URDF Visualizer

Upload a URDF (with its mesh files, or as a .zip), see it rendered in 3D, expand the TF tree, drive every joint with a slider, and get flagged on common issues — like links missing an <inertial> tag, which will break MoveIt Setup Assistant. Everything runs locally in your browser; nothing is uploaded to a server.

Drag & drop a URDF folder, files, or a .zip here

Include the .urdf (or .xacro) file together with its mesh files (.stl / .dae / .obj) so geometry resolves correctly.

Upload a URDF (or try the sample robot) to see it rendered here.

TF tree

Load a URDF to see its TF tree.

Joint states

Load a URDF to control its joints.

Suggestions

Load a URDF to see suggestions here (e.g. missing inertia, which will break MoveIt Setup Assistant).