Here's the urdf files, assets, and EE control codes in Maniskill.

Update

XLeRobot files are exclusively listed instead of borrowing fetch's name. So there are a few more modifications need to be done to run XLeRobot in the ReplicaCAD scene, in addtion to the previous tutorial

For new robot ids, you need to add them to ReplicaCAD scene first.

As well as the agent/robots/init.py

Run the examples

You also need to add the robot id in the command. For example, if you want to run a single-arm version of XLeRobot:

python -m mani_skill.examples.demo_ctrl_action_ee_keyboard_single -e "ReplicaCAD_SceneManipulation-v1" -r "xlerobot_single"  --render-mode="human" --shader="rt-fast" -c "pd_joint_delta_pos"