URDF Studio

#Joint controls

The Joints tab lists every movable joint in the URDF with a slider and a numeric input.

#Supported joint types

Type Slider behavior
revolute Slider range = <limit lower> to <limit upper> (radians).
continuous Slider range = -π to π. No hard stops on the joint itself.
prismatic Slider range = <limit lower> to <limit upper> (meters).
floating, planar Slider shown but axis-specific manipulation is limited; this is intentional — these joints have multiple DoFs and aren't meaningfully driven from a single slider.
fixed Excluded from the panel.

The slider and numeric input are bound to the same value. The numeric input accepts up to 3 decimal places (step="0.001").

#Mimic joints

A joint with a <mimic joint="other" multiplier="m" offset="o"/> block is not shown as an independent slider. Instead:

  • Its value is computed as m * value(other) + o.
  • It is hidden from the Joints panel and from the movable joint count.
  • Its joint limits (which often default to [0, 0] when unset) are ignored — the propagated value passes through unclamped.
  • It does show up in the Inspector as a regular joint, with a "mimics other" annotation.

A diagnostic is raised if the master joint name does not exist.

#Ignore limits

The toolbar Ignore limits checkbox temporarily disables the URDF loader's clamp on every movable joint. Useful for:

  • Exploring the full physical range of a continuous-but-bounded joint.
  • Sanity-checking what poses are geometrically possible vs. what the URDF permits.
  • Debugging a URDF whose limits look suspect.

The state is not persisted; switching robots resets it to off.

#Search and filter

Above the joint list:

  • Search box — substring match against joint names. Live filter.
  • Only modified — show only joints whose current value differs from the URDF default. Useful when posing many-joint robots.

#Reset to defaults

Each joint's numeric input has a small reset affordance (double-click the input) that snaps the joint back to its declared default (or 0 if no default).

#Bookmarks and named states

If the loaded SRDF declares <group_state name="ready" group="arm">… blocks, they appear in the Bookmarks dropdown. Selecting a state applies its joint values atomically. See Pose, bookmarks, export.