URDF Studio — Free online URDF viewer in the browser
URDF Studio is a free, open-source URDF viewer and
xacro inspector that runs entirely in your browser. Open a ROS robot
description folder, expand xacro macros, resolve
package:// URIs, drive joint sliders, and validate
inertias — without uploading any files to a server.
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What URDF Studio does
- Online URDF viewer: load
.urdf and
.urdf.xacro files from a local folder.
- Full xacro expansion with
xacro:include,
xacro:macro, xacro:arg,
load_yaml.
- Resolves ROS
package:// mesh paths against
package.xml files in the chosen folder.
- Joint sliders, visual / collision render modes, link tree,
inspector with mass, center of mass and inertia tensor.
- Validates URDF parse errors, missing meshes, non-positive-
definite inertias, and joint cycles.
- Also available as a VS Code extension.
Read the docs → ·
Source on GitHub →