Right now, you have the following possibilities:
Use the product Simulink 3D to visualize the "Rigid Body Tree"
Rigid Body Tree Visualization: https://www.mathworks.com/help/sl3d/vrrigidbodytree.html
This can be redistributed with MATLAB Compiler like you can see here:
Alternatively you could also check the code and modify it, so the uifigure-check would be commented out. This is an unsupported workflow and can cause problems.
Also the functionalities are restricted then:
