diff --git a/crisp_py/config/robots/iiwa14.yaml b/crisp_py/config/robots/iiwa14.yaml
new file mode 100644
index 0000000..9ca74b4
--- /dev/null
+++ b/crisp_py/config/robots/iiwa14.yaml
@@ -0,0 +1 @@
+robot_type: "iiwa"
diff --git a/crisp_py/robot/robot_config.py b/crisp_py/robot/robot_config.py
index bbd90a7..d013aad 100644
--- a/crisp_py/robot/robot_config.py
+++ b/crisp_py/robot/robot_config.py
@@ -202,18 +202,18 @@ class IiwaConfig(RobotConfig):
 
     joint_names: list = field(
         default_factory=lambda: [
-            "joint_a1",
-            "joint_a2",
-            "joint_a3",
-            "joint_a4",
-            "joint_a5",
-            "joint_a6",
-            "joint_a7",
+            "lbr_A1",
+            "lbr_A2",
+            "lbr_A3",
+            "lbr_A4",
+            "lbr_A5",
+            "lbr_A6",
+            "lbr_A7",
         ]
     )
     home_config: list = field(
         default_factory=lambda: [
-            0,
+            np.pi / 2,
             -np.pi / 4,
             0,
             -3 * np.pi / 4,
@@ -222,8 +222,8 @@ class IiwaConfig(RobotConfig):
             np.pi / 4,
         ]
     )
-    base_frame: str = "iiwa_base"
-    target_frame: str = "tool0"
+    base_frame: str = "world"
+    target_frame: str = "lbr_link_ee"
 
 
 @dataclass
diff --git a/examples/01_figure_eight.py b/examples/01_figure_eight.py
index 2872129..bf44a0a 100644
--- a/examples/01_figure_eight.py
+++ b/examples/01_figure_eight.py
@@ -6,18 +6,17 @@
 
 from crisp_py.robot import make_robot
 
-left_arm = make_robot("fr3_left")
-print(left_arm._current_joint)
-left_arm.wait_until_ready()
+robot = make_robot("fr3")
+robot.wait_until_ready()
 
 # %%
-print(left_arm.end_effector_pose)
-print(left_arm.joint_values)
+print(robot.end_effector_pose)
+print(robot.joint_values)
 
 # %%
 print("Going to home position...")
-left_arm.home()
-homing_pose = left_arm.end_effector_pose.copy()
+robot.home()
+homing_pose = robot.end_effector_pose.copy()
 
 
 # %%
@@ -30,8 +29,8 @@
 max_time = 8.0
 
 # %%
-left_arm.controller_switcher_client.switch_controller("cartesian_impedance_controller")
-left_arm.cartesian_controller_parameters_client.load_param_config(
+robot.controller_switcher_client.switch_controller("cartesian_impedance_controller")
+robot.cartesian_controller_parameters_client.load_param_config(
     # file_path="config/control/gravity_compensation.yaml"
     # file_path="config/control/default_operational_space_controller.yaml"
     # file_path="config/control/clipped_cartesian_impedance.yaml"
@@ -40,7 +39,7 @@
 
 # %%
 # The move_to function will publish a pose to /target_pose while interpolation linearly
-left_arm.move_to(position=center, speed=0.15)
+robot.move_to(position=center, speed=0.15)
 
 # %%
 # The set_target will directly publish the pose to /target_pose
@@ -50,8 +49,8 @@
 
 print("Starting to draw a circle...")
 t = 0.0
-target_pose = left_arm.end_effector_pose.copy()
-rate = left_arm.node.create_rate(ctrl_freq)
+target_pose = robot.end_effector_pose.copy()
+rate = robot.node.create_rate(ctrl_freq)
 
 while t < max_time:
     x = center[0]
@@ -59,12 +58,12 @@
     z = radius * np.sin(2 * np.pi * sin_freq_z * t) + center[2]
     target_pose.position = np.array([x, y, z])
 
-    left_arm.set_target(pose=target_pose)
+    robot.set_target(pose=target_pose)
 
     rate.sleep()
 
-    ee_poses.append(left_arm.end_effector_pose.copy())
-    target_poses.append(left_arm._target_pose.copy())
+    ee_poses.append(robot.end_effector_pose.copy())
+    target_poses.append(robot._target_pose.copy())
     ts.append(t)
 
     t += 1.0 / ctrl_freq
@@ -74,8 +73,8 @@
 
     rate.sleep()
 
