---
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) |