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Generated Robot Spec

Quadruped (Basic)

12 DOF · 3 per leg · 600mm body · IMU + Depth Camera

Prompt "Quadruped robot, 12 DOF (3 per leg), 600mm body length, 5kg total mass"
Open in Generator →
https://kinematos.polsia.app/r/quadruped-12dof

Spec

Quadruped (Basic)
Base Type Quadruped
DOF ••••••••••••
End Effector foot
Reach 0.3m
Payload 5kg
Sensors IMU Depth Camera

3D Preview — Click "Joints ▸" to pose

URDF Output

class="urdf-tag"><robot name="quadruped_12dof">
  <!-- Body -->
  class="urdf-tag"><link name="base_link">
    class="urdf-tag"><visual>
      class="urdf-tag"><geometry>class="urdf-tag"><box size="0.60 0.22 0.08"/>class="urdf-tag"></geometry>
    class="urdf-tag"></visual>
  class="urdf-tag"></link>

  <!-- Front-Left Leg -->
  class="urdf-tag"><link name="fl_hip_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.06" radius="0.025"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="fl_hip" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="fl_hip_link"/>
    class="urdf-tag"><origin xyz="0.25 0.13 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="1 0 0"/>
    class="urdf-tag"><limit lower="-0.87" upper="0.87" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="fl_thigh_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.03 0.03 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="fl_thigh" type="revolute">
    class="urdf-tag"><parent link="fl_hip_link"/>class="urdf-tag"><child link="fl_thigh_link"/>
    class="urdf-tag"><origin xyz="0 0.04 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-1.57" upper="1.57" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="fl_shin_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="fl_knee" type="revolute">
    class="urdf-tag"><parent link="fl_thigh_link"/>class="urdf-tag"><child link="fl_shin_link"/>
    class="urdf-tag"><origin xyz="0 0 -0.18" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-2.70" upper="-0.10" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  <!-- Front-Right Leg -->
  class="urdf-tag"><link name="fr_hip_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.06" radius="0.025"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="fr_hip" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="fr_hip_link"/>
    class="urdf-tag"><origin xyz="0.25 -0.13 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="1 0 0"/>
    class="urdf-tag"><limit lower="-0.87" upper="0.87" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="fr_thigh_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.03 0.03 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="fr_thigh" type="revolute">
    class="urdf-tag"><parent link="fr_hip_link"/>class="urdf-tag"><child link="fr_thigh_link"/>
    class="urdf-tag"><origin xyz="0 -0.04 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-1.57" upper="1.57" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="fr_shin_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="fr_knee" type="revolute">
    class="urdf-tag"><parent link="fr_thigh_link"/>class="urdf-tag"><child link="fr_shin_link"/>
    class="urdf-tag"><origin xyz="0 0 -0.18" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-2.70" upper="-0.10" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  <!-- Rear-Left Leg -->
  class="urdf-tag"><link name="rl_hip_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.06" radius="0.025"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rl_hip" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="rl_hip_link"/>
    class="urdf-tag"><origin xyz="-0.25 0.13 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="1 0 0"/>
    class="urdf-tag"><limit lower="-0.87" upper="0.87" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="rl_thigh_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.03 0.03 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rl_thigh" type="revolute">
    class="urdf-tag"><parent link="rl_hip_link"/>class="urdf-tag"><child link="rl_thigh_link"/>
    class="urdf-tag"><origin xyz="0 0.04 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-1.57" upper="1.57" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="rl_shin_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rl_knee" type="revolute">
    class="urdf-tag"><parent link="rl_thigh_link"/>class="urdf-tag"><child link="rl_shin_link"/>
    class="urdf-tag"><origin xyz="0 0 -0.18" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-2.70" upper="-0.10" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  <!-- Rear-Right Leg -->
  class="urdf-tag"><link name="rr_hip_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><cylinder length="0.06" radius="0.025"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rr_hip" type="revolute">
    class="urdf-tag"><parent link="base_link"/>class="urdf-tag"><child link="rr_hip_link"/>
    class="urdf-tag"><origin xyz="-0.25 -0.13 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="1 0 0"/>
    class="urdf-tag"><limit lower="-0.87" upper="0.87" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="rr_thigh_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.03 0.03 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rr_thigh" type="revolute">
    class="urdf-tag"><parent link="rr_hip_link"/>class="urdf-tag"><child link="rr_thigh_link"/>
    class="urdf-tag"><origin xyz="0 -0.04 0" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-1.57" upper="1.57" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>

  class="urdf-tag"><link name="rr_shin_link">
    class="urdf-tag"><visual>class="urdf-tag"><geometry>class="urdf-tag"><box size="0.025 0.025 0.18"/>class="urdf-tag"></geometry>class="urdf-tag"></visual>
  class="urdf-tag"></link>
  class="urdf-tag"><joint name="rr_knee" type="revolute">
    class="urdf-tag"><parent link="rr_thigh_link"/>class="urdf-tag"><child link="rr_shin_link"/>
    class="urdf-tag"><origin xyz="0 0 -0.18" rpy="0 0 0"/>
    class="urdf-tag"><axis xyz="0 1 0"/>
    class="urdf-tag"><limit lower="-2.70" upper="-0.10" effort="20" velocity="3.0"/>
  class="urdf-tag"></joint>
class="urdf-tag"></robot>