Add files using upload-large-folder tool

_download.py

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+from huggingface_hub import snapshot_download
+import os
+
+snapshot_download(repo_id="TianxingChen/RoboTwin", 
+                  allow_patterns=['textures.zip', 'objects.zip', 'messy_objects.zip'],
+                  local_dir='.', 
+                  repo_type="dataset",
+                  resume_download=True)
+
+snapshot_download(repo_id="TianxingChen/Embodiments", 
+                  allow_patterns=['aloha-agilex.zip'],
+                  local_dir='.', 
+                  repo_type="dataset",
+                  resume_download=True)

_upload.py

@@ -0,0 +1,29 @@
+from huggingface_hub import login, upload_file, upload_folder, create_repo
+
+upload_folder(
+    folder_path="./upload_cache/embodiments_zip",
+    path_in_repo="./",
+    repo_id="TianxingChen/Embodiments",
+    repo_type="dataset",
+)
+
+upload_file(
+    path_or_fileobj="./upload_cache/objects.zip",
+    path_in_repo="./objects.zip",
+    repo_id="TianxingChen/RoboTwin",
+    repo_type="dataset",
+)
+
+upload_file(
+    path_or_fileobj="./upload_cache/messy_objects.zip",
+    path_in_repo="./messy_objects.zip",
+    repo_id="TianxingChen/RoboTwin",
+    repo_type="dataset",
+)
+
+upload_file(
+    path_or_fileobj="./upload_cache/textures.zip",
+    path_in_repo="./textures.zip",
+    repo_id="TianxingChen/RoboTwin",
+    repo_type="dataset",
+)

messy_objects/bowl_017/017.obj.mtl

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+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 017.jpg
+

messy_objects/bowl_017/model.urdf

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+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/bowl_017/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.031906284114999996, 0.057230487669999996, 0.05685877138]}

messy_objects/can_004/model_annnotation.json

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+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 3, "object_size": [0.021852546435000002, 0.043265668925, 0.043106667785]}

messy_objects/handbag_001/model_annnotation.json

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+{"direction_axis": {"axis": 2, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.09279825511, 0.06670545108999999, 0.11554223162999999]}

messy_objects/tissue_004/004.obj.mtl

@@ -0,0 +1,13 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+illum 2
+Ns 0.000000
+map_Kd 004.jpg
+

messy_objects/tissue_004/model.urdf

@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="model.urdf">
+  <link name="baseLink">
+    <contact>
+      <friction_anchor />
+      <lateral_friction value="0.3" />
+      <rolling_friction value="0.0" />
+      <contact_cfm value="0.0" />
+      <contact_erp value="1.0" />
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 0 0" />
+       <mass value="0.1" />
+       <inertia ixx="8e-05" ixy="0" ixz="0" iyy="0.0002" iyz="0" izz="0.0002" />
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="textured.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+      
+    </visual>
+    <collision>
+      <geometry>
+    	 	<mesh filename="coacd_collision.obj" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+</robot>

messy_objects/tissue_004/model_annnotation.json

@@ -0,0 +1 @@
+{"direction_axis": {"axis": 1, "axis_sign": 1}, "approach_axis": {"axis": 0, "axis_sign": 1}, "object_symmetry": 2, "object_size": [0.070306440525, 0.032228353115, 0.045417376094999996]}

objects/models.py

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+import trimesh
+import urdfpy
+import json
+import numpy as np
+
+
+PI = np.pi
+
+red_color = [1.0, 0.0, 0.0, 0.5]  # red, A=1 表示不透明
+green_color = [0.0, 1.0, 0.0, 0.5]  # green, A=1 表示不透明
+blue_color = [0.0, 0.0, 1.0, 0.5]  # blue, A=1 表示不透明
+
+def create_model_data(id):
+    file_path = f"./base{id}.glb"
+    save_path = f"./model_data{id}.json"
+
+    with open(save_path, 'r') as json_file:
+        data = json.load(json_file)
+        
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='glb')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    oriented_bounding_box = mesh.bounding_box_oriented
+
+    scale = [0.05,0.05,0.05]
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
+
+    target_sphere.apply_transform(target_trans_matrix_sphere)
+    target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+    target_points_list = [target_trans_matrix_sphere.tolist()]
+
+    # # 可视化网格和坐标轴
+    scene.add_geometry(target_sphere)
+
+    contact_points_list = []
+    contact_point_discription_list = []
+    orientation_point_list = []
+    functional_matrix = []
+
+    def add_contact_point(point_radius, pose:list, euler:list, discription: str):
+        contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
+        contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
+        contact_sphere.apply_transform(contact_trans_matrix_sphere)
+        contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+        contact_points_list.append(contact_trans_matrix_sphere.tolist())
+
+        axis = trimesh.creation.axis(axis_length=1.5)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+    # add_contact_point(0.3, [0, 0, 0], [0, 0, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
+
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    # orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    # orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
+    # orientation_point.apply_transform(orientation_point_sphere)
+    # orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
+    # orientation_point_list = orientation_point_sphere.tolist()
+    # scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    # functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    # functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(0,0,0)
+    # functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    # functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
+    # functional_matrix = functional_trans_matrix_sphere.tolist()
+    # axis = trimesh.creation.axis(axis_length=1.5)
+    # axis.apply_transform(functional_trans_matrix_sphere)
+    # scene.add_geometry(axis)
+    # scene.add_geometry(functional_sphere)
+
+    data = {
+        'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+        'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+        'scale': scale,                                     # 缩放
+        'target_pose': target_points_list,              # 目标点矩阵
+        'contact_points_pose' : contact_points_list,    # 抓取点矩阵（多个）
+        'transform_matrix': transform_matrix,           # 模型到标轴的旋转矩阵
+        "functional_matrix": functional_matrix,         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0]],
+        'contact_points_mask': [True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': ["The center of the object."],  # 目标点描述
+        'functional_point_discription': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场���
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/square_cylinder/model_data.json

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+{
+    "center": [
+        0.000764428347100258,
+        6.630637143469917e-05,
+        -0.0009445592317205928
+    ],
+    "extents": [
+        0.09270996178588131,
+        0.09113055406854671,
+        0.07790317673093121
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            -0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

objects/square_cylinder/texture.mtl

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+# Blender 4.3.2 MTL File: '四边形突起金属块.blend'
+# www.blender.org
+
+newmtl 材质
+Ns 730.999146
+Ka 1.000000 1.000000 1.000000
+Kd 0.780308 0.801085 0.571671
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3

objects/square_cylinder/textured.mtl

@@ -0,0 +1,12 @@
+# Blender 4.3.0 MTL File: 'None'
+# www.blender.org
+
+newmtl 材质.001
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1

objects/tools/model_data5.json

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+{
+    "center": [
+        -0.00035625568346149105,
+        -0.0007271684891307807,
+        -0.0005203154001654477
+    ],
+    "extents": [
+        0.19819526495917353,
+        1.9091073505858716,
+        0.19798373915737602
+    ],
+    "scale": [
+        0.13,
+        0.13,
+        0.13
+    ],
+    "target_pose": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.2
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+        ],
+        [
+            -0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}