update

app.py

@@ -599,19 +599,29 @@ def _find_urdf_stem(asset_dir: str) -> str | None:
     return None
 
 
-def _zip_items(zip_path: str, items: list[tuple[str, str]]) -> str:
+def _zip_items(
+    zip_path: str,
+    items: list[tuple[str, str]],
+    exclude_suffixes: tuple[str, ...] = (),
+) -> str:
     """Write files/dirs into a zip.
 
     Args:
         zip_path: Output archive path.
         items: ``(src_abspath, arcname)`` pairs. Directories are walked and
             stored under ``arcname``.
+        exclude_suffixes: Lowercase filename suffixes to skip when walking
+            directories, e.g. ``(".glb",)``.
     """
     with zipfile.ZipFile(zip_path, "w", zipfile.ZIP_DEFLATED) as zf:
         for src, arcname in items:
             if os.path.isdir(src):
                 for root_d, _, files in os.walk(src):
                     for fn in files:
+                        if exclude_suffixes and fn.lower().endswith(
+                            exclude_suffixes
+                        ):
+                            continue
                         fp = os.path.join(root_d, fn)
                         rel = os.path.relpath(fp, src)
                         zf.write(fp, os.path.join(arcname, rel))
@@ -622,28 +632,44 @@ def _zip_items(zip_path: str, items: list[tuple[str, str]]) -> str:
 
 def _fmt_zip_path(
     asset_dir: str, fmt: str, req: gr.Request
-) -> tuple[str, str]:
-    """Build the per-format output zip path named ``<uid>.zip``.
+) -> tuple[str, str, str]:
+    """Build the per-format output zip path named ``<uid>_<fmt>.zip``.
 
-    Returns ``(zip_path, uid)``. Each format gets its own subdir so the
-    downloaded filename stays ``<uid>.zip`` without colliding across formats.
+    Returns ``(zip_path, uid, zip_name)``.
     """
     uid = os.path.basename(os.path.normpath(asset_dir))
-    fmt_dir = os.path.join(TMP_DIR, str(req.session_hash), fmt)
-    os.makedirs(fmt_dir, exist_ok=True)
-    return os.path.join(fmt_dir, f"{uid}.zip"), uid
+    user_dir = os.path.join(TMP_DIR, str(req.session_hash))
+    os.makedirs(user_dir, exist_ok=True)
+    zip_name = f"{uid}_{fmt}.zip"
+    return os.path.join(user_dir, zip_name), uid, zip_name
 
 
 def download_urdf(asset_dir: str, req: gr.Request) -> str | None:
-    """Package the full asset folder (URDF + all referenced files) as-is."""
+    """Package the ``.urdf`` file(s) and the ``mesh/`` folder (minus ``.glb``).
+
+    The visual/collision meshes referenced by the URDF live in ``mesh/`` as
+    ``.obj`` + material files; the ``.glb`` (a separate viewer asset) and all
+    other formats (USD/MJCF/video/...) are intentionally excluded.
+    """
     if not asset_dir or not os.path.isdir(asset_dir):
         gr.Warning("Please select an asset first.")
         return None
     gr.Info("⏳ Preparing URDF asset for download, please wait...")
-    ensure_hf_files([f"{_rel_dir(asset_dir)}/**"])
-    zip_path, uid = _fmt_zip_path(asset_dir, "urdf", req)
-    _zip_items(zip_path, [(asset_dir, "")])
-    gr.Info(f"✅ {uid}.zip (URDF) is ready.")
+    rel = _rel_dir(asset_dir)
+    ensure_hf_files([f"{rel}/*.urdf", f"{rel}/mesh/**"])
+
+    items: list[tuple[str, str]] = [
+        (os.path.join(asset_dir, f), f)
+        for f in os.listdir(asset_dir)
+        if f.lower().endswith(".urdf")
+    ]
+    mesh_dir = os.path.join(asset_dir, "mesh")
+    if os.path.isdir(mesh_dir):
+        items.append((mesh_dir, "mesh"))
+
+    zip_path, uid, zip_name = _fmt_zip_path(asset_dir, "urdf", req)
+    _zip_items(zip_path, items, exclude_suffixes=(".glb",))
+    gr.Info(f"✅ {zip_name} is ready.")
     return zip_path
 
 
@@ -673,9 +699,9 @@ def download_usd(asset_dir: str, req: gr.Request) -> str | None:
         gr.Warning("No USD file available for this asset.")
         return None
 
-    zip_path, uid = _fmt_zip_path(asset_dir, "usd", req)
+    zip_path, uid, zip_name = _fmt_zip_path(asset_dir, "usd", req)
     _zip_items(zip_path, items)
-    gr.Info(f"✅ {uid}.zip (USD) is ready.")
+    gr.Info(f"✅ {zip_name} is ready.")
     return zip_path
 
 
@@ -692,9 +718,9 @@ def download_mjcf(asset_dir: str, req: gr.Request) -> str | None:
         gr.Warning("No MJCF folder available for this asset.")
         return None
 
-    zip_path, uid = _fmt_zip_path(asset_dir, "mjcf", req)
+    zip_path, uid, zip_name = _fmt_zip_path(asset_dir, "mjcf", req)
     _zip_items(zip_path, [(mjcf_dir, "mjcf")])
-    gr.Info(f"✅ {uid}.zip (MJCF) is ready.")
+    gr.Info(f"✅ {zip_name} is ready.")
     return zip_path