[Question] Possibility to use heavier robot arm

[Fisher-Wang]

Hi, thanks for the amazing hardware system!

I wanted to ask if the platform supports heavier robot arms, such as the ARX R5. If so, this would significantly increase the reachability and capabilities of mobile manipulation.

[Fisher-Wang]

And if two arms are too heavy, how about one single arm ;)

[Vector-Wangel]

Directly transferring is kind of difficult since you need to take care of the power and control exclusively for the larger arms, which is not directly compatible to LeRobot.

I would suggest to build upon those arms' LeRobot support first (I remember piper arms actually have support for LeRobot) and then add base wheels. It should be easier than adding the arms to XLeRobot.