
-                    0.0,
-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "branch_position": [
-                -0.029172040355214434,
-                -0.0069999960097160766,
-                -3.1608172912367394e-08
-            ],
-            "limits": [
-                -1.3962634015953894, 0.8377580409573525
-            ]
-        },
-        {
-            "name": "stewart_5",
-            "branch_frame": "closing_5_2",
-            "offset": 0,
-            "solution": 0,
-            "T_motor_world": [
-                [
-                    -0.8660284647694133,
-                    -0.4999946981757419,
-                    2.298079429767357e-06,
-                    -0.010000231529504576
-                ],
-                [
-                    4.490172883391843e-06,
-                    -3.1811099293773187e-06,
-                    0.9999999999848591,
-                    -0.07663346037246624
-                ],
-                [
-                    -0.4999946981608617,
-                    0.8660284647666201,
-                    4.999994384073154e-06,
-                    0.03666016059492482
-                ],
-                [
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-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "branch_position": [
-                0.008523809101930114,
-                -0.028763713010385224,
-                -1.4344916837716326e-07
-            ],
-            "limits": [
-                -1.2217304763962082, 1.396263401595286
-            ]
-        },
-        {
-            "name": "stewart_6",
-            "branch_frame": "passive_7_link_y",
-            "offset": 0,
-            "solution": 1,
-            "T_motor_world": [
-                [
-                    0.8660247915798897,
-                    0.5000010603626025,
-                    -2.298069644866714e-06,
-                    -0.009999527331574583
-                ],
-                [
-                    -4.490196220318687e-06,
-                    3.1810964558725514e-06,
-                    -0.9999999999848591,
-                    0.07663346037272492
-                ],
-                [
-                    -0.500001060347722,
-                    0.8660247915770967,
-                    5.000011266610794e-06,
-                    0.036660231042625266
-                ],
-                [
-                    0.0,
-                    0.0,
-                    0.0,
-                    1.0
-                ]
-            ],
-            "branch_position": [
-                0.020648186722822436,
-                -0.02176369606185343,
-                -8.957920105689965e-08
-            ],
-            "limits": [
-                -1.3962634015954123, 0.8377580409573296
-            ]
-        }
-    ]
-}

remote_control_space/dist/assets/reachy_mini_rust_kinematics_bg-l105NonK.wasm

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9500f879ae25f03b6939bc3e689f6b9ff3e733fc603e7b84c6cf69e9f17f8b33
-size 209034

remote_control_space/dist/assets/urdf/assets/5w_speaker.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "48f0e86376312f8ca242a082",
-    "fullConfiguration": "default",
-    "id": "MUIOPFRAXdyRYA5/y",
-    "isStandardContent": false,
-    "name": "5W_SPEAKER <1>",
-    "partId": "JFD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/5w_speaker.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:89c220ac5fa6dd559fcd2f3faccb7197904ab6b882ccf5d2ad04b17a09d58b98
-size 229884

remote_control_space/dist/assets/urdf/assets/antenna.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "d5df0bcac25cddb763b3a090",
-    "fullConfiguration": "default",
-    "id": "MT+KnYpqaZ58+3raS",
-    "isStandardContent": false,
-    "name": "antenna <2>",
-    "partId": "JFD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/antenna.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ebe995bfc23aa8f832e86065c364ddf5bf0c1341d6cd4da30790631c7e15a275
-size 314584

remote_control_space/dist/assets/urdf/assets/antenna_body_3dprint.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "41e19b342cf83e0d866fde9b",
-    "fullConfiguration": "default",
-    "id": "M6OWFp5hfkfES9FmB",
-    "isStandardContent": false,
-    "name": "Antenna_body_3DPrint <2>",
-    "partId": "JF/",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/antenna_body_3dprint.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3f760ace60b1a368ba7c51bcd01a152a85e66a587fb24d55886cb9d9ffb9008f
-size 241784

remote_control_space/dist/assets/urdf/assets/antenna_holder_l_3dprint.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "41e19b342cf83e0d866fde9b",
-    "fullConfiguration": "default",
-    "id": "MHVB1f7lyvjCWrFJe",
-    "isStandardContent": false,
-    "name": "Antenna_Holder-L_3DPrint <1>",
-    "partId": "KFDB",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/antenna_holder_l_3dprint.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:2163af81f112d0e1503f284213e831ff7692960cbcb7085ad6db8b63912fd466
-size 314584

remote_control_space/dist/assets/urdf/assets/antenna_holder_r_3dprint.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "41e19b342cf83e0d866fde9b",
-    "fullConfiguration": "default",
-    "id": "MX6Uc6wQ4cFgySRks",
-    "isStandardContent": false,
-    "name": "Antenna_Holder-R_3DPrint <1>",
-    "partId": "JFv",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/antenna_holder_r_3dprint.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3f516056c535ac6bc8ec94983e48945bfca75ccf17d058263bfe67c4883d8932
-size 314584

