udpate

Author: chenjian

embodichain/data/assets/robot_assets.py

@@ -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
 
     Example usage:
         >>> from embodichain.data.robot_dataset import Franka
@@ -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