alfonsusrr/robot_embodiments

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