A dead simple URDF viewer that justs works.
Skeleton Mode
One of the main goals of viewurdf is to provide a useful visualization even
when the URDF's mesh files are missing. This is done using skeleton mode,
which removes all existing visual and collision components from the URDF and
replaces them with simple primitives.
Install
It is recommended to use uv or pipx to automatically install the tool into an isolated environment.
# preferably:
uv tool install viewurdf
# or
pipx install viewurdf
# if you must:
pip install viewurdf
Usage
# basic usage: starts a viser server, view in your browser
viewurdf <file.urdf>
# skeleton mode: if you don't have all the assets referenced in the URDF
viewurdf -s <file.urdf>
License
MIT
1 maintainer
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