#Supported files and browsers

#Robot descriptions

File	Notes
`.urdf`	Plain URDF
`.urdf.xacro`, `.xacro`	Expanded by URDF Studio — no ROS installation needed
`.srdf`	Planning groups, named states, `disable_collisions`
`initial_positions.yaml`	Read as a named state
`.xml` with a `<mujoco>` root, `.mjcf`	MuJoCo MJCF, read-only — see View MuJoCo models

xacro:include, xacro:macro (including block and * parameters), xacro:property, xacro:arg, xacro:if / xacro:unless
$(find pkg), $(arg name)
${…} expressions, including Python-style conditionals (a if c else b), ** and slicing
load_yaml — the YAML files must be inside the opened folder

If an expression can't be evaluated, it is skipped with a warning and the rest of the file still loads.

STL, COLLADA (.dae), OBJ, glTF (.gltf) and GLB. Textures and other files referenced by .dae and .gltf meshes are loaded from the same folder.

Primitive shapes — <box>, <cylinder>, <sphere> — are drawn directly.

URDF Studio also draws MuJoCo-style capsules in <visual> and <collision> geometry. This is an extension: standard ROS tools don't read it.

<geometry>
  <capsule radius="0.05" length="0.2"/>
</geometry>

length is the straight middle section; the capsule is length + 2 × radius long end to end.
The capsule runs along the geometry's local Z axis, then the usual <origin> applies.
length="0" gives a sphere. radius must be positive and length zero or more.
Materials and opacity work as for other shapes.

The repository's capsule example shows a visual capsule, a rotated collision capsule and an ordinary cylinder side by side.

Path in the URDF	Resolved against
`package://name/…`	The folder containing `name`'s `package.xml`. If none is found, parent folders of the robot file are searched
`file:///…` or an absolute path	Used as given (VS Code only — the browser can only see the opened folder)
Relative path	The robot file's folder
`http://…`, `https://…`	Not supported; download the mesh into the package

The browser version needs WebGL 2.

Browser	Open folder & drag-drop	Pick files	Reopen last folder
Chrome, Edge, Brave, Arc, Opera (114+)	Yes	Yes	Yes
Firefox (115+)	—	Yes	—
Safari (17+)	—	Yes	—

Folder access only works on a secure (https://) page, which urdf.deyuf.org is.

VS Code 1.86 or later, on Windows, macOS or Linux.