-    ee_poses.append(left_arm.end_effector_pose.copy())
-    target_poses.append(left_arm._target_pose.copy())
+    ee_poses.append(robot.end_effector_pose.copy())
+    target_poses.append(robot._target_pose.copy())
     ts.append(t)
 
     t += 1.0 / ctrl_freq
@@ -115,7 +114,7 @@
 # %%
 
 print("Going back home.")
-left_arm.home()
+robot.home()
 
 # %%
-left_arm.shutdown()
+robot.shutdown()
diff --git a/examples/06_franka_gripper.py b/examples/06_franka_gripper.py
new file mode 100644
index 0000000..ebde958
--- /dev/null
+++ b/examples/06_franka_gripper.py
@@ -0,0 +1,15 @@
+"""Simple example to control the gripper."""
+import time
+
+from crisp_py.gripper.gripper import make_gripper
+
+gripper = make_gripper("gripper_franka")
+gripper.config.max_delta = 0.15
+gripper.wait_until_ready()
+
+# Open and close the gripper
+gripper.open()
+time.sleep(2.0)
+gripper.close()
+time.sleep(2.0)
+gripper.shutdown()
diff --git a/examples/06_gripper.py b/examples/06_gripper.py
deleted file mode 100644
index fbc55e4..0000000
--- a/examples/06_gripper.py
+++ /dev/null
@@ -1,36 +0,0 @@
-"""Simple example to control the gripper."""
-
-# %%
-import time
-
-
-from crisp_py.gripper.gripper import make_gripper
-
-gripper = make_gripper("gripper_franka")
-gripper.config.max_delta = 0.15
-gripper.wait_until_ready()
-
-
-# %%
-freq = 1.0
-rate = gripper.node.create_rate(freq)
-t = 0.0
-while t < 10.0:
-    print(gripper.value)
-    print(gripper.torque)
-    rate.sleep()
-    t += 1.0 / freq
-
-# %%
-gripper.value
-
-gripper.set_target(1.0)
-time.sleep(3.0)
-gripper.set_target(0.0)
-time.sleep(3.0)
-
-for _ in range(6):
-    gripper.set_target(1.0)
-    time.sleep(3.0)
-    gripper.set_target(0.0)
-    time.sleep(3.0)
diff --git a/examples/07_camera_example.py b/examples/07_camera_example.py
deleted file mode 100644
index 854dadb..0000000
--- a/examples/07_camera_example.py
+++ /dev/null
@@ -1,11 +0,0 @@
-"""Simple example for a camera."""
-
-import cv2
-from crisp_py.camera import make_camera
-
-# You could also use the Camera object directly:
-camera = make_camera("right_wrist_camera", namespace="right")
-camera.wait_until_ready()
-
-cv2.imshow("Camera Image", camera.current_image)
-cv2.waitKey(0)
diff --git a/examples/07_camera_example_single_frame.py b/examples/07_camera_example_single_frame.py
new file mode 100644
index 0000000..c3edde8
--- /dev/null
+++ b/examples/07_camera_example_single_frame.py
@@ -0,0 +1,24 @@
+"""Simple example for a camera. It captures a single frame from a camera and plots it using matplotlib."""
+
+import matplotlib.pyplot as plt
+from crisp_py.camera import make_camera
+
+camera = make_camera("right_wrist_camera", namespace="right")
+
+# You could also use the Camera object directly:
+# from crisp_py.camera import CameraConfig, Camera
+# camera_config = CameraConfig(
+#     camera_name="primary",
+#     camera_frame="primary_link",
+#     resolution=[256, 256],
+#     camera_color_image_topic="/image_raw",
+#     camera_color_info_topic="/image_raw/camera_info",
+# )
+#
+# camera = Camera(config=camera_config, namespace="")
+
+camera.wait_until_ready()
+
+plt.imshow(camera.current_image)
+plt.axis("off")
+plt.show()
diff --git a/examples/12_franka_gripper.py b/examples/12_franka_gripper.py
deleted file mode 100644
index df96859..0000000
--- a/examples/12_franka_gripper.py
+++ /dev/null
@@ -1,32 +0,0 @@
-"""Simple example to control the gripper."""
-
-# %%
-import time
-
-from crisp_py.gripper.gripper import make_gripper
-
-
-gripper = make_gripper("gripper_franka")
-gripper.config.max_delta = 10.0
-print(gripper._joint_state_sub.topic_name)
-print(gripper.wait_until_ready())
-
-# %%
-gripper.value
-
-# Almost fully open
-gripper.open()
-
-time.sleep(3.0)
-
-# Almost fully closed
-gripper.close()
-
-time.sleep(3.0)
-input("Waiting for input")
-
-gripper.open()
-
-time.sleep(3.0)
-
-gripper.shutdown()
diff --git a/examples/13_camera_example.py b/examples/13_camera_example.py
deleted file mode 100644
index ef1bfe1..0000000
--- a/examples/13_camera_example.py
+++ /dev/null
@@ -1,18 +0,0 @@
-"""Simple example to control the gripper."""
-
-import cv2
-from crisp_py.camera import Camera, CameraConfig
-
-camera_config = CameraConfig(
-    camera_name="primary",
-    camera_frame="primary_link",
-    resolution=(256, 256),
-    camera_color_image_topic="/camera_namespace/wrist_camera/color/image_rect_raw",
