Robot Cell

Drop a URDF and the robot arrives as a real kinematic tree: links nested at each joint origin, with revolute and continuous joints rotating about their axis and prismatic ones sliding along it. Jog any joint and the chain below it follows; Reset returns every joint to zero. Turn on coordinate frames to see link, sensor and tool axes as RGB triads that track their parent as it moves — the thing you actually need when a transform looks wrong. Trajectory replay rides the shared frame clock: load joint values per frame and the transport plays, steps and scrubs them. Inline box, cylinder and sphere geometry renders directly; external mesh references fall back to correctly sized placeholders, so a URDF that points at meshes still shows the right kinematics. Plain URDF only — expand a .xacro first. Joint values persist, so a published pose reopens exactly as you left it.

Supported file formats: URDF