Your robot description, read the way a reviewer would read it
Paste your .urdf — and the .srdf and .sdf beside it if you
have them. The browser parses all three for free: it walks the kinematic tree, checks every
inertia tensor against the physics, and cross-references the planning groups and the simulated
links against the robot they claim to describe. Then pick a lane for the review.
Both examples ship with a saved model review, so you can see a whole lane — findings, tables and the generated SRDF — without signing in and without spending a credit.
Findings
Links
Reader reconciliation
Every flag the free reader raised, and what the review did with it. A flag set aside with a reason is a real answer; a flag the review never mentions is the thing this panel exists to catch.
Artifacts
Next steps
Assumptions
Open questions
Summary
What the free reader checks, before any model runs
The tree
Root and leaf links, depth, degrees of freedom. A link with two parent joints, a fragment that no root reaches, a cycle in the joints — each one means the description will not load, and each is reported with the joint that causes it.
The physics
Every inertia tensor gets its principal moments computed analytically, then tested for positive definiteness and for the triangle inequality. A tensor that fails either describes no rigid body that can exist, and it is the usual reason a robot detonates on spawn. Where the collision shape is a primitive, the implied density is checked too.
The joints
Type validity, a revolute joint with no limit, an inverted range, zero effort or velocity, an
axis left to default to 1 0 0, a mimic pointing at a joint that is not there,
soft limits outside the hard ones.
The cross-references
The SRDF's groups, chains, states and effectors are resolved against the URDF's actual links and joints; a chain is walked to prove its tip really descends from its base. The SDF's links are matched to the URDF's. Most real defects live in the gap between two files, not inside either one.