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Add xarm6 robot with different grippers #636

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Add xarm6 robot with different grippers #636

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bd7b55d
Add xarm6 with allegro and xarm gripper
dwaitbhatt Oct 18, 2024
f8e7696
Fix xarm6_nogripper
dwaitbhatt Oct 18, 2024
99b5ed6
Support xarm6 in TableSceneBuilder, fix xarm6 hand camera pose
dwaitbhatt Oct 18, 2024
fd1ad89
Clean xarm6_allegro assets, add xarm6 SRDFs
dwaitbhatt Oct 24, 2024
3cdb873
Replace xarm_gripper with robotiq_2f_85 gripper, add SRDF
dwaitbhatt Oct 24, 2024
fdc60d7
Separate xarm6 variants with wristcam
dwaitbhatt Oct 24, 2024
5878bb5
Remove unused xarm_gripper assets
dwaitbhatt Oct 24, 2024
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1 change: 1 addition & 0 deletions mani_skill/agents/robots/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,5 +14,6 @@
from .unitree_h1 import *
from .ur_e import UR10e
from .widowx import *
from .xarm6 import *
from .xarm import XArm7Ability
from .xmate3 import Xmate3Robotiq
3 changes: 3 additions & 0 deletions mani_skill/agents/robots/xarm6/__init__.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
from .xarm6_nogripper import XArm6NoGripper
from .xarm6_robotiq import XArm6Robotiq, XArm6RobotiqWristCamera
from .xarm6_allegro import XArm6AllegroLeft, XArm6AllegroRight, XArm6AllegroLeftWristCamera, XArm6AllegroRightWristCamera
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