| --- |
| pretty_name: BYORobotSim Embodiments |
| tags: |
| - robotics |
| - simulation |
| - urdf |
| --- |
| |
| # Embodiment viewer |
|
|
| Asset sources and license terms are listed in [LICENSE_ASSETS.md](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: |
|
|
| ```sh |
| 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](arms/arx-x5/X5A.urdf) | |
| | `franka-panda` | [panda.urdf](arms/franka-panda/panda.urdf) | |
| | `piper` | [piper.urdf](arms/piper/piper.urdf) | |
| | `ur5-wsg` | [ur5_wsg_gripper.urdf](arms/ur5-wsg/ur5_wsg_gripper.urdf) | |
| | `armbot` | [Mesh assets](arms/armbot/README.md); 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](grippers/abb_yumi/gripper.urdf) | |
| | `arx_x5` | [gripper.urdf](grippers/arx_x5/gripper.urdf) | |
| | `barrett_hand` | [gripper.urdf](grippers/barrett_hand/gripper.urdf) | |
| | `bd_spot` | [gripper.urdf](grippers/bd_spot/gripper.urdf) | |
| | `dh_ag95` | [gripper.urdf](grippers/dh_ag95/gripper.urdf) | |
| | `ezgripper` | [gripper.urdf](grippers/ezgripper/gripper.urdf) | |
| | `fetch_robot` | [gripper.urdf](grippers/fetch_robot/gripper.urdf) | |
| | `franka_panda` | [gripper.urdf](grippers/franka_panda/gripper.urdf) | |
| | `franka_umi` | [gripper.urdf](grippers/franka_umi/gripper.urdf) | |
| | `galaxea_g1` | [gripper.urdf](grippers/galaxea_g1/gripper.urdf) | |
| | `gloria_m` | [Gloria_M.urdf](grippers/gloria_m/urdf/Gloria_M.urdf) | |
| | `inspire_hand` | [gripper.urdf](grippers/inspire_hand/gripper.urdf) | |
| | `onrobot_RG2` | [gripper.urdf](grippers/onrobot_RG2/gripper.urdf) | |
| | `onrobot_RG6` | [gripper.urdf](grippers/onrobot_RG6/gripper.urdf) | |
| | `piper_hand` | [gripper.urdf](grippers/piper_hand/gripper.urdf) | |
| | `robotiq_2f_140` | [gripper.urdf](grippers/robotiq_2f_140/gripper.urdf) | |
| | `robotiq_2f_85` | [gripper.urdf](grippers/robotiq_2f_85/gripper.urdf) | |
| | `robotiq_3f` | [gripper.urdf](grippers/robotiq_3f/gripper.urdf) | |
| | `robotiq_hande` | [gripper.urdf](grippers/robotiq_hande/gripper.urdf) | |
| | `sawyer_hand` | [gripper.urdf](grippers/sawyer_hand/gripper.urdf) | |
| | `schunk_wsg50` | [gripper.urdf](grippers/schunk_wsg50/gripper.urdf) | |
| | `sharpa_wave` | [gripper.urdf](grippers/sharpa_wave/gripper.urdf) | |
| | `surge_hand` | [gripper.urdf](grippers/surge_hand/gripper.urdf) | |
| | `tesollo_delto2f` | [gripper.urdf](grippers/tesollo_delto2f/gripper.urdf) | |
| | `unitree_g1` | [gripper.urdf](grippers/unitree_g1/gripper.urdf) | |
| | `wuji_hand` | [gripper.urdf](grippers/wuji_hand/gripper.urdf) | |
| | `xarm_hand` | [gripper.urdf](grippers/xarm_hand/gripper.urdf) | |
|
|
