live9080/dreamlake-robots

DreamLake robot presets

Robot descriptions served AS URDF + meshes for the DreamLake viz recon3d component's models: slot — the viewer parses URDF directly, so each robot lives here in its native distribution form (no conversion artifacts).

Usage in a .dreamrc:

- view: recon3d
  models:
    - https://huggingface.co/datasets/live9080/dreamlake-robots/resolve/main/g1/g1_29dof.urdf
  tracks: [{ field: "/tf::*", as: transform3d }]
  up: z

Each link node is named after its URDF link and joins /tf::<link> tracks by name. A link no track claims rides its nearest tracked ancestor; a recording that publishes only /joint_states drives the whole robot through forward kinematics instead — bind the topic with joints:.

Mesh paths and package://

Descriptions that ship as a ROS package keep their package://<pkg>/… mesh references, because that is how they are published. The viewer resolves them three ways, most explicit first:

1. a packages: map on the model entry — models: [{ url: …, packages: { franka_description: "…/franka_description" } }];
2. the URDF's own URL, when one of its path segments IS the package name (…/franka_description/robots/panda_arm.urdf → the package root is …/franka_description/). Everything stored here under its own package directory resolves this way with no configuration;
3. the URDF's directory, as a warned best effort.

droid_panda_robotiq/ is the one entry that needs (1): it composes two packages and lives in neither.

Robots

path	robot	source	license
g1/g1_29dof.urdf	Unitree G1 (29 DoF)	unitreerobotics/unitree_ros	BSD-3-Clause
franka_description/robots/panda_arm.urdf	Franka Emika Panda (7 DoF arm, no hand)	frankaemika/franka_ros	Apache-2.0
robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85.urdf	Robotiq 2F-85 gripper	ros-industrial/robotiq	BSD-2-Clause
droid_panda_robotiq/panda_robotiq_85.urdf	Panda + Robotiq 2F-85, as DROID-style recordings publish it	composed from the two above	Apache-2.0 + BSD-2-Clause

Upstream ships these as xacro macros; the .urdf files here are those macros expanded offline (the viewer refuses xacro on purpose — expanding it needs a package registry a browser does not have). Meshes and licenses are copied unmodified.

droid_panda_robotiq

Composed by packages/viz/scripts/build-panda-robotiq-urdf.py in the viz repo, which records the two edits it makes:

• the gripper's base link is renamed robotiq_arg2f_base_link → robotiq_85_base_link, the name DROID recordings actually publish as the gripper frames' parent. Presets are matched by link-NAME fingerprint, so a description has to carry the recording's own naming;
• the gripper mounts on panda_link8 with rpy="0 0 -pi/4" — franka_description's own convention for anything bolted to the flange (franka_robot.xacro), not a number fitted to any recording.