refactor: switch model downloads from wget to aria2c with parallel connections

docs/setup_hil.md

@@ -13,7 +13,7 @@ This repository is compatible with the following system:
 #### Clone the Repository
 
 ```shell
-git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git
+git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git
 cd agentic-mobile-manipulator
 ```
 

docs/setup_sim.md

@@ -13,7 +13,7 @@ This repository is compatible with the following system:
 #### Clone the Repository
 
 ```shell
-git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git
+git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git
 cd agentic-mobile-manipulator
 ```
 

docs/setup_single_machine.md

@@ -13,8 +13,7 @@ This repository is compatible with the following system:
 #### Clone the Repository
 
 ```shell
-cd /home/${USER}
-git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git
+git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git
 cd agentic-mobile-manipulator
 ```
 
@@ -75,16 +74,22 @@ pixi run -e local build-llama # this step is hardware specific. By default, it b
 pixi run -e local download-models  # or download the models manually, check the links below
 ```
 
+`pixi run download-models` fetches all required models in parallel using `aria2c` and places them in `$DEMO_ROOT/models/`. Already downloaded files are skipped. If a download is interrupted, re-running the command will resume from where it left off.
+
 ---
 
 ### Download Models
 
-For every model configured in `config.toml`, download the GGUF file and place it in `$DEMO_ROOT/models/`:
+The following models are required for local inference. `pixi run download-models` handles all of them automatically, but the links below are provided for reference or manual download:
+
+| Model                                                                                                                                                                                                                            | Type      | Size              |
+| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------- | ----------------- |
+| [GPT-OSS-20B](https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true)                                                                                                                | LLM       | ~12 GB            |
+| [LFM2-VL-3B](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) + [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true) | VLM       | ~3.2 GB + ~0.5 GB |
+| [Qwen3-Embedding-0.6B](https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true)                                                                                          | Embedding | ~0.6 GB           |
+| [Qwen3-Reranker-0.6B](https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true)                                                                                    | Reranker  | ~0.6 GB           |
 
-- [GPT-OSS-20B](https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true)
-- [LFM2-VL-3B-GGUF](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true) + [mmproj](https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true)
-- [Qwen3-Embedding-0.6B](https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true)
-- [Qwen3-Reranker-0.6B](https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true)
+All files should be placed in `$DEMO_ROOT/models/`.
 
 ---
 

monitoring/README.md

@@ -31,7 +31,7 @@ On **tested hardware**:
 1. Install dependencies with poetry:
 
    ```bash
-   git clone git@github.com:RobotecAI/agentic-mobile-manipulator.git
+   git clone https://github.com/RobotecAI/agentic-mobile-manipulator.git
    cd agentic-mobile-manipulator/monitoring
    poetry install
    ```

pixi.toml

@@ -8,10 +8,13 @@ platforms = ["linux-64"]
 # ─── Activation ─────────────────────────────────────────────────────────────────
 # scripts/setup_env.sh sources the ros2_ws overlay when available.
 [activation]
-env = {DEMO_ROOT = "${PIXI_PROJECT_ROOT}"}
+env = { DEMO_ROOT = "${PIXI_PROJECT_ROOT}" }
 scripts = ["scripts/setup_env.sh"]
 
 [dependencies]
+uv = ">=0.5"
+aria2 = ">=1.37"
+
 # ─── ROS 2 Jazzy (RoboStack) ─────────────────────────────────────────────────
 # The full ROS 2 runtime comes from the robostack-jazzy conda channel.
 # pixi runs RoboStack's activation scripts automatically, so AMENT_PREFIX_PATH,
@@ -215,23 +218,44 @@ depends-on = ["clone-gems", "clone-ros2-ws"]
 description = "Clone all repositories (gems and ROS 2 workspace)"
 
 [feature.profile-default.tasks.setup]
-depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync"]
+depends-on = [
+    "clone",
+    "install-o3de",
+    "fetch-gems",
+    "build-ros2",
+    "build-sim",
+    "sync",
+]
 description = "Full setup (O3DE + ROS 2 + Python)"
 
 [feature.profile-hil.tasks.setup]
