#Pose, bookmarks, export

URDF Studio persists what you do with a robot — pose, named bookmarks, and one-shot exports for sharing.

#Save Pose

The Save Pose button in the right-side toolbar group stores:

Every movable joint's current value.
The camera position, target, and up vector.

The saved state is restored the next time you open the same document.

Host	Where it's stored	Key
Web	`localStorage`	`urdf-studio:pose:v1` → `{ <folder>:<file-path>: { pose, camera } }`
VS Code	`workspaceState`	`urdfStudio.previewState:<uri>`

#Bookmarks

The Save As button captures the current pose + camera under a named bookmark. The dropdown on the left of Save Pose lists every bookmark; pick one to apply it.

Host	Where it's stored	Key
Web	`localStorage`	`urdf-studio:bookmarks:v1` → `{ <folder>:<file-path>: [ { name, pose, camera, createdAt }, … ] }`
VS Code	`workspaceState`	`urdfStudio.bookmarks:<uri>`

Bookmark names are unique per-document. Saving a name that already exists overwrites the previous bookmark.

In VS Code you can also delete and rename bookmarks by editing workspaceState via the dev tools — there is no dedicated UI yet.

#Semantic states (SRDF)

If the loaded SRDF declares <group_state name="ready" group="arm"> blocks, they appear in the same bookmark dropdown, prefixed with the group name. These are read-only — applying one sets the joint values it declares without modifying the SRDF.

#Export Pose

Export Pose writes a JSON document:

{
  "source": "/franka_description/robots/fr3/fr3.urdf.xacro",
  "exportedAt": "2025-04-15T10:32:11.123Z",
  "pose": {
    "fr3_joint1": 0.0,
    "fr3_joint2": 0.6,
    ...
  },
  "camera": {
    "position": [3.21, -4.18, 2.55],
    "target":   [0.12, 0.04, 0.41],
    "up":       [0, 0, 1]
  }
}

Host	Where it goes
Web	Downloaded as `<urdf-name>-pose.json`.
VS Code	Opened as a new JSON document next to the URDF.

#Capture Screenshot

Capture Screenshot writes a PNG of the current viewport at native resolution. Useful for documentation, PRs, or annotation.

Host	Where it goes
Web	Downloaded as `<urdf-name>-<timestamp>.png`.
VS Code	Saved into a `urdf-studio-screenshots/` folder at the workspace root.