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Generated Robot Spec

Differential-Drive Mobile Base

LIDAR mount · 400mm wheelbase · 50kg deck

Prompt "Differential drive mobile robot, 400mm wheelbase, payload deck 50kg, LIDAR mount on top"
Open in Generator →
https://kinematos.polsia.app/r/diff-drive-mobile-base

Spec

Differential-Drive Mobile Base
Base Type Mobile
DOF ••
End Effector none
Reach 0.4m
Payload 50kg

3D Preview — Click "Joints ▸" to pose

URDF Output

class="urdf-tag"><robot name="diff_drive_base">
  class="urdf-tag"><link name="base_link">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><box size="0.45 0.35 0.08"/>class="urdf-tag"></geometry>
      class="urdf-tag"><origin xyz="0 0 0.04" rpy="0 0 0"/>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>

  <!-- Left wheel -->
  class="urdf-tag"><link name="left_wheel">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.04" radius="0.075"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="left_wheel_joint" type="continuous">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="left_wheel"/>
    class="urdf-tag"><origin xyz="0 0.195 0" rpy="1.5708 0 0"/>
    class="urdf-tag"><axis xyz="0 0 -1"/>
  class="urdf-tag"></joint>

  <!-- Right wheel -->
  class="urdf-tag"><link name="right_wheel">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.04" radius="0.075"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="right_wheel_joint" type="continuous">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="right_wheel"/>
    class="urdf-tag"><origin xyz="0 -0.195 0" rpy="1.5708 0 0"/>
    class="urdf-tag"><axis xyz="0 0 1"/>
  class="urdf-tag"></joint>

  <!-- Front caster -->
  class="urdf-tag"><link name="front_caster">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><sphere radius="0.03"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="front_caster_joint" type="fixed">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="front_caster"/>
    class="urdf-tag"><origin xyz="0.18 0 -0.045" rpy="0 0 0"/>
  class="urdf-tag"></joint>

  <!-- Rear caster -->
  class="urdf-tag"><link name="rear_caster">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><sphere radius="0.03"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rear_caster_joint" type="fixed">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="rear_caster"/>
    class="urdf-tag"><origin xyz="-0.18 0 -0.045" rpy="0 0 0"/>
  class="urdf-tag"></joint>

  <!-- Payload deck -->
  class="urdf-tag"><link name="payload_deck">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><box size="0.40 0.30 0.02"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="deck_joint" type="fixed">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="payload_deck"/>
    class="urdf-tag"><origin xyz="0 0 0.09" rpy="0 0 0"/>
  class="urdf-tag"></joint>

  <!-- LIDAR mount post -->
  class="urdf-tag"><link name="lidar_post">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.15" radius="0.015"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="lidar_post_joint" type="fixed">
    class="urdf-tag"><parent link="payload_deck"/>class="urdf-tag"><child link="lidar_post"/>
    class="urdf-tag"><origin xyz="0.10 0 0.085" rpy="0 0 0"/>
  class="urdf-tag"></joint>

  <!-- LIDAR sensor -->
  class="urdf-tag"><link name="lidar">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.06" radius="0.04"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="lidar_joint" type="fixed">
    class="urdf-tag"><parent link="lidar_post"/>class="urdf-tag"><child link="lidar"/>
    class="urdf-tag"><origin xyz="0 0 0.10" rpy="0 0 0"/>
  class="urdf-tag"></joint>
class="urdf-tag"></robot>