This is a URDF file of a small humanoid robot Roid1 and it's Rviz operation demo. You can operate the joints of the robot with sliders.
This demo has been confirmed to work on ROS-melodic,noetic with Rviz.
$ cd ~/catkin_ws/src/
$ git clone https://github.com/Ninagawa123/roid1_urdf.git
$ cd ~/catkin_ws/
$ catkin build
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch roid1_urdf display.launch
~/catkin_ws/src/ └── roid1_urdf #ros_package ├── CMakeLists.txt ├── package.xml ├── LICENSE ├── readme.md ├── launch │ └── display.launch └── urdf ├── c_chest_a.stl ├── c_chest_b.stl ├── c_head_a.stl ├── c_head_b.stl ├── c_waist.stl ├── l_ankle.stl ├── l_elbow.stl ├── l_foot.stl ├── l_hipjointlower.stl ├── l_hipjointupper.stl ├── l_hipjointupperpoint.stl ├── l_lowerarm.stl ├── l_lowerleg_a.stl ├── l_lowerleg_b.stl ├── l_shoulder.stl ├── l_upperarm.stl ├── l_upperleg_a.stl ├── l_upperleg_b.stl ├── shoulderpoint.stl ├── r_ankle.stl ├── r_elbow.stl ├── r_foot.stl ├── r_hipjointlower.stl ├── r_hipjointupper.stl ├── r_hipjointupperpoint.stl ├── r_lowerarm.stl ├── r_lowerleg_a.stl ├── r_lowerleg_b.stl ├── r_shoulder.stl ├── r_upperarm.stl ├── r_upperleg_a.stl ├── r_upperleg_b.stl ├── roid1.urdf └── urdf.rviz