-    camera_color_info_topic="/camera_namespace/wrist_camera/color/camera_info",
-)
-
-camera = Camera(config=camera_config, namespace="")
-camera.wait_until_ready()
-
-cv2.imshow("Camera Image", camera.current_image)
-cv2.waitKey(0)
diff --git a/examples/13_camera_example_stream.py b/examples/13_camera_example_stream.py
new file mode 100644
index 0000000..a424ae2
--- /dev/null
+++ b/examples/13_camera_example_stream.py
@@ -0,0 +1,28 @@
+"""Simple toy example to visualize the camera image."""
+
+import time
+import matplotlib.pyplot as plt
+from crisp_py.camera import CameraConfig, Camera
+
+
+camera_config = CameraConfig(
+    camera_name="primary",
+    camera_frame="primary_link",
+    resolution=[256, 256],
+    camera_color_image_topic="/image_raw",
+    camera_color_info_topic="/image_raw/camera_info",
+)
+
+camera = Camera(config=camera_config, namespace="")
+camera.wait_until_ready()
+
+# Display camera feed
+plt.ion()
+fig, ax = plt.subplots()
+ax.axis("off")
+
+frame = camera.current_image
+im = ax.imshow(frame)
+while True:
+    im.set_data(camera.current_image)
+    plt.pause(1.0 / 30.0)
diff --git a/examples/14_viser_example.py b/examples/14_viser_example.py
new file mode 100644
index 0000000..2f4398f
--- /dev/null
+++ b/examples/14_viser_example.py
@@ -0,0 +1,124 @@
+from __future__ import annotations
+
+import time
+from typing import Literal
+
+import numpy as np
+import viser
+from viser.extras import ViserUrdf
+from scipy.spatial.transform import Rotation
+from robot_descriptions.loaders.yourdfpy import load_robot_description
+
+from crisp_py.robot import make_robot
+from crisp_py.utils.geometry import Pose
+
+# TODO: Set robot type here.
+ROBOT_TYPE: Literal["fr3", "panda", "iiwa14"] = "fr3"
+
+# ===
+
+def get_description_name(robot_type: str) -> str:
+    if robot_type in ["fr3", "panda"]:
+        return "panda_description"
+    elif robot_type == "iiwa":
+        return "iiwa14_description"
+    else:
+        return f"{robot_type}_description"
+
+def should_add_gripper_to_config(robot_type: str) -> bool:
+    if robot_type in ["fr3", "panda"]:
+        return True
+    return False
+
+robot = make_robot(ROBOT_TYPE)
+robot.wait_until_ready()
+
+robot.config.time_to_home = 2.0
+robot.home()
+start_pose = robot.end_effector_pose
+
+robot.controller_switcher_client.switch_controller("cartesian_impedance_controller")
+robot.cartesian_controller_parameters_client.load_param_config(
+    file_path="config/control/default_cartesian_impedance.yaml"
+)
+
+load_meshes: bool = True
+load_collision_meshes: bool = False
+
+# Start viser server.
+server = viser.ViserServer()
+
+# Load URDF.
+#
+# This takes either a yourdfpy.URDF object or a path to a .urdf file.
+
+urdf = load_robot_description(get_description_name(ROBOT_TYPE))
+viser_urdf = ViserUrdf(
+    server,
+    urdf_or_path=urdf,
+    load_meshes=load_meshes,
+    load_collision_meshes=load_collision_meshes,
+    collision_mesh_color_override=(1.0, 0.0, 0.0, 0.5),
+)
+
+# Add visibility checkboxes.
+with server.gui.add_folder("Visibility"):
+    show_meshes_cb = server.gui.add_checkbox(
+        "Show meshes",
+        viser_urdf.show_visual,
+    )
+    show_collision_meshes_cb = server.gui.add_checkbox(
+        "Show collision meshes", viser_urdf.show_collision
+    )
+
+@show_meshes_cb.on_update
+def _(_):
+    viser_urdf.show_visual = show_meshes_cb.value
+
+@show_collision_meshes_cb.on_update
+def _(_):
+    viser_urdf.show_collision = show_collision_meshes_cb.value
+
+# Hide checkboxes if meshes are not loaded.
+show_meshes_cb.visible = load_meshes
+show_collision_meshes_cb.visible = load_collision_meshes
+
+# Set initial robot configuration.
+actuation = np.array([*robot.joint_values, 0.0]) if should_add_gripper_to_config(ROBOT_TYPE) else np.array(robot.joint_values)
+viser_urdf.update_cfg(actuation)
+
+# Create grid.
+trimesh_scene = viser_urdf._urdf.scene or viser_urdf._urdf.collision_scene
+server.scene.add_grid(
+    "/grid",
+    width=2,
+    height=2,
+    position=(
+        0.0,
+        0.0,
+        # Get the minimum z value of the trimesh scene.
+        trimesh_scene.bounds[0, 2] if trimesh_scene is not None else 0.0,
+    ),
+)
+# Add interactive transform controls for the end effector.
+transform_handle = server.scene.add_transform_controls(
+    "/end_effector_target",
