Use docker container to simplify setting up the toolchain:
git clone git@github.com:ipa-hsd/urdf-model.git
cd urdf-model
docker build -t urdf-toolchain .
Start the docker container which starts the kinematic language server and the kinematic component database
. ./kinematics-model-parser/scripts/start_docker.sh urdf-toolchain:latest urdf-toolchain
Now the web-based kinematic component database will be accesible in the browser:
http://127.0.0.1:5500/