Request for support for xArm Series arm

[MARMOTatZJU]

Hello, many thanks for this solid work!

I would like to hear about your further plans that are related to the support for new robot arms, especially for xArm series constructed by uFactory.

Awaiting your reply and thanks in advance!

[vikashplus]

Hi @MARMOTatZJU
Thanks for your interest in RoboHive. Expanding the robot and task collections is in RoboHive's roadmap. However, we don't have any active thread for XArm as of now.

Adding a new arm should be quite straightforward. I'd be happy to help if you want to work together on a PR and get it merged. Let me know.

[MARMOTatZJU]

@vikashplus Sure, many thanks again for your reply!

I am considering conducting research on fine manipulation with xArm, and I am evaluating the feasibility of doing it with RoboHive (using it as our simulator)!

At this moment, I would like to know those quintessential steps that are required for the implementation of a new arm within RoboHive.

[vikashplus]

1. Add xarm sim to simhive. MuJoCo Menagerie has a xarm-model that we can use.
2. Create a config file to specify the hardware limit. Here is an example you can copy paste. You can also skip this step and RoboHive will create a default one for you
3. Register a new env (copy paste these lines) with paths to the new sim and the config(if created)

[MARMOTatZJU]

1. Add xarm sim to simhive. MuJoCo Menagerie has a xarm-model that we can use.
2. Create a config file to specify the hardware limit. Here is an example you can copy paste. You can also skip this step and RoboHive will create a default one for you
3. Register a new env (copy paste these lines) with paths to the new sim and the config(if created)

Thank you very much for this guidance! We will try to integrate xArm models into RoboHive and will consider create a PR after verification of the function.

I thereby close this issue. I will reopen it if we encounter any issue that worths further discussion.

Thank you again!