In this section, we will see how to create a 3D viewer for visualizing URDF models inside a web browser. We can define properties of the viewer and the HTML ID for displaying the viewer in the corresponding area:

        var viewer = new ROS3D.Viewer({ 
          background : 000, 
          divID : 'urdf', 
          width : 1280, 
          height : 600, 
          antialias : true 
 
        }); 

The following line of code will add a 3D grid into the 3D viewer:

        viewer.addObject(new ROS3D.Grid());