openrr/urdf-viz

What it solves

It provides a way to visualize robot descriptions defined in URDF (Unified Robot Description Format) and Xacro files. It allows users to inspect their robot models, test joint movements, and verify the physical structure of a robot without needing a full simulation environment.

How it works

Written in Rust, the tool loads URDF or Xacro files and renders them in a 3D GUI. It integrates with ROS (Robot Operating System) tools like rosrun and rospack to resolve mesh paths and convert Xacro files. It also features a built-in HTTP/JSON API that allows external programs to programmatically set and get joint angles and robot origin positions.

Who it’s for

Robotics developers and engineers who need to quickly visualize and validate robot models and kinematics.

Highlights

• Interactive GUI: Supports keyboard and mouse controls for moving joints, toggling collision models, and performing inverse kinematics (position only).
• Web Interface: A JSON-based HTTP API for remote control of joint positions and robot origin.
• Broad Mesh Support: Supports .obj, .stl, and .dae files, with extended support for other formats via the assimp feature.
• Robot Model Support: Directly handles both URDF and Xacro files.