<p data-line="0" class="code-line">お手軽なURDFビューアを探していたら、Genesis本体にビューアが入っていた。</p>
<p data-line="2" class="code-line"><span class="embed-block zenn-embedded zenn-embedded-tweet"><iframe id="zenn-embedded__70b42aadcfbe4" src="https://embed.zenn.studio/tweet#zenn-embedded__70b42aadcfbe4" data-content="https%3A%2F%2Fx.com%2Fkashu_yamazaki%2Fstatus%2F1874474172879118829" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://x.com/kashu_yamazaki/status/1874474172879118829" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://x.com/kashu_yamazaki/status/1874474172879118829</a></p>


<h1 id="%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99" data-line="0" class="code-line">
<a class="header-anchor-link" href="#%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99" aria-hidden="true"></a> 事前準備</h1>
<p data-line="1" class="code-line"><span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__b1229d483d8cd" src="https://embed.zenn.studio/card#zenn-embedded__b1229d483d8cd" data-content="https%3A%2F%2Flearn.microsoft.com%2Fja-jp%2Fwindows%2Fwsl%2Finstall" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://learn.microsoft.com/ja-jp/windows/wsl/install" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://learn.microsoft.com/ja-jp/windows/wsl/install</a><br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__b94869f57f81f" src="https://embed.zenn.studio/card#zenn-embedded__b94869f57f81f" data-content="https%3A%2F%2Fdocs.astral.sh%2Fuv%2Fgetting-started%2Finstallation%2F" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://docs.astral.sh/uv/getting-started/installation/" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://docs.astral.sh/uv/getting-started/installation/</a></p>


<h1 id="urdf%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB%E3%81%AE%E6%BA%96%E5%82%99" data-line="0" class="code-line">
<a class="header-anchor-link" href="#urdf%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AB%E3%81%AE%E6%BA%96%E5%82%99" aria-hidden="true"></a> URDFファイルの準備</h1>
<p data-line="1" class="code-line">ここではGenesis公式のサンプルファイルを使用する。<br style="display:none">
<span class="embed-block zenn-embedded zenn-embedded-card"><iframe id="zenn-embedded__85483ad0f4cdc" src="https://embed.zenn.studio/card#zenn-embedded__85483ad0f4cdc" data-content="https%3A%2F%2Fgithub.com%2FGenesis-Embodied-AI%2FGenesis" frameborder="0" scrolling="no" loading="lazy"></iframe></span><a href="https://github.com/Genesis-Embodied-AI/Genesis" style="display:none" target="_blank" rel="nofollow noopener noreferrer">https://github.com/Genesis-Embodied-AI/Genesis</a></p>
<div class="code-block-container"><pre class="language-console"><code class="language-console code-line" data-line="4">git clone https://github.com/Genesis-Embodied-AI/Genesis
cd Genesis
</code></pre></div>

<h1 id="%E3%83%91%E3%83%83%E3%82%B1%E3%83%BC%E3%82%B8%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB" data-line="0" class="code-line">
<a class="header-anchor-link" href="#%E3%83%91%E3%83%83%E3%82%B1%E3%83%BC%E3%82%B8%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB" aria-hidden="true"></a> パッケージインストール</h1>
<p data-line="1" class="code-line">Genesisのpyproject.tomlでプロジェクトワークスペースにgenesisをインストール。<br>
pytorchはグローバルインストールすることにする。</p>
<div class="code-block-container"><pre class="language-console"><code class="language-console code-line" data-line="4">uv sync
uv pip install torch
</code></pre></div>

<p data-line="0" class="code-line">アクティベートしてビューアを起動。</p>
<div class="code-block-container"><pre class="language-console"><code class="language-console code-line" data-line="2">. .venv/bin/activate
gs view genesis/assets/urdf/simple/two_link_arm.urdf
</code></pre></div>