Upload folder using huggingface_hub

.gitattributes

@@ -65,3 +65,24 @@ scenes/scenes_00001/UniEMind/cupboard/resource/v_69323/link_0.usd filter=lfs dif
 scenes/scenes_00001/robothand/brainco-description/revoarm_system/usd/revoarm_bimanual_revo3.usd filter=lfs diff=lfs merge=lfs -text
 revoarm_system/usd/revoarm_bimanual_revo3.usd filter=lfs diff=lfs merge=lfs -text
 robots/revoarm_system/usd/revoarm_bimanual_revo3.usd filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/arm/arm_1.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/arm/arm_2.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/arm/arm_3.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/arm/arm_4.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/arm/arm_5-wrist-2017.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/arm/arm_6-wrist-2017.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/base/base.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/base/base_link.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/base/high_resolution/base.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/grippers/gripper_link.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/head/head_2.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_finger_vis.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/torso/torso_fix.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/torso/torso_lift_dual_arm.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/torso/torso_lift_dual_arm_with_screen.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/torso/torso_lift_with_arm.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/wheels/high_resolution/caster_1.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/wheels/high_resolution/wheel.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/wheels/wheel.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/wheels/wheel_link.stl filter=lfs diff=lfs merge=lfs -text
+robots/mobile_manipulator/tiago_dual/meshes/wheels/wheel_link_mirror_z.stl filter=lfs diff=lfs merge=lfs -text

README.md

@@ -186,11 +186,12 @@ um-assets assets list
 um-assets robots list
 um-assets scenes list
 
-# Remove a local package (interactive confirm; default N — type y to delete)
+# list / find / info / validate never ask for confirmation.
+# Only remove asks: type y to delete (default N). Use -y only in scripts.
 # um-assets assets remove <asset_id>
 # um-assets robots remove <asset_id>
 # um-assets scenes remove <asset_id>
-# Scripts only: append -y to skip the prompt
+# um-assets assets remove <asset_id> -y
 
 # Hand-off to UniEMind-Sim
 um-sim install uniemind-assets --source /path/to/UniEMind-Assets

README_zh.md

@@ -187,11 +187,12 @@ um-assets assets list
 um-assets robots list
 um-assets scenes list
 
-# 删除本地资源包（交互确认；默认 N —— 输入 y 才删除）
+# list / find / info / validate 不会要求确认。
+# 只有 remove 会确认：输入 y 才删除（默认 N）。脚本才用 -y。
 # um-assets assets remove <asset_id>
 # um-assets robots remove <asset_id>
 # um-assets scenes remove <asset_id>
-# 仅脚本场景可加 -y 跳过确认
+# um-assets assets remove <asset_id> -y
 
 # 交给 UniEMind-Sim
 um-sim install uniemind-assets --source /path/to/UniEMind-Assets

robots/mobile_manipulator/tiago_dual/LICENSE

@@ -0,0 +1,21 @@
+This asset packages the TIAGo Dual mobile manipulator as used in robosuite.
+
+SPDX-License-Identifier: Apache-2.0
+https://www.apache.org/licenses/LICENSE-2.0
+
+Geometry and robot description originate from PAL Robotics TIAGo Dual
+(https://github.com/pal-robotics/tiago_dual_robot), licensed under Apache-2.0.
+
+MJCF packaging and composition follow robosuite
+(https://github.com/ARISE-Initiative/robosuite), licensed under MIT.
+
+Robotiq 2F-85 gripper meshes are bundled as used by robosuite
+(robosuite/models/assets/grippers). Upstream Robotiq ROS description
+packages are commonly Apache-2.0 (e.g. ros-industrial/robotiq).
+
+Inclusion in UniEMindAssets does not re-license upstream CAD, meshes, or brand
+assets. Retain PAL Robotics, Robotiq / ROS-Industrial, and robosuite
+attribution when redistributing.
+
+Copyright (c) PAL Robotics S.L.
+Copyright (c) Stanford Vision and Learning Lab and UT Robot Perception and Learning Lab

