Render URDF model with joints via API

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Hello,

we need to render a URDF model of a robot arm in for a (large) set of joint configurations and for two fixed cameras. All data are available on corresponding ROS topics. The rendered images should be published or saved for all joint configurations.

Obviously, rviz could do the rendering out of the box, and more, using the Camera plugin. It would be a bit tricky, however, to save the images and to synchronize them with the right joint configuration. Would there be any other efficient options to generate these images based on some API - maybe using OpenRAVE, Gazebo or even ros3djs?

Best Regards!