> Is there a simple URDF file viewer (in boxturtle)? The urdf package contains a tool called 'urdf_to_graphiz', which creates a pdf with a tree representation of a urdf file. See <http://www.ros.org/wiki/urdf/Tutorials/Create%20your%20own%20urdf%20file> for more details. Wim -- -- Wim Meeussen Willow Garage Inc. <http://www.willowgarage.com)