URDF Viewer
URDF Structure Viewer
Upload a URDF file, paste XML, or try a sample to visualize the robot's link-joint structure.
Drag and drop a .urdf file here
or
Accepted formats: .urdf, .xml
What is URDF?
URDF (Unified Robot Description Format) is an XML format used in robotics to describe a robot's physical structure. It defines links (rigid bodies like arms, wheels, or sensors) and joints (connections between links that define how they move relative to each other).
Links
Rigid bodies of the robot. Each link can have visual geometry (how it looks), collision geometry (for physics), and inertial properties (mass and moments).
Joints
Connections between links. Types include revolute (rotary with limits), continuous (unlimited rotation), prismatic (linear slide), and fixed (rigid connection).