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Add Franka FR3 #123

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yuecideng merged 1 commit into from
Feb 6, 2026
Merged

Add Franka FR3 #123

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13 changes: 8 additions & 5 deletions embodichain/data/assets/robot_assets.py
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Original file line number Diff line number Diff line change
Expand Up @@ -328,9 +328,12 @@ class Franka(EmbodiChainDataset):

Directory structure:
Franka/
Panda/Panda.urdf
PandaHand/PandaHand.urdf
PandaWithHand/PandaWithHand.urdf
Panda/
Panda.urdf
PandaHand.urdf
PandaWithHand.urdf
FR3/
fr3.urdf
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Copilot AI Feb 6, 2026

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The directory structure documentation now includes FR3 support, but there's no corresponding example showing how to access the FR3 URDF file. Consider adding an example line like:
>>> print(get_data_path("Franka/FR3/fr3.urdf"))
to demonstrate how to use the new FR3 model, consistent with how other robot models with multiple variants show examples for each variant (e.g., Rokae shows examples for both SR3 and SR5).

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Copilot AI Feb 6, 2026

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The FR3 URDF filename uses lowercase 'fr3.urdf' while the Panda variants use PascalCase (e.g., 'Panda.urdf', 'PandaHand.urdf'). For consistency with the existing Franka Panda naming convention, consider using 'FR3.urdf' instead of 'fr3.urdf'.

Suggested change
fr3.urdf
FR3.urdf

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Example usage:
>>> from embodichain.data.robot_dataset import Franka
Expand All @@ -344,8 +347,8 @@ class Franka(EmbodiChainDataset):

def __init__(self, data_root: str = None):
data_descriptor = o3d.data.DataDescriptor(
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, robot_assets, "Franka.zip"),
"c2de367fe1da02eeb45a8129f903d0b6",
os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, robot_assets, "FrankaV2.zip"),
"f0675b9da98126bc3d4e18c98ef5e06c",
)
prefix = "Franka"
path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
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