What this is
Limit is a quadruped robot built around a C++20 control core: twelve GIM6010-8 gear-motor joints, three perception sensors, and a 33-step movement pattern. The model on this page is the real robot geometry — drive it in the lab and it settles back to the same idle pose the dog holds on the field.
C++20 core
12 joints kinematics
33-step movement pattern
3 sensors lidar · stereo · GNSS
3D drive lab
Interact with it
model
Robot Model
The canonical joint map, kinematics tables, and URDF structure — the single source of truth for the body.
3D
Drive lab
Drive Limit with W/S/A/D, switch gaits, orbit the model. Gait, speed, and turn rate are live parameters. Dry-run — no writes.
Where things live
Perception hardware
Sensor data sheets
Vendor datasheets, SDKs, drivers, and CAD for the three sensors: Ouster OS0-128, StereoLabs ZED 2i, u-blox ZED-F9P.