URDF Viewer — 3D robot viewer online, no ROS install

Free online URDF 3D viewer: drag in a URDF and its mesh files, articulate every joint with sliders, toggle visual vs collision geometry, and export a screenshot. Runs entirely in your browser via WebGL — nothing is uploaded.

Drop a .urdf file — select mesh files (.stl/.dae) alongside it if it references any — or paste URDF text below:

What this viewer does (and doesn't)

Capability	Status
Rendering	WebGL via three.js — orbit/pan/zoom with mouse or touch
Joint articulation	Every non-fixed joint gets a slider, driven by its URDF `<limit>`
Mesh formats	STL and COLLADA (.dae). OBJ and textured materials are not yet supported — reported as a placeholder box, never silently dropped
Mesh resolution	By filename, same as the other converters — select the mesh files together with the URDF; `package://` prefixes are stripped, nothing is fetched from a server
Missing meshes	Rendered as an orange wireframe placeholder with a named warning, so the kinematic tree is still visible

Coming from another tool? The validator, xacro converter, SDF converter, and DH → URDF converter all have a "View in 3D →" button that lands your output here automatically (the STEP converter doesn't — its output references separate mesh files that can't be carried over automatically, so open the viewer manually and pick up the downloaded STLs). Batch rendering or CI screenshot generation: a pipeline I can build for you — work with me →