robots/mobile_manipulator/tiago_dual/asset.yaml

@@ -0,0 +1,247 @@
+schema_version: "0.1"
+
+asset:
+  id: "tiago_dual"
+  name: "TIAGo Dual"
+  type: "robot"
+  category: "robot"
+  version: "1.0.0"
+  description: >
+    PAL Robotics TIAGo Dual wheeled bimanual mobile manipulator, imported from
+    robosuite (Tiago). Dual 6-DoF arms, torso lift, pan-tilt head, planar
+    mobile base, and a Robotiq 2F-85 gripper on each wrist.
+  tags: ["mobile_manipulator", "wheeled", "bimanual", "tiago", "robotiq", "robosuite"]
+
+coordinate:
+  up: "Z"
+  forward: "X"
+  right: "-Y"
+
+units:
+  length: "m"
+  mass: "kg"
+  time: "s"
+  angle: "rad"
+  force: "N"
+  torque: "N*m"
+  velocity: "m/s"
+  acceleration: "m/s2"
+
+geometry:
+  visual:
+    format: "stl"
+    file: "meshes/base/base.stl"
+  collision:
+    format: "stl"
+    file: "meshes/base/high_resolution/base_collision.stl"
+
+physics:
+  mass:
+    value: 76.0
+    unit: "kg"
+    source:
+      type: "estimated"
+      method: "link_sum"
+  center_of_mass:
+    value: [0.0, 0.0, 0.45]
+    unit: "m"
+    source:
+      type: "estimated"
+  inertia:
+    ixx: 8.0
+    iyy: 8.0
+    izz: 4.0
+    ixy: 0.0
+    ixz: 0.0
+    iyz: 0.0
+    unit: "kg*m2"
+    source:
+      type: "estimated"
+  friction:
+    static: 1.0
+    dynamic: 0.8
+  restitution: 0.0
+
+semantics:
+  category: "robot"
+  properties:
+    embodiment: "mobile_manipulator"
+    mobility: "wheeled"
+    arms: "bimanual"
+  ontology:
+    id: "unimind:mobile_manipulator"
+
+affordances:
+  - type: "navigate"
+  - type: "manipulate"
+  - type: "grasp"
+
+robot:
+  embodiment:
+    type: "mobile_manipulator"
+    mobility: "wheeled"
+    arms: 2
+    hands: 2
+    legs: 0
+    dof: 22
+  kinematics:
+    base_link: "base_link"
+    ee_links: ["gripper_left_eef", "gripper_right_eef"]
+  joints:
+    count: 30
+    joint_mobile_forward:
+      type: "prismatic"
+      parent: "world"
+      child: "base"
+      axis: [1.0, 0.0, 0.0]
+      actuator:
+        type: "velocity"
+        max_velocity: 1.0
+    joint_mobile_side:
+      type: "prismatic"
+      parent: "base"
+      child: "base"
+      axis: [0.0, 1.0, 0.0]
+      actuator:
+        type: "velocity"
+        max_velocity: 1.0
+    joint_mobile_yaw:
+      type: "continuous"
+      parent: "base"
+      child: "base"
+      axis: [0.0, 0.0, 1.0]
+      actuator:
+        type: "velocity"
+        max_velocity: 1.5
+    torso_lift_joint:
+      type: "prismatic"
+      parent: "torso_fixed_link"
+      child: "torso_lift_link"
+      axis: [0.0, 0.0, 1.0]
+      limits:
+        lower: 0.0
+        upper: 0.35
+      dynamics:
+        damping: 1000.0
+      actuator:
+        type: "torque"
+        max_torque: 1000
+    arm_right_1_joint:
+      type: "revolute"
+      parent: "right_arm_mount"
+      child: "arm_right_1_link"
+      axis: [0.0, 0.0, 1.0]
+      limits:
+        lower: -1.1780972451
+        upper: 1.57079632679
+      dynamics:
+        damping: 10.0
+      actuator:
+        type: "torque"
+        max_torque: 50
+    arm_left_1_joint:
+      type: "revolute"
+      parent: "left_arm_mount"
+      child: "arm_left_1_link"
+      axis: [0.0, 0.0, 1.0]
+      limits:
+        lower: -1.1780972451
+        upper: 1.57079632679
+      dynamics:
+        damping: 10.0
+      actuator:
+        type: "torque"
+        max_torque: 15
+    gripper_right_finger_joint:
+      type: "revolute"
+      parent: "gripper_right_robotiq_85_adapter_link"
+      child: "gripper_right_left_outer_knuckle"
+      axis: [1.0, 0.0, 0.0]
+      limits:
+        lower: 0.0
+        upper: 0.8
+      actuator:
+        type: "position"
+        max_velocity: 0.8
+    gripper_left_finger_joint:
+      type: "revolute"
+      parent: "gripper_left_robotiq_85_adapter_link"
+      child: "gripper_left_left_outer_knuckle"
+      axis: [1.0, 0.0, 0.0]
+      limits:
+        lower: 0.0
+        upper: 0.8
+      actuator:
+        type: "position"
+        max_velocity: 0.8
+  sensors:
+    - id: "robotview"
+      type: "rgbd"
+      link: "head_2_link"
+      fps: 30
+      resolution:
+        width: 1280
+        height: 720
+      pose:
+        position: [0.07, 0.0, 0.0]
+        orientation_rpy: [0.0, 0.0, 0.0]
+    - id: "gripper_right_ft"
+      type: "force_torque"
+      link: "gripper_right_robotiq_85_adapter_link"
+    - id: "gripper_left_ft"
+      type: "force_torque"
+      link: "gripper_left_robotiq_85_adapter_link"
+  capabilities:
+    - navigation
+    - manipulation
+    - grasping
+  mjcf: "mujoco/robot.xml"
+
+source:
+  type: "external"
+  project: "robosuite"
+  repository: "https://github.com/ARISE-Initiative/robosuite"
+  path: "robosuite/models/assets/robots/tiago"
+  version: "v1.5"
+  license: "MIT"
+
+license:
+  spdx: "Apache-2.0"
+  file: "LICENSE"
+  attribution_required: true
+  commercial_use: true
+  modification: true
+  redistribution: true
+  notes: >
+    TIAGo Dual meshes: PAL Robotics Apache-2.0. Robotiq 2F-85 meshes via
+    robosuite (typically Apache-2.0 / ROS-Industrial). robosuite MJCF
+    packaging: MIT.
+
+provenance:
+  source_type: "external"
+  creator: "PAL Robotics; packaged in robosuite; imported by UniEMind"
+  created_at: "2026-08-31"
+  notes: >
+    Copied from robosuite Tiago Dual. Planar base joints come from robosuite
+    NullMobileBase. Each wrist mounts a Robotiq 2F-85 (robosuite default
+    gripper), with tendon-coupled fingers and position actuators.
+
+compatibility:
+  mujoco:
+    supported: true
+    min_version: "3.x"
+    file: "mujoco/robot.xml"
+  isaac_sim:
+    supported: false
+    notes: "Isaac / USD representation is not included in this import."
+
+quality:
+  level: 2
+  completeness:
+    geometry: true
+    collision: true
+    physics: true
+    kinematics: true
+    license: true
+    mujoco: true
+    isaac_sim: false