 depends-on = ["clone-ros2-ws", "build-ros2", "sync"]
 description = "Setup HIL machine (ROS 2 + Python, no O3DE)"
 
 [feature.profile-hil-local.tasks.setup]
-depends-on = ["clone-ros2-ws", "clone-inference", "build-ros2", "sync", "build-llama"]
+depends-on = [
+    "clone-ros2-ws",
+    "clone-inference",
+    "build-ros2",
+    "sync",
+    "build-llama",
+]
 description = "Setup HIL machine with local llama.cpp inference"
 
 [feature.profile-local.tasks.clone]
 depends-on = ["clone-gems", "clone-ros2-ws"]
 description = "Clone all repositories (gems and ROS 2 workspace)"
 
 [feature.profile-local.tasks.setup]
-depends-on = ["clone", "install-o3de", "fetch-gems", "build-ros2", "build-sim", "sync", "build-llama"]
+depends-on = [
+    "clone",
+    "install-o3de",
+    "fetch-gems",
+    "build-ros2",
+    "build-sim",
+    "sync",
+    "build-llama",
+]
 description = "Full setup including local llama.cpp inference"
 
 [feature.profile-local.tasks.demo]
@@ -276,8 +300,19 @@ description = "Run test suite"
 # e.g. `build-sim` cannot be run in the `hil` environment.
 
 [environments]
-default   = {features = ["dev", "ros2", "sim", "profile-default"]}
-hil       = {features = ["dev", "ros2", "profile-hil"]}
-hil-local = {features = ["dev", "ros2", "local-inference", "profile-hil-local"]}
-local     = {features = ["dev", "ros2", "sim", "local-inference", "profile-local"]}
-dev       = {features = ["dev"], no-default-feature = true}
+default = { features = ["dev", "ros2", "sim", "profile-default"] }
+hil = { features = ["dev", "ros2", "profile-hil"] }
+hil-local = { features = [
+    "dev",
+    "ros2",
+    "local-inference",
+    "profile-hil-local",
+] }
+local = { features = [
+    "dev",
+    "ros2",
+    "sim",
+    "local-inference",
+    "profile-local",
+] }
+dev = { features = ["dev"], no-default-feature = true }

scripts/download_models.sh

@@ -1,41 +1,74 @@
 #!/usr/bin/env bash
-set -e
+set -euo pipefail
 
 MODELS_DIR="${DEMO_ROOT}/models"
 mkdir -p "$MODELS_DIR"
 
-download() {
-    local name="$1"
-    local url="$2"
-    local dest="$3"
-    if [ -f "$dest" ]; then
-        echo "  [skip] $name — already exists"
-    else
-        echo "  [download] $name"
-        wget -q --show-progress -c -O "$dest" "$url"
-    fi
-}
+model_names=()
+model_urls=()
+model_files=()
 
-echo ""
-echo "=== Downloading models to $MODELS_DIR ==="
-echo ""
+add_model() {
+    model_names+=("$1")
+    model_urls+=("$2")
+    model_files+=("$3")
+}
 
-download "GPT-OSS-20B (LLM)" \
+add_model "GPT-OSS-20B       (LLM,    ~12 GB)" \
     "https://huggingface.co/unsloth/gpt-oss-20b-GGUF/resolve/main/gpt-oss-20b-Q4_K_M.gguf?download=true" \
-    "$MODELS_DIR/gpt-oss-20b-Q4_K_M.gguf"
+    "gpt-oss-20b-Q4_K_M.gguf"
 
-download "LFM2-VL-3B (VLM)" \
+add_model "LFM2-VL-3B        (VLM,    ~3.2 GB)" \
     "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/LFM2-VL-3B-Q8_0.gguf?download=true" \
-    "$MODELS_DIR/LFM2-VL-3B-Q8_0.gguf"
+    "LFM2-VL-3B-Q8_0.gguf"
 
-download "LFM2-VL-3B mmproj" \
+add_model "LFM2-VL-3B mmproj (VLM,    ~0.5 GB)" \
     "https://huggingface.co/LiquidAI/LFM2-VL-3B-GGUF/resolve/main/mmproj-LFM2-VL-3B-Q8_0.gguf?download=true" \
-    "$MODELS_DIR/mmproj-LFM2-VL-3B-Q8_0.gguf"
+    "mmproj-LFM2-VL-3B-Q8_0.gguf"
 
-download "Qwen3-Embedding-0.6B (Embed)" \
+add_model "Qwen3-Embedding    (Embed,  ~0.6 GB)" \
     "https://huggingface.co/Qwen/Qwen3-Embedding-0.6B-GGUF/resolve/main/Qwen3-Embedding-0.6B-Q8_0.gguf?download=true" \
-    "$MODELS_DIR/Qwen3-Embedding-0.6B-Q8_0.gguf"
+    "Qwen3-Embedding-0.6B-Q8_0.gguf"
 
-download "Qwen3-Reranker-0.6B (Rerank)" \
+add_model "Qwen3-Reranker     (Rerank, ~0.6 GB)" \
     "https://huggingface.co/ggml-org/Qwen3-Reranker-0.6B-Q8_0-GGUF/resolve/main/qwen3-reranker-0.6b-q8_0.gguf?download=true" \
-    "$MODELS_DIR/qwen3-reranker-0.6b-q8_0.gguf"
+    "qwen3-reranker-0.6b-q8_0.gguf"
+
+echo ""
+echo "=== Downloading models to $MODELS_DIR ==="
+echo ""
+
+input_lines=()
+for i in "${!model_names[@]}"; do
+    dest="$MODELS_DIR/${model_files[$i]}"
+    if [ -f "$dest" ] && [ ! -f "${dest}.aria2" ]; then
+        echo "  [skip]   ${model_names[$i]}"
+    else
+        echo "  [fetch]  ${model_names[$i]}"
+        input_lines+=("${model_urls[$i]}")
+        input_lines+=("  out=${model_files[$i]}")
+    fi
+done
+
+if [ ${#input_lines[@]} -eq 0 ]; then
+    echo ""
+    echo "  All models already present."
+    echo ""
+    exit 0
+fi
+
+echo ""
+echo "  Starting parallel download..."
+echo ""
+printf '%s\n' "${input_lines[@]}" | aria2c \
+    --input-file=- \
+    --dir="$MODELS_DIR" \
+    --continue=true \
+    --max-concurrent-downloads=5 \
+    --max-connection-per-server=4 \
+    --split=4 \
+    --console-log-level=warn
+
+echo ""
+echo "=== All models ready in $MODELS_DIR ==="
+echo ""