Procedural AGV Generator

The project generates a single export-ready warehouse AGV robot through the Blender Python API. No meshes or texture files are imported. The generated scene contains only the AGV model plus optional render lighting and camera.

The robot keeps the existing AGV structure: low-profile body, four wheel assemblies, underside QR scanner, perimeter bumper and a hydraulic rotating lifting platform. The root object can be translated forward/backward and rotated in place in 90-degree increments by external control code. The lift platform can be raised/lowered and yawed independently from the chassis; the platform and lifting cylinders remain grouped with the robot.

All dimensions in the YAML configuration are millimetres.

Run from PyCharm / Blender

Configure a PyCharm external tool or run configuration to invoke Blender with:

blender --background --python main.py -- --quality high

For a geometry check without output:

blender --background --python main.py -- --quality low --no-render --no-export

launcher.py and root main.py call the modular application in src/main.py. Use --config configs/high.yaml for manual configuration. PyYAML is optional; without it the supplied quality presets are still usable.

LOD and output

high, medium, and low alter bevel, wheel, fastening, ventilation and sensor detail before geometry is built. AGV(quality="low") is the simulation-facing API for creating a lightweight robot object. The generator writes renders/robot.png and quality-specific exports into exports/. Rendering uses Cycles and procedural Principled materials.

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Robot technical specification

1. General description

The generator creates a fully procedural model of a low-profile warehouse AGV (Automated Guided Vehicle) with a four-wheel independent drive base, hydraulic rotating lift table, underside QR scanner, perimeter rubber bumper and emergency stop button. The robot is intended to be exported as a standalone object for warehouse simulation models.

2. Overall dimensions and mass

Parameter	Value	Note
Chassis length	500 mm	Default value from config.py
Chassis width	500 mm	Default value from config.py
Body height	180 mm	Default value from config.py
Length including bumpers	~535 mm	Bumper protrudes beyond the chassis envelope
Width across wheels	~555 mm	Outside edge of the tyre tread
Wheelbase	340 mm	Distance between front and rear wheel axes
Track width	519.6 mm	Distance between left and right wheel centres
Ground clearance	~6.3 mm	Low-profile chassis for flat simulation surfaces
Robot mass	estimated 150-250 kg	Not modelled directly; typical for this class

3. Lifting platform

Parameter	Value
Top platform size	400 × 400 mm
Lower base size	380 × 380 mm
Lowered platform height	190 mm from the robot origin
Raised platform height	260 mm from the robot origin
Lift stroke	70 mm
Actuation	4 telescopic hydraulic cylinders
Platform yaw	Independent rotation around the vertical Z axis

The platform can be raised and lowered while remaining attached to the robot. It can also rotate independently clockwise or counter-clockwise, including counter-rotation while the chassis turns.

4. Wheels

Parameter	Value
Quantity	4
Wheel diameter	120 mm (60 mm radius)
Tyre width	35 mm
Material	Rubber
Layout	Independent driven wheels, symmetrically placed near the corners

The wheels include protective guards. In high mode, metallic hubs and drive mounts are added.

5. Navigation and orientation

• QR scanner: mounted on the underside of the robot with Y = -130 mm offset and Z = 45 mm height. The scanner includes a lens and LED indicators.
• Motion type: four-wheel-drive 4×4 base with skid-steer turning.
• Forward/backward movement: external control can translate the AGV_Robot root along its current heading.
• Turning: external control can rotate AGV_Robot in place in 90° increments clockwise or counter-clockwise.
• Platform synchronization: external control can set the lift platform yaw independently from the chassis yaw.

6. Power and autonomy

Parameter	Value
Battery type	estimated LiFePO4, 24-48 V
Capacity	estimated 20-60 Ah
Runtime per charge	estimated 8-12 hours
Full charging time	estimated 2-4 hours
Charging method	Contact pads for automatic charging at a docking station

Battery and charging parameters are not modelled in the code and are included only as typical values for industrial AGVs of this size. They do not affect geometry generation.

7. Safety

• Perimeter rubber bumper: 25 mm thick around the body envelope.
• Emergency stop button: placed on the body perimeter at approximately Y = -262.5 mm and Z = 81 mm in generator coordinates.
• Low-profile chassis: reduces the risk of catching obstacles.
• Independent platform rotation: helps keep cargo orientation controllable in simulation.