URDF Studio

#Inspector & link tree

The Links tab shows the full kinematic tree; the Inspector tab shows details for whichever link is currently selected.

A link gets selected by:

  • Clicking it in the Links tree.
  • Clicking the corresponding mesh in the 3D viewport.

The selection turns the Inspector tab into the active tab and draws a tight yellow bounding box around the link's own visual geometry (not its children — the box is local to the link transform). Click on empty space to deselect.

The kinematic tree is rendered as nested rows:

  • The root link is at the top.
  • Each child link is indented under its parent joint.
  • Clicking a row selects the link.
  • A small ▸ / ▾ caret collapses subtrees.

If the URDF analyzer detected multiple root links, all of them appear at the top and a warning is surfaced in the Checks panel.

#Inspector — what's shown

For the selected link:

Field Meaning
Parent joint Joint connecting this link to its parent, with type, axis, and limits. Empty for root links.
Child joints List of outgoing joints (joint name → child link).
Mass From <inertial><mass value=…/>.
Center of mass From <inertial><origin xyz=…/>.
Inertia tensor The full 3×3 from <inertia ixx=… iyy=… izz=… …/>.
Inertia eigenvalues Principal inertia, sorted descending. Used by the inertia ellipsoid overlay.
Visual meshes Resolved absolute paths of every <visual><mesh filename=…/> reference on this link.
Collision meshes Same for <collision>.
Diagnostics Any link-scoped warning/error from the analyzer.

#How mesh paths resolve

  • package://pkg/... → looked up in the discovered package map.
  • file://... → used verbatim.
  • Other absolute paths → passed through.
  • Relative paths → resolved against the URDF's directory.

If a referenced mesh does not exist on disk, the Inspector still shows the declared path, and a mesh.missing diagnostic appears in the Checks panel.