urdf_to_graphiz(1) on Linux
The text a0eff3e3ff0f, as Debian 13 (Trixie), Debian 12 (Bookworm), Debian 11 (Bullseye), Debian 10 (Buster), Debian 9 (Stretch), Debian 8 (Jessie) shipped it. The page shows this text now.
parse URDF model and export it as a graphiz graph