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SRDFs are semantic metadata files meant to accompany URDFs and clarify how to use the URDF for e.g. planning. The spec includes link sphere approximations. Using the side-car instead of simply replacing the URDF collisions is less invasive and lets you have access to both for uses where you'd still want the mesh (e.g. an exact check)
viser is meant for viewing, so it has more robust mesh handling compared to pybullet. It's also a much lighter dependency (maybe 130mb all in compared to about 230mb for pybullet). Update dependency files to note dev dependencies
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Meant to be considered after #17
viser is a visualization tool that makes it easy to visualize meshes and transparent overlays. I've updated the visualize_urdf.py script to use viser and present UI enabling the user to flip through collision geometry overlays, as well as reconfigure the joints. Video attached:
Screencast.from.2026-02-12.14-12-03.compressed.webm