RoboSIM Tools delivers 12 free browser-based URDF and simulation utilities

RahulRajelli, a robotics engineer from India, has open-sourced robosimtools.com — a collection of 12 free, browser-based tools built for URDF and simulation debugging. Everything runs client-side using WASM/JS, ensuring that user files never leave the machine. There are no accounts, no uploads, and no software installation required. The toolset covers model validation (URDF Validator catches structural issues like kinematic loops, missing limits, and bad inertials with human-readable explanations), 3D viewing (URDF Viewer renders models with joint sliders and collision-geometry toggle, no ROS install needed), and format conversion: Xacro to URDF, URDF to MJCF (compile-checked against real MuJoCo), SDF to URDF, STEP to URDF (via OpenCascade WASM), and DH parameters to URDF. Additional utilities include a Mesh Inertia Calculator (handles STL/OBJ and fixes mm-scaled mesh issues), a Rotation Converter covering quaternions and all 12 Euler sequences with a live 3D gizmo, an ArduPilot Param Diff tool, and compliance tools for EU regulations (SBOM generator and Cyber Resilience Act checker).

The tools are designed to chain into each other — validate then open in viewer, or convert then validate — and inputs autosave locally. Every tool displays its verification method and warns when it cannot verify something. For example, the URDF→MJCF output is compile-checked against MuJoCo; the rotation math is a port of the transformations.py algorithm, round-trip-tested across all 12 Euler sequences; the DH converter was validated against an independent implementation over hundreds of random chains. Honest limitations: the viewer does not yet support OBJ or textured materials, the STEP converter requires separate mesh exports, and PX4 param support is missing. Users can generate shareable links from text outputs and submit bug reports via a form on every page.