This is a robot visualization tool based on OpenSceneGraph and configurable with YAML files. Its key features are simplicity, minimal dependencies, and flexibility.

You can see a demo on YouTube:

A scene is described with a YAML file (see 'data_files/hrp4_stairs.yaml'), which includes:

1. General parameters (background color, screenshot parameters)

2. A section where robot(s) are described, for each robot the following
   data must be specified:
    - a unique name;
    - a path to YAML file, which contains a list of bodies with
      corresponding mesh files (see hrp4_description.yaml);
    - a data file containing poses of the bodies to replay during the
      simulation.

3. A section with camera parameters.

4. A section where additional shapes are described: boxes, spheres,
   cylinders, arrows. Some values describing the shapes can be read from
   files as well.

Poses of the bodies are represented by 6D XYZ-RPY vectors and are read from a data file line by line: each line must contain poses of all bodies in the same order as they are defined.

Note: The tool was tested with OpenSceneGraph version which has no support for COLLADA (.dae) files. COLLADA files can be converted to WaveFront (.obj) format using 'util/dae_to_obj.py' script.