Robot Viewer

This repository contains rv, a simple web-based robot viewer built on Viser.

Features

• Visualize robot models in 3D — supports URDF and MJCF.
• Interact with robots through joint-space and Cartesian controls, powered by mink.
• Access a library of 175+ robot models from robot_descriptions, including those from the mujoco_menagerie.
• Cross-platform: runs on Linux, macOS, and Windows — no ROS installation required.

Quick Start

It is recommended to run rv with uv.

• Run on the fly (no install):

  uvx --from git+https://github.com/zixingjiang/robot-viewer rv 

• Install:

  uv tool install git+https://github.com/zixingjiang/robot-viewer 

  This installs the rv command on your system, which can be uninstalled with

  uv tool uninstall robot-viewer

• Clone & run:

  git clone https://github.com/zixingjiang/robot-viewer.git
  cd robot-viewer
  uv run rv

Pass --help to rv to see all available CLI options.

Gallery

Visual	Frames
Collision	Inverse Kinematics

Acknowledgements

• rv draws inspiration from many excellent projects from the community, including urdf-viz, pink, and mjviser.
• AI tools are used in the development of this codebase.

License

This repository is released under the MIT License.