Soft Quadruped Silicone Body

Generate a 3D CAD model of a monolithic, all-soft quadruped robot body. The design must be a single continuous volume with no rigid parts or joints. It consists of a central rectangular torso with four cylindrical legs extending downwards. Each leg must contain an internal hollow cylindrical chamber (pneumatic actuator) that spans 80% of the leg's length for vertical extension. The torso must have internal branching air channels connecting a single top-entry port to each of the four leg chambers. The overall exterior should have smooth, filleted edges (radius 5mm) to represent a molded silicone structure. The legs should have a bellows-like (corrugated) outer texture to facilitate axial expansion. Output as a watertight STL or STEP file suitable for soft robotics molding.

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