pretty_name: BYORobotSim Embodiments
tags:
- robotics
- simulation
- urdf
Embodiment viewer
Asset sources and license terms are listed in LICENSE_ASSETS.md. Some individual models have additional or unconfirmed terms, as noted in the register.
Download the embodiment assets from the repository root, then run the standalone uv viewer:
uv run python scripts/download_embodiments.py
uv run python visualize.py --list
uv run python visualize.py --kind grippers --name franka_panda
uv run python visualize.py --kind arms --name franka-panda
uv run python visualize.py --all --kind grippers
Open the URL printed by viser. The Pose slider controls the motion from the starting to the ending joint state; Play loops it. --port changes the server port. --all arranges all discovered gripper URDFs in a grid; arms must be selected individually with --name. ArmBot is excluded until it has a URDF. Arm starting poses come from config.yml's homestate when available; gripper poses come from config.json's open and close states. Other joints use their URDF limits.
Arms
Use the directory name in the --name column with --kind arms.
Name (--name) |
Model |
|---|---|
arx-x5 |
X5A.urdf |
franka-panda |
panda.urdf |
piper |
piper.urdf |
ur5-wsg |
ur5_wsg_gripper.urdf |
armbot |
Mesh assets; no URDF, so it is not available in the viewer |
Grippers
Use the directory name in the --name column with --kind grippers.
Name (--name) |
Model |
|---|---|
abb_yumi |
gripper.urdf |
arx_x5 |
gripper.urdf |
barrett_hand |
gripper.urdf |
bd_spot |
gripper.urdf |
dh_ag95 |
gripper.urdf |
ezgripper |
gripper.urdf |
fetch_robot |
gripper.urdf |
franka_panda |
gripper.urdf |
franka_umi |
gripper.urdf |
galaxea_g1 |
gripper.urdf |
gloria_m |
Gloria_M.urdf |
inspire_hand |
gripper.urdf |
onrobot_RG2 |
gripper.urdf |
onrobot_RG6 |
gripper.urdf |
piper_hand |
gripper.urdf |
robotiq_2f_140 |
gripper.urdf |
robotiq_2f_85 |
gripper.urdf |
robotiq_3f |
gripper.urdf |
robotiq_hande |
gripper.urdf |
sawyer_hand |
gripper.urdf |
schunk_wsg50 |
gripper.urdf |
sharpa_wave |
gripper.urdf |
surge_hand |
gripper.urdf |
tesollo_delto2f |
gripper.urdf |
unitree_g1 |
gripper.urdf |
wuji_hand |
gripper.urdf |
xarm_hand |
gripper.urdf |