+    position=start_pose.position,
+    wxyz=start_pose.orientation.as_quat(scalar_first=True),
+    scale=0.3,
+    line_width=3.0,
+)
+
+# Add callback for when the transform handle is moved.
+@transform_handle.on_update
+def update_robot_target(handle: viser.TransformControlsEvent) -> None:
+    rot = Rotation.from_quat(handle.target.wxyz, scalar_first=True)
+    pose = Pose(position=handle.target.position, orientation=rot)
+    robot.set_target(pose=pose)
+
+
+# Sleep forever.
+while True:
+    actuation = np.array([*robot.joint_values, 0.0]) if should_add_gripper_to_config(ROBOT_TYPE) else np.array(robot.joint_values)
+    viser_urdf.update_cfg(actuation)
+    time.sleep(0.01)
diff --git a/examples/18_aloha_gripper.py b/examples/18_dynamixel_gripper.py
similarity index 100%
rename from examples/18_aloha_gripper.py
rename to examples/18_dynamixel_gripper.py
diff --git a/examples/README.md b/examples/README.md
new file mode 100644
index 0000000..993b041
--- /dev/null
+++ b/examples/README.md
@@ -0,0 +1,81 @@
+# crisp_py Examples
+
+This folder contains example scripts demonstrating various features of crisp_py.
+
+## Basic Robot Control
+
+| Example | Description |
+|---------|-------------|
+| `00_gravity_compensation.py` | Demonstrates gravity compensation mode, allowing the robot to be moved freely by hand |
+| ⭐ `01_figure_eight.py` | Makes the robot follow a figure-eight trajectory on the yz plane using cartesian impedance control |
+| ⭐ `02_joint_control.py` | Shows how to control robot joints directly using joint impedance control |
+| `03_getting_and_setting_parameters.py` | Demonstrates using `ParametersClient` to dynamically get, set, and list controller parameters |
+| `04_dual_arm.py` | Sets up a dual-arm teleoperation system where the right arm mirrors the left arm's movements |
+| `05_apply_force.py` | Shows how to apply a force/wrench to the robot using the cartesian impedance controller |
+
+## Grippers
+
+| Example | Description |
+|---------|-------------|
+| `06_franka_gripper.py` | Basic gripper control - opening and closing a Franka gripper |
+| `18_dynamixel_gripper.py` | Controls an dynamixel gripper with open, close, and set target position |
+
+## Cameras and Sensors
+
+| Example | Description |
+|---------|-------------|
+| `07_camera_example_single_frame.py` | Captures a single frame from a camera and displays it using matplotlib |
+| `08_sensor_example.py` | Reads data from a force/torque sensor and plots it over time |
+| ⭐ `13_camera_example_stream.py` | Continuously streams camera images with live updates |
+
+## Advanced Topics
+
+| Example | Description |
+|---------|-------------|
+| `09_get_twist.py` | Shows how to get the end-effector twist (linear and angular velocity) while following a trajectory |
+| `10_tf_pose.py` | Demonstrates using TF (transform frames) to get the robot's end-effector pose |
+| `11_control_tests.py` | Compares different control modes (Operational Space Control vs Cartesian Impedance) on a figure-eight trajectory |
+| ⭐ `14_viser_example.py` | Interactive 3D visualization using viser with transform controls for commanding the robot |
+| `20_infinite_figure.py` | Runs a continuous figure-eight trajectory until interrupted with Ctrl+C |
+
+## Robot-Specific Examples
+
+| Example | Description |
+|---------|-------------|
+| `example_with_kinova.py` | Demonstrates circle trajectory control with a Kinova robot |
+| `example_with_iiwa.py` | Demonstrates circle trajectory control with a KUKA iiwa robot |
+
+
+## Getting Started
+
+Most examples follow this general pattern:
+
+```python
+from crisp_py.robot import make_robot
+
+# Create and initialize the robot
+robot = make_robot("fr3")
+robot.wait_until_ready()
+
+# Switch to the desired controller
+robot.controller_switcher_client.switch_controller("cartesian_impedance_controller")
+
+# Perform operations...
+
+# Clean up
+robot.shutdown()
+```
+
+For gripper examples:
+
+```python
+from crisp_py.gripper.gripper import make_gripper
+
+gripper = make_gripper("gripper_franka")
+gripper.wait_until_ready()
+
+gripper.open()
+gripper.close()
+
+gripper.shutdown()
+```
diff --git a/examples/example_with_iiwa.py b/examples/example_with_iiwa.py
index 2a0fada..c695cce 100644
--- a/examples/example_with_iiwa.py
+++ b/examples/example_with_iiwa.py
@@ -3,7 +3,7 @@
 