remote_control_space/dist/assets/urdf/assets/antenna_interface_3dprint.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "41e19b342cf83e0d866fde9b",
-    "fullConfiguration": "default",
-    "id": "MObKCzX1Fco0wvr0/",
-    "isStandardContent": false,
-    "name": "Antenna_interface_3DPrint <2>",
-    "partId": "JF7",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/antenna_interface_3dprint.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:662384ed2de2c37fff6d5bab1ba0ccb76ee03f5d1680043d255e33e879b481bb
-size 179984

remote_control_space/dist/assets/urdf/assets/arducam.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "ae2c63bc6f578a46d35cd365",
-    "fullConfiguration": "default",
-    "id": "MDupaBfND/yK9FERm",
-    "isStandardContent": false,
-    "name": "Arducam <1>",
-    "partId": "JGD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/arducam.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 314584

remote_control_space/dist/assets/urdf/assets/arm.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "e305b26a84339af20c593973",
-    "documentMicroversion": "7031fc46a026e2d553617dca",
-    "elementId": "f05b326e391ef37011cd1007",
-    "fullConfiguration": "default",
-    "id": "MHbJVGQ/2CguoKbZz",
-    "isStandardContent": false,
-    "name": "Arm <1>",
-    "partId": "JsD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/arm.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 104784

remote_control_space/dist/assets/urdf/assets/b3b_eh.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "2cfe27202252cfce42ed7ee4",
-    "fullConfiguration": "default",
-    "id": "Md1pPF2974d9JOL2l",
-    "isStandardContent": false,
-    "name": "B3B-EH <1>",
-    "partId": "JFr",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/b3b_eh.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 9884

remote_control_space/dist/assets/urdf/assets/b3b_eh_1.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "2cfe27202252cfce42ed7ee4",
-    "fullConfiguration": "default",
-    "id": "MMuPyh0yjSzJko9Po",
-    "isStandardContent": false,
-    "name": "B3B-EH_1 <1>",
-    "partId": "JFT",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/b3b_eh_1.stl

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-version https://git-lfs.github.com/spec/v1
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-size 9884

remote_control_space/dist/assets/urdf/assets/ball.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "e305b26a84339af20c593973",
-    "documentMicroversion": "4913859d0d2ce0a13b3adb26",
-    "elementId": "0aa833fd983f27ea7fb43256",
-    "fullConfiguration": "default",
-    "id": "Msm1EC3X/D1/s/Uus",
-    "isStandardContent": false,
-    "name": "Ball <13>",
-    "partId": "JSD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/ball.stl

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-version https://git-lfs.github.com/spec/v1
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-size 158484

remote_control_space/dist/assets/urdf/assets/bearing_85x110x13.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "d5ff0fe74f14f26be2deb5d4",
-    "fullConfiguration": "default",
-    "id": "MYk5LvI8gIvlMtfS7",
-    "isStandardContent": false,
-    "name": "Bearing_85x110x13 <1>",
-    "partId": "JGD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/bearing_85x110x13.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 314584

remote_control_space/dist/assets/urdf/assets/big_lens.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "e305b26a84339af20c593973",
-    "documentMicroversion": "4913859d0d2ce0a13b3adb26",
-    "elementId": "1aa49f5cc5d823754d8b1fec",
-    "fullConfiguration": "default",
-    "id": "MpioSzVOUQtkaeTVH",
-    "isStandardContent": false,
-    "name": "big_lens <1>",
-    "partId": "J0D",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/big_lens.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 266484

remote_control_space/dist/assets/urdf/assets/big_lens_d40.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
-    "documentId": "7836ed39be931c6ece17e007",
-    "documentMicroversion": "22df16c0b36fccefd62a3ccb",
-    "elementId": "f67f6ec9755019fa8d4cde38",
-    "fullConfiguration": "default",
-    "id": "M6vM68+58boAYt2AP",
-    "isStandardContent": false,
-    "name": "Big Lens D40 <1>",
-    "partId": "JFD",
-    "suppressed": false,
-    "type": "Part"
-}

remote_control_space/dist/assets/urdf/assets/big_lens_d40.stl

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 151284

remote_control_space/dist/assets/urdf/assets/body_down_3dprint.part

@@ -1,13 +0,0 @@
-{
-    "configuration": "default",
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remote_control_space/dist/assets/urdf/assets/body_down_3dprint.stl

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-{
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remote_control_space/dist/assets/urdf/assets/body_foot_3dprint.stl

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remote_control_space/dist/assets/urdf/assets/body_top_3dprint.part

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-{
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-{
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-{
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-{
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-{
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-{
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-{
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