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Add ARX5 robot #124

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Merged
matafela merged 2 commits into from
Feb 10, 2026
Merged

Add ARX5 robot #124

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cdec288
update
Feb 9, 2026
4dd113a
Merge branch 'main' into cj/add_arx5
yuecideng Feb 10, 2026
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29 changes: 29 additions & 0 deletions embodichain/data/assets/robot_assets.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Comment on lines +519 to +522
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Copilot AI Feb 9, 2026

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The docstring example imports ARX5 from embodichain.data.robot_dataset, but there is no embodichain/data/robot_dataset.py module in this repo (only embodichain.data.assets.* and embodichain.data.dataset). This example will raise ModuleNotFoundError; update the example to import from the actual public module path you intend to support (and consider aligning the other robot asset docstrings as well).

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>>> 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)
Comment on lines +527 to +535
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Copilot AI Feb 9, 2026

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PR description/checklist claims tests were added, but there are no new/updated tests covering the new ARX5 dataset class (and no references to ARX5 under tests/). Either add a small test that exercises get_data_path("ARX5/X5A.urdf") (consistent with existing tests that use get_data_path for other robots) or update the checklist to reflect the current state.

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