 # %%
 from crisp_py.robot import Pose, Robot
-from crisp_py.robot_config import IiwaConfig
+from crisp_py.robot import IiwaConfig
 
 robot = Robot(robot_config=IiwaConfig())
 robot.wait_until_ready()
@@ -25,13 +25,6 @@
     ("task.k_rot_y", 80.0),
     ("task.k_rot_z", 80.0),
     ("nullspace.stiffness", 5.0),
-    ("nullspace.weights.joint_a1.value", 5.0),
-    ("nullspace.weights.joint_a2.value", 5.0),
-    ("nullspace.weights.joint_a3.value", 5.0),
-    ("nullspace.weights.joint_a4.value", 2.0),
-    ("nullspace.weights.joint_a5.value", 2.0),
-    ("nullspace.weights.joint_a6.value", 1.0),
-    ("nullspace.weights.joint_a7.value", 1.0),
 ]
 
 robot.cartesian_controller_parameters_client.set_parameters(params)
diff --git a/pixi.lock b/pixi.lock
index db67cb1..3069bf3 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -3,6 +3,8 @@ environments:
   default:
     channels:
     - url: https://fast.prefix.dev/conda-forge/
+    indexes:
+    - https://pypi.org/simple
     packages:
       linux-64:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
@@ -77,6 +79,37 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-libxdmcp-1.1.5-hb9d3cd8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xorg-xorgproto-2024.1-hb9d3cd8_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
+      - pypi: https://files.pythonhosted.org/packages/38/0e/27be9fdef66e72d64c0cdc3cc2823101b80585f8119b5c112c2e8f5f7dab/anyio-4.12.1-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/3a/2a/7cc015f5b9f5db42b7d48157e23356022889fc354a2813c15934b7cb5c0e/attrs-25.4.0-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/e6/ad/3cc14f097111b4de0040c83a525973216457bbeeb63739ef1ed275c1c021/certifi-2026.1.4-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/f5/83/6ab5883f57c9c801ce5e5677242328aa45592be8a00644310a008d04f922/charset_normalizer-3.4.4-cp313-cp313-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/6d/c1/e419ef3723a074172b68aaa89c9f3de486ed4c2399e2dbd8113a4fdcaf9e/colorlog-6.10.1-py3-none-any.whl
+      - pypi: https://files.pythonhosted.org/packages/59/c7/410b62268fa98d9f0f2f5ab14b6e718e308a5f30dc4b9c2dcb0223d98ac8/embreex-2.17.7.post7-cp313-cp313-manylinux2010_x86_64.manylinux_2_12_x86_64.manylinux_2_28_x86_64.whl
+      - pypi: https://files.pythonhosted.org/packages/04/4b/29cac41a4d98d144bf5f6d33995617b185d14b22401f75ca86f384e87ff1/h11-0.16.0-py3-none-any.whl
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+  sha256: 297b7fbf86c82c550e12e8fb71968b3f033d27b874276ba3624ea868c11165a8
+  requires_python: '>=3.7'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h7f98852_2.tar.bz2
   sha256: a4e34c710eeb26945bdbdaba82d3d74f60a78f54a874ec10d373811a5d217535
   md5: 4cb3ad778ec2d5a7acbdf254eb1c42ae
@@ -26413,6 +29462,21 @@ packages:
   - pkg:pypi/yarl?source=hash-mapping
   size: 149496
   timestamp: 1749555225039
+- pypi: https://files.pythonhosted.org/packages/fa/e1/ab7086ffc2767455a28848945ddacce1533d67ad26c20a4a01c93d0ea239/yourdfpy-0.0.58-py3-none-any.whl
+  name: yourdfpy
+  version: 0.0.58
+  sha256: 9e1b00ef0d33256d8d0f3a48e34ebf28a05181cee7f6c44a32c704a0261aa9c0
+  requires_dist:
+  - importlib-metadata ; python_full_version < '3.8'
+  - lxml
+  - trimesh[easy]>=3.11.2
+  - numpy
+  - six
+  - pyglet<2 ; extra == 'full'
+  - setuptools ; extra == 'testing'
+  - pytest ; extra == 'testing'
+  - pytest-cov ; extra == 'testing'
+  requires_python: '>=3.7'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zenoh-rust-abi-1.1.1.1.75.0-hfb157bb_0.conda
   sha256: 92135243e714e8a1f2099bec27da569bf0e81968c4e1295941f4ac1df8760ef1
   md5: b67ae5c044d63e29582d7e2a844d3c7a
@@ -26460,6 +29524,14 @@ packages:
   purls: []
   size: 92286
   timestamp: 1727963153079
+- pypi: https://files.pythonhosted.org/packages/53/60/7be26e610767316c028a2cbedb9a3beabdbe33e2182c373f71a1c0b88f36/zstandard-0.25.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
+  name: zstandard
+  version: 0.25.0
+  sha256: 5a56ba0db2d244117ed744dfa8f6f5b366e14148e00de44723413b2f3938a902
+  requires_dist:
+  - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
+  requires_python: '>=3.9'
 - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
   sha256: a4166e3d8ff4e35932510aaff7aa90772f84b4d07e9f6f83c614cba7ceefe0eb
   md5: 6432cb5d4ac0046c3ac0a8a0f95842f9
diff --git a/pixi.toml b/pixi.toml
index 9a76b87..7b6a09a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -24,6 +24,7 @@ test_raw = "pytest --cov=crisp_py --cov-report=html"
 test = [{task="test_raw", environment="humble"}]
 view_diagnostics = "python scripts/view_diagnostics.py"
 view_diagnostics_humble = [{task="view_diagnostics", environment="humble"}]
+view_diagnostics_jazzy = [{task="view_diagnostics", environment="jazzy"}]
 
