diff --git a/ros/kxr_controller/scripts/interface.py b/ros/kxr_controller/scripts/interface.py
index 3901ddbe..6e633e0f 100644
--- a/ros/kxr_controller/scripts/interface.py
+++ b/ros/kxr_controller/scripts/interface.py
@@ -40,6 +40,12 @@ def main():
             viewer = TrimeshSceneViewer(resolution=(640, 480))
             viewer.add(robot_model)
             viewer.show()
+        elif args.viewer == "pyrender":
+            from skrobot.viewers import PyrenderViewer
+
+            viewer = PyrenderViewer(resolution=(640, 480))
+            viewer.add(robot_model)
+            viewer.show()
         else:
             raise NotImplementedError(f"Not supported viewer {args.viewer}")