nguyen-v / urdf-visualizer

URDF Visualizer with PyBullet

A simple Python script to visualize URDF robot models in PyBullet without ROS dependencies.

Features

• Visualize any .urdf or .urdf.xacro file in PyBullet
• No ROS required
• Support for mimic joints (not supported in pybullet by default)
• Integrated sliders for joint movement testing
• Easy-to-use CLI for quick testing

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Installation

pip install pybullet xacro
git clone https://github.com/maschull106/urdf-visualizer.git
cd urdf-visualizer

Usage

The visualize python script can take several CLI arguments, but none are mandatory. Example usage:

python visualize.py --urdf="panda_urdf/hand.urdf" --fixed=true

To run the script with your URDF, you can also modify the visualize python script:

DEFAULT_URDF_PATH = "path/to/your/urdf"

To make you robot fixed to the world, you can give the --fixed=true option as above, or add the

<gazebo>
    <static>true</static>
</gazebo>

element in your URDF (note that any static information from the URDF will be overridden if the --fixed CLI argument is provided).

Available CLI argument

Argument	Description	Default
--urdf	string: Path to URDF/Xacro file	DEFAULT_URDF_PATH
--fixed	bool: Fix the robot's base link to the world	Decide from urdf
--self_collision	bool: Check for self collisions	False
--gravity	float: Downwards gravitational force	9.81
show_sidebars	bool: Show GUI sidebars (including joint sliders)	True