 
 
@@ -33,6 +34,8 @@ libgl-devel = "*"
 [environments]
 humble = { features = ["humble", "crisp-py", "extra", "dev"] }
 jazzy = { features = ["jazzy", "crisp-py", "extra", "dev"] }
+humble-viser = { features = ["jazzy", "viser", "crisp-py", "extra", "dev"] }
+jazzy-viser = { features = ["jazzy", "viser", "crisp-py", "extra", "dev"] }
 humble-clean = { features = ["humble"] }
 
 # humble
@@ -47,6 +50,10 @@ ros-humble-ros2-controllers = "*"
 ros-humble-rmw-zenoh-cpp = "*"
 ros-humble-rmw-cyclonedds-cpp = "*"
 rosdep = "*"
+libstdcxx-ng = "*"
+
+[feature.humble.pypi-dependencies]
+viser = ">=1.0.16, <2"
 
 # jazzy
 [feature.jazzy]
@@ -62,6 +69,10 @@ ros-jazzy-rmw-cyclonedds-cpp = "*"
 rosdep = "*"
 # scipy = "*"  # See https://github.com/utiasDSL/crisp_py/pull/63#pullrequestreview-3659019804
 
+[feature.viser.pypi-dependencies]
+viser = ">=1.0.19, <2"
+robot-descriptions = ">=1.22.0, <2"
+
 [feature.dev.pypi-dependencies]
 ruff= "*"
 bumpver = "*"
@@ -77,3 +88,6 @@ crisp_python = { path = ".", editable = true }
 [feature.extra.pypi-dependencies]
 rich = "*"  # For nice prints
 matplotlib = "*"  # to do some plots
+
+[pypi-dependencies]
+yourdfpy = ">=0.0.58, <0.0.59"
diff --git a/scripts/set_ros_env.sh b/scripts/set_ros_env.sh
index ad8876d..99a41c6 100644
--- a/scripts/set_ros_env.sh
+++ b/scripts/set_ros_env.sh
@@ -1,5 +1,8 @@
 #/usr/bin/env sh
 
