Plan for supporting other embodiments?

[Msornerrrr]

Thanks for open-soucing the great work!

I'm wondering are there any plans to provide more examples with other arm + dexterous hand setup (e.g. Franka arm + Allegro Hand, Xarm7 Arm + Leap Hand)?

Also, if we were to customize and may contribute new setup, what would be a recommended minimal code changes / additions in order to support new robots? I assume except:

• https://github.com/NVlabs/FABRICS/blob/main/src/fabrics_sim/worlds/kuka_allegro_boxes.yaml
• https://github.com/NVlabs/FABRICS/tree/main/src/fabrics_sim/models/robots/urdf/kuka_allegro
• https://github.com/NVlabs/FABRICS/blob/main/src/fabrics_sim/fabrics/kuka_allegro_pose_fabric.py
• https://github.com/NVlabs/FABRICS/blob/main/src/fabrics_sim/fabric_params/kuka_allegro_pose_params.yaml
  all the rest of the codes are embodiment-agnostic? So in order to support new robots, we just nee to implement our own version of these files to get everything work?

Any technical advices or engineering details would be greatly appreciated!