Add Franka README + fix a few issues with urdf

[Kenny-Vilella]

Description

• Added a README for the franka robotic arm
• Added a missing mesh for the left allegro hand
• Fixed a visual mesh issue for the right allegro hand urdf
• Added a notice in the H1 readme about mesh folder
• Updated mesh path for the h1_with_hand.urdf file
• Removed two franka urdf that were not simulating properly

Before your PR is "Ready for review"

• The asset folder and file structure follows the guidelines in the README
• The asset license allows adding to this repository, see README
• A LICENSE file is present
• A README.md file is present that describes the asset and its origin, and provides a changelog, if applicable

Summary by CodeRabbit

• Documentation

  • Added README documenting Franka Emika Panda simulation assets (overview, visuals, sources, generation notes, license).
  • Updated Unitree H1 README to note mesh path alignment with asset folders.

• Bug Fixes

  • Fixed Unitree H1 mesh references to improve asset loading for visuals and collisions.
  • Corrected Allegro right-hand thumb visual orientation (removed unintended 180° rotation).

• Chores

  • Removed FR3/Franka robot and hand URDF model files.

[coderabbitai]

Walkthrough

Adds a README for Franka Emika Panda assets, removes two FR3 URDF model files, normalizes Unitree H1 URDF mesh paths to relative ../meshes, and adjusts a visual rotation in the Allegro right-hand URDF. All edits are static asset/markup changes.

Changes

Cohort / File(s)	Summary
Franka Panda README franka_emika_panda/README.md	Adds README describing asset sources (franka_description@d9841cf), rendering reference, URDF generation notes (--with-sc, --no-ee), mesh path conventions, and Apache-2.0 license notice.
Franka URDF deletions franka_emika_panda/urdf/fr3_franka_hand_with_sc.urdf, franka_emika_panda/urdf/fr3_with_sc.urdf	Removes two complete FR3/Franka URDF model files (full robot/hand static descriptions: links, joints, visuals, collisions, inertials, limits).
Unitree H1 README note unitree_h1/README.md	Adds note that URDF mesh paths were updated to match the asset folder name.
Unitree H1 URDF mesh path normalization unitree_h1/urdf/h1_with_hand.urdf	Replaces package://h1_description/meshes/... and similar STL package URIs with relative ../meshes/... for visuals and collisions across the model.
Allegro hand visual orientation tweak wonik_allegro/urdf/allegro_hand_description_right.urdf	Changes visual rpy of link_12.0 from 3.1415926518 0 0 to 0 0 0; collision, inertia, and joint definitions unchanged.

Sequence Diagram(s)

No sequence diagram provided — changes are static asset/markup edits and file removals, not control-flow or runtime interactions.

Estimated code review effort

🎯 3 (Moderate) | ⏱️ ~25 minutes

Possibly related PRs

• Refactor and Reorganize the H1 Asset #19 — Related Unitree H1 mesh path normalization (package:// → ../meshes) affecting the same files.
• Add UR10 USD #11 — Modifies wonik_allegro URDFs; overlaps with Allegro visual/URDF edits.
• Reorganize assets #8 — Asset reorganization and license/mesh-path updates potentially connected to the Franka README and path changes.

Suggested reviewers

• eric-heiden

Poem

A rabbit hops through mesh and tree,
Fixing paths and setting free.
A thumb rotates to sit just right,
Panda notes now clear in sight.
Hop—assets ready for the light. 🐇✨

Pre-merge checks and finishing touches

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title Check	✅ Passed	The title clearly and concisely highlights the two primary changes—adding a README for the Franka arm and addressing multiple URDF issues—and directly reflects the author’s main objectives without unrelated or vague terminology.
Docstring Coverage	✅ Passed	No functions found in the changes. Docstring coverage check skipped.

✨ Finishing touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment

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📜 Recent review details

Configuration used: CodeRabbit UI

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between c277470 and cb693fc.

📒 Files selected for processing (1)

• franka_emika_panda/README.md (1 hunks)

🚧 Files skipped from review as they are similar to previous changes (1)

• franka_emika_panda/README.md

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[Kenny-Vilella]

This should be added in the README when it will be added.

[coderabbitai]

Actionable comments posted: 2

📜 Review details

Configuration used: CodeRabbit UI

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between d78dcf4 and bdfa4eb.

⛔ Files ignored due to path filters (1)

• franka_emika_panda/fep3.png is excluded by !**/*.png

📒 Files selected for processing (4)

• franka_emika_panda/README.md (1 hunks)
• unitree_h1/README.md (1 hunks)
• unitree_h1/urdf/h1_with_hand.urdf (78 hunks)
• wonik_allegro/urdf/allegro_hand_description_right.urdf (1 hunks)

🔇 Additional comments (4)

unitree_h1/README.md (1)

22-23: LGTM!

The documentation accurately describes the mesh path updates made in the URDF file, helping users understand the changes to asset path resolution.

unitree_h1/urdf/h1_with_hand.urdf (1)

25-25: LGTM!

All mesh paths have been systematically converted from ROS package paths (package://h1_description/meshes/) to relative paths (../meshes/). This improves portability and aligns the URDF with the asset folder structure as documented in the README.

Also applies to: 62-62, 117-117, 172-172, 227-227, 282-282, 337-337, 392-392, 447-447, 502-502, 557-557, 612-612, 667-667, 722-722, 777-777, 832-832, 887-887, 901-901, 953-953, 964-964, 989-989, 1000-1000, 1044-1044, 1055-1055, 1099-1099, 1110-1110, 1158-1158, 1169-1169, 1217-1217, 1228-1228, 1272-1272, 1283-1283, 1331-1331, 1342-1342, 1386-1386, 1397-1397, 1445-1445, 1456-1456, 1500-1500, 1511-1511, 1559-1559, 1570-1570, 1614-1614, 1625-1625, 1674-1674, 1729-1729, 1784-1784, 1839-1839, 1894-1894, 1908-1908, 1961-1961, 1972-1972, 1997-1997, 2008-2008, 2052-2052, 2063-2063, 2107-2107, 2118-2118, 2166-2166, 2177-2177, 2225-2225, 2236-2236, 2280-2280, 2291-2291, 2339-2339, 2350-2350, 2394-2394, 2405-2405, 2453-2453, 2464-2464, 2508-2508, 2519-2519, 2567-2567, 2578-2578, 2622-2622, 2633-2633, 2668-2668

wonik_allegro/urdf/allegro_hand_description_right.urdf (1)

466-466: Verify mesh orientation in simulation
The <origin> for link_12.0 was changed from a 180° X-rotation to no rotation—ensure link_12.0_right.STL renders correctly (e.g., in RViz/Gazebo) or update the mesh if it still appears upside-down.

franka_emika_panda/README.md (1)

7-7: Referenced assets verified
fep3.png exists in franka_emika_panda/ and commit d9841cf is valid in frankarobotics/franka_description.

[Kenny-Vilella]

I checked that everything is running except for the g1 (waiting for the PR to decrease the number of assets).
Result is that everything is simulating fine after my modification except for the two h1 urdfs.
They seem to simulate OK in mujoco C, so it may be a Newton issue.
I will try to look at it a little bit and create a github issue if I can't see anything obvious.

EDIT: Actually, fr3_franka_hand_with_sc.urdf and fr3_with_sc.urdf are also not working properly, but they do not work on mujoco C as well, so it's a problem with the asset itself.

[preist-nvidia]

Pushed a commit adressing my comments. Thank you!