+# Ensure conda libs take precedence over system libs
+export LD_LIBRARY_PATH=$CONDA_PREFIX/lib:$LD_LIBRARY_PATH
+
 ROS_ENV_FILE="scripts/personal_ros_env.sh"
 
 if [ -f "$ROS_ENV_FILE" ]; then
diff --git a/tests/unit/test_robot_config.py b/tests/unit/test_robot_config.py
deleted file mode 100644
index 684ca49..0000000
--- a/tests/unit/test_robot_config.py
+++ /dev/null
@@ -1,284 +0,0 @@
-"""Unit tests for robot configuration classes."""
-
-import numpy as np
-
-from crisp_py.robot.robot_config import (
-    FrankaConfig,
-    IiwaConfig,
-    KinovaConfig,
-    RobotConfig,
-    SO101Config,
-)
-
-
-class TestRobotConfig:
-    """Test cases for the base RobotConfig class."""
-
-    def test_robot_config_creation(self):
-        """Test basic robot config creation."""
-        joint_names = ["joint1", "joint2", "joint3"]
-        home_config = [0.0, 0.1, 0.2]
-
-        config = RobotConfig(joint_names=joint_names, home_config=home_config)
-
-        assert config.joint_names == joint_names
-        assert config.home_config == home_config
-        assert config.base_frame == "base_link"
-        assert config.target_frame == "end_effector_link"
-        assert config.publish_frequency == 50.0
-
-    def test_robot_config_defaults(self):
-        """Test default values in RobotConfig."""
-        config = RobotConfig(joint_names=["j1"], home_config=[0.0])
-
-        assert config.default_controller == "cartesian_impedance_controller"
-        assert config.cartesian_impedance_controller_name == "cartesian_impedance_controller"
-        assert config.joint_trajectory_controller_name == "joint_impedance_controller"
-        assert config.target_pose_topic == "target_pose"
-        assert config.target_joint_topic == "target_joint"
-        assert config.current_pose_topic == "current_pose"
-        assert config.current_joint_topic == "joint_states"
-        assert config.time_to_home == 5.0
-        assert config.max_pose_delay == 1.0
-        assert config.max_joint_delay == 1.0
-
-    def test_robot_config_custom_values(self):
-        """Test RobotConfig with custom values."""
-        config = RobotConfig(
-            joint_names=["custom_joint"],
-            home_config=[0.5],
-            base_frame="custom_base",
-            target_frame="custom_ee",
-            publish_frequency=100.0,
-            time_to_home=10.0,
-        )
-
-        assert config.base_frame == "custom_base"
-        assert config.target_frame == "custom_ee"
-        assert config.publish_frequency == 100.0
-        assert config.time_to_home == 10.0
-
-
-class TestFrankaConfig:
-    """Test cases for the FrankaConfig class."""
-
-    def test_franka_config_defaults(self):
-        """Test default values in FrankaConfig."""
-        config = FrankaConfig()
-
-        assert len(config.joint_names) == 7
-        assert len(config.home_config) == 7
-        assert config.base_frame == "base"
-        assert config.target_frame == "fr3_hand_tcp"
-
-        # Check joint names
-        expected_joints = [
-            "fr3_joint1",
-            "fr3_joint2",
-            "fr3_joint3",
-            "fr3_joint4",
-            "fr3_joint5",
-            "fr3_joint6",
-            "fr3_joint7",
-        ]
-        assert config.joint_names == expected_joints
-
-    def test_franka_config_home_positions(self):
-        """Test Franka home configuration values."""
-        config = FrankaConfig()
-
-        expected_home = [
-            0,
-            -np.pi / 4,
-            0,
-            -3 * np.pi / 4,
-            0,
-            np.pi / 2,
-            np.pi / 4,
-        ]
-
-        assert np.allclose(config.home_config, expected_home)
-
-    def test_franka_config_inheritance(self):
-        """Test that FrankaConfig inherits from RobotConfig."""
-        config = FrankaConfig()
-
-        assert isinstance(config, RobotConfig)
-        assert config.publish_frequency == 50.0  # Inherited default
-        assert config.time_to_home == 5.0  # Inherited default
-
-    def test_franka_config_custom_override(self):
-        """Test overriding FrankaConfig defaults."""
-        custom_joints = ["custom_joint1", "custom_joint2"]
-        custom_home = [0.1, 0.2]
-
-        config = FrankaConfig(
-            joint_names=custom_joints, home_config=custom_home, base_frame="custom_base"
-        )
-
-        assert config.joint_names == custom_joints
-        assert config.home_config == custom_home
-        assert config.base_frame == "custom_base"
-        assert config.target_frame == "fr3_hand_tcp"  # Still uses Franka default
-
-
-class TestKinovaConfig:
-    """Test cases for the KinovaConfig class."""
-
-    def test_kinova_config_defaults(self):
-        """Test default values in KinovaConfig."""
-        config = KinovaConfig()