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_1.mtl

@@ -0,0 +1,10 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_1.stl

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+version https://git-lfs.github.com/spec/v1
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+size 240384

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_2.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.1 0.1 0.1
+Kd 0.1 0.1 0.1
+Ks 0.1 0.1 0.1
+d 1
+illum 2

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_2.stl

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robots/mobile_manipulator/tiago_dual/meshes/arm/arm_3.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.1 0.1 0.1
+Kd 0.1 0.1 0.1
+Ks 0.1 0.1 0.1
+d 1
+illum 2

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_3.stl

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robots/mobile_manipulator/tiago_dual/meshes/arm/arm_4.mtl

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+# Blender MTL File: 'None'
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+
+newmtl None
+Ns 500
+Ka 0.1 0.1 0.1
+Kd 0.1 0.1 0.1
+Ks 0.1 0.1 0.1
+d 1
+illum 2

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_4.stl

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+size 407534

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_5-wrist-2017.stl

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+size 187984

robots/mobile_manipulator/tiago_dual/meshes/arm/arm_6-wrist-2017.mtl

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+# Blender MTL File: 'None'
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+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
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robots/mobile_manipulator/tiago_dual/meshes/arm/arm_6-wrist-2017.stl

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robots/mobile_manipulator/tiago_dual/meshes/base/base.stl

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robots/mobile_manipulator/tiago_dual/meshes/base/base_link.stl

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robots/mobile_manipulator/tiago_dual/meshes/base/high_resolution/base.stl

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robots/mobile_manipulator/tiago_dual/meshes/grippers/gripper_finger_link.mtl

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+
+newmtl None
+Ns 500
+Ka 0.1 0.1 0.1
+Kd 0.1 0.1 0.1
+Ks 0.1 0.1 0.1
+d 1
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robots/mobile_manipulator/tiago_dual/meshes/grippers/gripper_link.mtl

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+# Material Count: 1
+
+newmtl None
+Ns 500
+Ka 0.8 0.8 0.8
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
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robots/mobile_manipulator/tiago_dual/meshes/grippers/gripper_link.stl

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robots/mobile_manipulator/tiago_dual/meshes/head/head_2.stl

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robots/mobile_manipulator/tiago_dual/meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_finger_vis.stl

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