# Iteration 5
## Did
- gen_mobile.py -> mobile_base.urdf (HTTP 200): chassis (0.40x0.30) on 4 continuous-spin wheels (r50mm),
  a vertical 2040 lift mast at the back with a prismatic lift carriage (0-650mm), and a 4-DOF arm reaching
  forward off the lift. Y-up model + world joint -> wheels on ground.
- Renders: wheeled base + mast + lift + forward arm. First pass of the LATER mobile-manipulator goal.
## Viewer
https://cad.omidlab.net/?dir=/data/cameron/repos/smith300_para_stuff&file=mobile_base.urdf
## Next
- Option A: swap the arm for the 3-axis gantry on the base ("access-gantry on mobile base" variant).
- Option B: printable arm-mount plate + differential-drive detail. Refine wheel/drive.