-
-        assert len(config.joint_names) == 7
-        assert len(config.home_config) == 7
-
-        expected_joints = [
-            "joint_1",
-            "joint_2",
-            "joint_3",
-            "joint_4",
-            "joint_5",
-            "joint_6",
-            "joint_7",
-        ]
-        assert config.joint_names == expected_joints
-
-    def test_kinova_config_home_positions(self):
-        """Test Kinova home configuration values."""
-        config = KinovaConfig()
-
-        expected_home = [
-            0,
-            -np.pi / 4,
-            0,
-            -3 * np.pi / 4,
-            0,
-            np.pi / 2,
-            np.pi / 4,
-        ]
-
-        assert np.allclose(config.home_config, expected_home)
-
-    def test_kinova_config_uses_base_defaults(self):
-        """Test that KinovaConfig uses RobotConfig defaults for frames."""
-        config = KinovaConfig()
-
-        assert config.base_frame == "base_link"
-        assert config.target_frame == "end_effector_link"
-
-
-class TestIiwaConfig:
-    """Test cases for the IiwaConfig class."""
-
-    def test_iiwa_config_defaults(self):
-        """Test default values in IiwaConfig."""
-        config = IiwaConfig()
-
-        assert len(config.joint_names) == 7
-        assert len(config.home_config) == 7
-        assert config.base_frame == "iiwa_base"
-        assert config.target_frame == "tool0"
-
-        expected_joints = [
-            "joint_a1",
-            "joint_a2",
-            "joint_a3",
-            "joint_a4",
-            "joint_a5",
-            "joint_a6",
-            "joint_a7",
-        ]
-        assert config.joint_names == expected_joints
-
-    def test_iiwa_config_home_positions(self):
-        """Test Iiwa home configuration values."""
-        config = IiwaConfig()
-
-        expected_home = [
-            0,
-            -np.pi / 4,
-            0,
-            -3 * np.pi / 4,
-            0,
-            np.pi / 2,
-            np.pi / 4,
-        ]
-
-        assert np.allclose(config.home_config, expected_home)
-
-
-class TestSO101Config:
-    """Test cases for the SO101Config class."""
-
-    def test_so101_config_defaults(self):
-        """Test default values in SO101Config."""
-        config = SO101Config()
-
-        assert len(config.joint_names) == 6
-        assert len(config.home_config) == 6
-        assert config.base_frame == "Base"
-        assert config.target_frame == "Fixed_Gripper"
-
-        expected_joints = [
-            "Shoulder_Rotation",
-            "Shoulder_Pitch",
-            "Elbow",
-            "Wrist_Pitch",
-            "Wrist_Roll",
-            "Gripper",
-        ]
-        assert config.joint_names == expected_joints
-
-    def test_so101_config_home_positions(self):
-        """Test SO101 home configuration values."""
-        config = SO101Config()
-
-        expected_home = [0, 0, 0, 0, 0, 0]
-        assert config.home_config == expected_home
-
-
-class TestConfigConsistency:
-    """Test consistency across different robot configurations."""
-
-    def test_all_configs_have_matching_joint_and_home_lengths(self):
-        """Test that all configs have matching joint_names and home_config lengths."""
-        configs = [FrankaConfig(), KinovaConfig(), IiwaConfig(), SO101Config()]
-
-        for config in configs:
-            assert len(config.joint_names) == len(config.home_config), (
-                f"Mismatch in {config.__class__.__name__}: "
-                f"joints={len(config.joint_names)}, home={len(config.home_config)}"
-            )
-
-    def test_all_configs_inherit_from_robot_config(self):
-        """Test that all specific configs inherit from RobotConfig."""
-        configs = [FrankaConfig(), KinovaConfig(), IiwaConfig(), SO101Config()]
-
-        for config in configs:
-            assert isinstance(config, RobotConfig)
-
-    def test_all_configs_have_required_attributes(self):
-        """Test that all configs have required attributes."""
-        configs = [FrankaConfig(), KinovaConfig(), IiwaConfig(), SO101Config()]
-
-        required_attrs = [
-            "joint_names",
-            "home_config",
-            "base_frame",
-            "target_frame",
-            "default_controller",
-            "cartesian_impedance_controller_name",
-            "joint_trajectory_controller_name",
-            "target_pose_topic",
-            "target_joint_topic",
-            "current_pose_topic",
-            "current_joint_topic",
-            "publish_frequency",
-            "time_to_home",
-            "max_pose_delay",
-            "max_joint_delay",
-        ]
-
-        for config in configs:
-            for attr in required_attrs:
-                assert hasattr(config, attr), f"{config.__class__.__name__} missing {attr}"