From cdec28874ae2ab4c33df3bc7d5c60ff299bd8bb3 Mon Sep 17 00:00:00 2001 From: chenjian Date: Mon, 9 Feb 2026 19:39:37 +0800 Subject: [PATCH] update --- embodichain/data/assets/robot_assets.py | 29 +++++++++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/embodichain/data/assets/robot_assets.py b/embodichain/data/assets/robot_assets.py index 706d8d96..a8ea16fe 100644 --- a/embodichain/data/assets/robot_assets.py +++ b/embodichain/data/assets/robot_assets.py @@ -504,3 +504,32 @@ def __init__(self, data_root: str = None): path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root super().__init__(prefix, data_descriptor, path) + + +class ARX5(EmbodiChainDataset): + """Dataset class for the ARX5 robot. + + Reference: + https://arx-x.com/ + + Directory structure: + ARX5/ + X5A.urdf + + Example usage: + >>> from embodichain.data.robot_dataset import ARX5 + >>> dataset = ARX5() + or + >>> from embodichain.data import get_data_path + >>> print(get_data_path("ARX5/X5A.urdf")) + """ + + def __init__(self, data_root: str = None): + data_descriptor = o3d.data.DataDescriptor( + os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, robot_assets, "ARX5.zip"), + "da207ba65e21577aa8e8f349af63e608", + ) + prefix = "ARX5" + path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root + + super().__init__(prefix, data_descriptor, path)