Find URDF problems before simulation

Check the robot description, understand each finding, then inspect the model in 3D. Paste XML or choose a local file. The example below demonstrates a valid link tree with missing-inertia warnings.

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Local files stay in your browser. Choose a folder to preserve mesh paths. URDF: up to 2 MB; complete selection: 100 MB / 500 files. STL, DAE and OBJ meshes.

Learning arm · illustrative example

Structural checks passed3 links · 2 joints · 0 mesh references · 3 warnings

These checks cover XML, names, the link tree, joint limits, mimic references and basic inertial values. They do not test collisions, control, simulator compatibility or hardware safety.

Warningbase_link: no inertial data. This may be intentional for a frame; check before physics simulation.
Warningupper_arm: no inertial data. This may be intentional for a frame; check before physics simulation.
Warningforearm: no inertial data. This may be intentional for a frame; check before physics simulation.

Link and joint structure

Root: base_link

Joint	Parent → child	Type
shoulder	base_link → upper_arm	revolute
elbow	upper_arm → forearm	revolute

Links: base_link, upper_arm, forearm

Paste or edit URDF XML

URDF source

<?xml version="1.0"?>
<robot name="learning_arm">
  <material name="teal"><color rgba="0.08 0.72 0.68 1"/></material>
  <material name="steel"><color rgba="0.65 0.7 0.76 1"/></material>
  <link name="base_link">
    <visual><origin xyz="0 0 0.04"/><geometry><cylinder radius="0.18" length="0.08"/></geometry><material name="steel"/></visual>
    <collision><origin xyz="0 0 0.04"/><geometry><cylinder radius="0.18" length="0.08"/></geometry></collision>
  </link>
  <link name="upper_arm">
    <visual><origin xyz="0 0 0.2"/><geometry><box size="0.09 0.09 0.4"/></geometry><material name="teal"/></visual>
    <collision><origin xyz="0 0 0.2"/><geometry><box size="0.09 0.09 0.4"/></geometry></collision>
  </link>
  <link name="forearm">
    <visual><origin xyz="0 0 0.17"/><geometry><box size="0.07 0.07 0.34"/></geometry><material name="steel"/></visual>
    <collision><origin xyz="0 0 0.17"/><geometry><box size="0.07 0.07 0.34"/></geometry></collision>
  </link>
  <joint name="shoulder" type="revolute"><parent link="base_link"/><child link="upper_arm"/><origin xyz="0 0 0.08"/><axis xyz="0 1 0"/><limit lower="-1.57" upper="1.57" effort="10" velocity="1"/></joint>
  <joint name="elbow" type="revolute"><parent link="upper_arm"/><child link="forearm"/><origin xyz="0 0 0.4"/><axis xyz="0 1 0"/><limit lower="-2.4" upper="2.4" effort="10" velocity="1"/></joint>
</robot>

The learning arm uses illustrative dimensions and has no inertial data. It is a visualization example, not a simulator-ready robot.