#Features

URDF Studio's features fall into five groups. Each has its own page below with controls, behavior, and edge cases described in detail.

#Viewing the robot

Viewport & navigation — orbit, pan, zoom, preset cameras, fit, up-axis, wireframe, grid, axes.
Render modes — visual vs. collision geometry.
Frames & inertia overlays — per-link TF axes, inertia ellipsoids, total CoM.

#Interacting

Joint controls — sliders, numeric inputs, limit modes, search/filter, mimic propagation.
Inspector & link tree — selection, link details, parent/child relationships, mesh paths.

#Authoring & analysis

Diagnostics (Checks panel) — error catalog, what triggers each one, how to silence them.
Tools — reachability sampling, never-colliding pair detection, SRDF authoring.

#Persisting work

Pose, bookmarks, export — save pose, named bookmarks, JSON export, PNG screenshots, semantic states from SRDF.

#Configuration

Settings — render mode default, up axis, xacro args, package roots, semantic files.