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Three complete robot models in plain URDF — no xacro, no macros, no mesh files to hunt down. Every link uses primitive geometry (box/cylinder/sphere) with colour materials, collision shapes, and masses and inertias computed from the geometry with the standard formulas, so the models load and simulate sensibly in robot_state_publisher, RViz, Gazebo and MoveIt-style tooling straight away.
Exact contents: urdf/diff_drive_bot.urdf — 0.40 x 0.30 m differential-drive base, two continuous-joint driven wheels (150 mm), ball caster, 0.35 m camera mast, 3.55 kg; urdf/arm_3dof.urdf — three revolute joints with realistic limits (shoulder +/-170 deg, elbow +/-140 deg, wrist +/-150 deg), 0.66 m reach, fixed + prismatic gripper fingers, 2.57 kg; urdf/mecanum_bot.urdf — 0.46 x 0.36 m holonomic base, four continuous-joint 100 mm wheels, lidar puck, 4.55 kg; launch/display.launch.py (robot_state_publisher + optional RViz); rviz/display.rviz; check_urdf.py — a stdlib-only validator that inventories links/joints and asserts a single root, valid joint references, sane limits and positive masses; README.md with a model table, RViz viewing guide, xacro conversion path and Gazebo integration notes; LICENSE.txt.
Honest notes: all three files pass the included check_urdf.py validator; masses are plausible computed values, not measured from physical builds — weigh your real parts before trusting dynamic simulation. The mecanum wheels are plain cylinders: true sideways motion in Gazebo needs the per-wheel friction/plugin step documented in the README.
Instant download — your file is available right after checkout from your account. No shipping, no waiting.
What's included
Free sample: Download the free sample — the complete diff_drive_bot.urdf, the check_urdf.py validator and README.
Exact contents: urdf/diff_drive_bot.urdf — 0.40 x 0.30 m differential-drive base, two continuous-joint driven wheels (150 mm), ball caster, 0.35 m camera mast, 3.55 kg; urdf/arm_3dof.urdf — three revolute joints with realistic limits (shoulder +/-170 deg, elbow +/-140 deg, wrist +/-150 deg), 0.66 m reach, fixed + prismatic gripper fingers, 2.57 kg; urdf/mecanum_bot.urdf — 0.46 x 0.36 m holonomic base, four continuous-joint 100 mm wheels, lidar puck, 4.55 kg; launch/display.launch.py (robot_state_publisher + optional RViz); rviz/display.rviz; check_urdf.py — a stdlib-only validator that inventories links/joints and asserts a single root, valid joint references, sane limits and positive masses; README.md with a model table, RViz viewing guide, xacro conversion path and Gazebo integration notes; LICENSE.txt.
Honest notes: all three files pass the included check_urdf.py validator; masses are plausible computed values, not measured from physical builds — weigh your real parts before trusting dynamic simulation. The mecanum wheels are plain cylinders: true sideways motion in Gazebo needs the per-wheel friction/plugin step documented in the README.
Instant download — your file is available right after checkout from your account. No shipping, no waiting.
What's included
- diff_drive_bot.urdf — diff-drive base with camera mast (7 links, 2 continuous wheel joints)
- arm_3dof.urdf — 3-DOF arm with joint limits, dynamics and a two-finger gripper
- mecanum_bot.urdf — 4-wheel holonomic base with lidar frame
- check_urdf.py validator — run it after any edit, no ROS install needed
- display.launch.py + display.rviz — view any model in RViz in one command
- README with model table, xacro conversion guide and Gazebo notes
- Single-buyer use license (LICENSE.txt)
- Requires: ROS 2 Humble or newer for the launch/RViz files; the URDFs work with any URDF tooling
- Instant download after checkout — no shipping
- Quality-checked by MarketplacePlanet before listing
- Free re-downloads for 30 days from your account
Free sample: Download the free sample — the complete diff_drive_bot.urdf, the check_urdf.py validator and README.
Format
Code package
Framework / Works with
ROS 2
License
Commercial use included
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