URDF Studio

#URDF Studio — an online URDF viewer for the browser

URDF Studio is a free, open-source URDF viewer and xacro inspector. A single TypeScript codebase lets you load, visualize and drive ROS robot models — as a VS Code extension for in-editor previews, and as a browser app that runs entirely client-side. No upload. No install.

#What you can do with it
🖥 See the robot Three.js viewport with orbit/pan/zoom, preset cameras, fit-to-screen, visual + collision render modes.
🦾 Drive joints Sliders and numeric inputs for every movable joint, respecting <limit> and <mimic>.
🤖 Expand xacro Full xacro:include, xacro:macro, xacro:arg, load_yaml support — both in Node and in the browser.
📦 Resolve package:// Auto-discovers package.xml files in the workspace or chosen folder.
🧭 Inspect Link tree, parent/child joints, mass, CoM, inertia tensor, mesh paths, tight bounding box.
🩺 Validate URDF parse errors, missing meshes, non-positive-definite inertias, joint cycles — surfaced inline.
🛠 Author Reachability sampling, never-colliding pair detection, SRDF authoring.
💾 Persist Save pose, name bookmarks, export pose JSON, capture PNG screenshots.

#Which version do I want?

  • You write robot descriptions in VS Code → use the extension. Inline diagnostics, custom editor, language services.
  • You want to share a preview or open a model on someone else's machine → use the web app. No install, runs in the browser, files never leave the device.

Both expose the same feature set on top of the same parser, renderer and analyzer. See Architecture for how that's organised.

#Project layout