#Render modes

Switch between three geometry layers from the toolbar:

Mode	What you see
Visual	Only the `<visual>` meshes declared on each link. The default.
Collision	Only the `<collision>` geometry — usually a simplified hull, primitives (capsules, boxes, cylinders), or a low-poly STL.
Both	Both layers overlaid. Collision geometry is rendered semi-transparent so the visual mesh stays legible.

#When the collision layer loads

To keep cold-start fast, URDF Studio loads visual meshes first. The collision layer is loaded lazily the first time you switch to Collision or Both. The reload preserves the current pose and camera — there's no visible interruption other than a "Loading collision geometry…" status line.

Subsequent toggles between modes are instant since both layers are already in the scene.

#Wireframe

The Wire checkbox turns on wireframe rendering for every mesh in the scene, regardless of mode. Useful for spotting:

Cracks or gaps between meshes in adjacent links.
High-poly meshes that could be decimated for collision.
Inverted normals (you can see through them).

#Default render mode

Set the mode used on first load:

Web: Settings → Default render mode.
VS Code: urdfStudio.defaultRenderMode setting.