Assembling a new robot

[OhhTuRnz]

Hi,

Congrats for the work, I find this code to be correctly modular and with a lot of tools to implement different robots.

I am planning on teleoperating a xarm7 attached to a leaphand, first creating the simulation environment and then teleoperating the robot (maybe I can just skip the simulation thing, because franka+allegro doesn't have proper simulation but it has separated simulation for each).

The question that arised me was what files are needed for the simulation given the URDF, right now I am working with rviz which only allows stl and obj files (and a bunch of them) but you have glb files, and I don't know if Libero would necessitate this.

I was also wondering how the operators work for the simulation, because you have different operators for real teleop and simulated teleop.

[OhhTuRnz]

I also want to know how to do the calibration process. It is quite confusing for me to see messages like "bottom index corner" when I don't know what the index is