diff --git a/pytransform3d/viser/__init__.py b/pytransform3d/viser/__init__.py
new file mode 100644
index 000000000..570d97902
--- /dev/null
+++ b/pytransform3d/viser/__init__.py
@@ -0,0 +1,18 @@
+"""Optional 3D renderer based on Viser."""
+
+import warnings
+
+try:
+    import open3d as o3d  # noqa: F401
+    from ._figure import figure, Figure
+
+    __all__ = [
+        "figure",
+        "Figure",
+    ]
+except ImportError:
+    warnings.warn(
+        "Viser is not available. Install viser.",
+        ImportWarning,
+        stacklevel=2,
+    )
diff --git a/pytransform3d/viser/_figure.py b/pytransform3d/viser/_figure.py
new file mode 100644
index 000000000..5251d59ae
--- /dev/null
+++ b/pytransform3d/viser/_figure.py
@@ -0,0 +1,97 @@
+import numpy as np
+import viser
+
+from .. import rotations as pr
+from .. import transformations as pt
+
+
+class Figure:
+    def __init__(self):
+        self.server = viser.ViserServer()
+        self.server.scene.configure_default_lights()
+        self.grid_handle = self.server.scene.add_grid(
+            name="grid", width=10, height=10
+        )
+        self.object_names = {}
+
+    def plot_transform(self, A2B=None, s=1.0, name=None, strict_check=True):
+        """Plot coordinate frame.
+
+        Parameters
+        ----------
+        A2B : array-like, shape (4, 4)
+            Transform from frame A to frame B
+
+        s : float, optional (default: 1)
+            Length of basis vectors
+
+        name : str, optional (default: None)
+            Name of the frame
+
+        strict_check : bool, optional (default: True)
+            Raise a ValueError if the transformation matrix is not
+            numerically close enough to a real transformation matrix.
+            Otherwise we print a warning.
+
+        Returns
+        -------
+        Frame : frame
+            New frame.
+        """
+        if "frame" not in self.object_names:
+            self.object_names["frame"] = []
+        if name is None:
+            name = "/frame%05d" % len(self.object_names["frame"])
+
+        if A2B is None:
+            A2B = np.eye(4)
+        A2B = pt.check_transform(A2B, strict_check=strict_check)
+
+        frame = self.server.scene.add_frame(
+            name,
+            wxyz=pr.quaternion_from_matrix(
+                A2B[:3, :3], strict_check=strict_check
+            ),
+            position=A2B[:3, 3],
+        )
+
+        return frame
+
+    def plot_box(self, size=np.ones(3), A2B=np.eye(4), c=None):
+        """Plot box.
+
+        Parameters
+        ----------
+        size : array-like, shape (3,), optional (default: [1, 1, 1])
+            Size of the box per dimension
+
+        A2B : array-like, shape (4, 4), optional (default: I)
+            Center of the box
+
+        c : array-like, shape (3,), optional (default: None)
+            Color
+
+        Returns
+        -------
+        box : Box
+            New box.
+        """
+        if "box" not in self.object_names:
+            self.object_names["box"] = []
+
+        name = "/box%05d" % len(self.object_names["box"])
+        box = self.server.scene.add_box(
+            name=name,
+            dimensions=size,
+            color=c,
+            position=A2B[:3, 3],  # TODO orientation?
+        )
+        self.object_names["box"].append(name)
+        return box
+
+    def show(self):
+        pass
+
+
+def figure():
+    return Figure()
diff --git a/pytransform3d/viser/_figure.pyi b/pytransform3d/viser/_figure.pyi
new file mode 100644
index 000000000..3c95a837f
--- /dev/null
+++ b/pytransform3d/viser/_figure.pyi
@@ -0,0 +1,21 @@
+from typing import Any, Union
+import viser
+import numpy.typing as npt
+
+class Figure:
+    def __init__(self): ...
+    def plot_transform(
+        self,
+        A2B: Union[None, npt.ArrayLike] = ...,
+        s: float = ...,
+        name: Union[str, None] = ...,
+        strict_check: bool = ...,
+    ) -> Any: ...
+    def plot_box(
+        self,
+        size: npt.ArrayLike = ...,
+        A2B: npt.ArrayLike = ...,
+        c: Union[None, npt.ArrayLike] = ...,
+    ) -> Any: ...
+
+def figure() -> Figure: ...