A browser-based URDF viewer for visualizing and interacting with robot models.
No installation required — just upload and view.

https://urdf-viewer-pi.vercel.app

Features

• URDF & XACRO — Upload .urdf and .xacro files with full macro expansion
• Mesh Support — STL and DAE mesh file loading
• Real-time Joint Control — Slider controls for all movable joints with live 3D feedback
• 3D Viewport — Orbit, pan, and zoom with mouse controls
• Viewer Settings — Toggle grid, axes helpers, and reset camera/joints
• Drag & Drop — Drop files directly onto the browser to load

Tech Stack

• React 19, TypeScript, Vite
• Three.js + @react-three/fiber + @react-three/drei
• urdf-loader (NASA JPL) + xacro-parser
• Zustand for state management

Getting Started

# Install dependencies
bun install

# Start dev server
bun run dev

# Build for production
bun run build

Project Structure

src/
  app/          — App initialization, global styles
  shared/       — Reusable UI primitives, utilities, types
  entities/     — Business entities (robot model, store)
  features/     — User interaction features (upload, joint control, settings)
  widgets/      — Composed UI blocks (viewer panel, parameter panel, header)
  pages/        — Page-level layout

Follows Feature-Sliced Design architecture.

License

MIT