Robot Preview: URDF & MJCF

Live 3D preview of URDF, Xacro and MJCF beside the text editor.

• Updates as you type; click a link to jump to its source, move the cursor to highlight it.
• Resolves package:// and $(find) across ROS packages.
• Reports XML errors and missing meshes in the Problems panel.
• Xacro arguments, expanded URDF export, mesh preview and MuJoCo simulation.

Based on fan-ziqi/robot_viewer, with three.js, urdf-loader, xacro-parser, mujoco_wasm and d3.