<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from spirit.urdf.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- 
MIT License (modified)

Copyright (c) 2020 Ghost Robotics
Authors:
Avik De <avik@ghostrobotics.io>
Tom Jacobs <tom.jacobs@ghostrobotics.io>

Permission is hereby granted, free of charge, to any person obtaining a copy
of this **file** (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE. 
-->
<robot name="ngr" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- Define parameters -->
  <!-- bodyLength + hipdx should be equal to front to back hip distance -->
  <!-- dy +  dPodAxisToEdge + upperLegWidth should be equal to the center to toe distance along y axis-->
  <!-- guess -->
  <!-- guess -->
  <!-- guess -->
  <!-- guess -->
  <!-- guess -->
  <!-- guess -->
  <!--visual only-->
  <!--center of pod cylinder to the ab axis-->
  <!-- Define materials -->
  <material name="darkgray">
    <color rgba="0.1 0.1 0.1 1.0"/>
  </material>
  <material name="silver">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.2 1.0"/>
  </material>
  <!-- Body -->
  <link name="body">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.335 0.24 0.104"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <inertial>
      <mass value="5.75"/>
      <!-- Uniform box -->
      <!-- <inertia ixx="1/12*${bodyMass}*(${bodyWidth}*${bodyWidth} + ${bodyHeight}*${bodyHeight})"  ixy="0"  ixz="0" iyy="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyHeight}*${bodyHeight})" iyz="0" izz="1/12*${bodyMass}*(${bodyLength}*${bodyLength} + ${bodyWidth}*${bodyWidth})"/> -->
      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
    <!-- Just copy geometry for collision -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.335 0.24 0.104"/>
      </geometry>
    </collision>
  </link>
  <!-- Define our leg macro -->
  <!-- Our four legs -->
  <!-- Hip motor -->
  <link name="hip0">
    <visual>
      <origin rpy="1.5707963268 0 0" xyz="0.0 0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.575"/>
      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
				{podRadius}" /> -->
      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
    </inertial>
  </link>
  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
  <joint name="8" type="revolute">
    <parent link="body"/>
    <child link="hip0"/>
    <axis xyz="1 0 0"/>
    <origin xyz="0.2263 0.07 0"/>
    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Upper leg -->
  <link name="upper0">
    <visual>
      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.775"/>
      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
  <joint name="0" type="revolute">
    <parent link="hip0"/>
    <child link="upper0"/>
    <axis xyz="0 -1 0"/>
    <origin xyz="0.0 0.10098 0"/>
    <!--  rpy="0 -0.3 0" -->
    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Lower leg -->
  <link name="lower0">
    <visual>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.075"/>
      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <!-- Knee joint. Joint names are: 1 3 5 7 -->
  <joint name="1" type="revolute">
    <parent link="upper0"/>
    <child link="lower0"/>
    <axis xyz="0 1 0"/>
    <origin xyz="-0.206 0 0"/>
    <!--rpy="0 0.5 0"-->
    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Toe -->
  <link name="toe0">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.015"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
    </inertial>
  </link>
  <joint name="jtoe0" type="fixed">
    <parent link="lower0"/>
    <child link="toe0"/>
    <origin xyz="0.206 0 -0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Hip motor -->
  <link name="hip1">
    <visual>
      <origin rpy="1.5707963268 0 0" xyz="-0.0 0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="1.5707963268 0 0" xyz="0 0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.575"/>
      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
				{podRadius}" /> -->
      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
    </inertial>
  </link>
  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
  <joint name="9" type="revolute">
    <parent link="body"/>
    <child link="hip1"/>
    <axis xyz="1 0 0"/>
    <origin xyz="-0.2263 0.07 0"/>
    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Upper leg -->
  <link name="upper1">
    <visual>
      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.103 -0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.775"/>
      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
  <joint name="2" type="revolute">
    <parent link="hip1"/>
    <child link="upper1"/>
    <axis xyz="0 -1 0"/>
    <origin xyz="-0.0 0.10098 0"/>
    <!--  rpy="0 -0.3 0" -->
    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Lower leg -->
  <link name="lower1">
    <visual>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.075"/>
      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <!-- Knee joint. Joint names are: 1 3 5 7 -->
  <joint name="3" type="revolute">
    <parent link="upper1"/>
    <child link="lower1"/>
    <axis xyz="0 1 0"/>
    <origin xyz="-0.206 0 0"/>
    <!--rpy="0 0.5 0"-->
    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Toe -->
  <link name="toe1">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.015"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
    </inertial>
  </link>
  <joint name="jtoe1" type="fixed">
    <parent link="lower1"/>
    <child link="toe1"/>
    <origin xyz="0.206 0 -0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Hip motor -->
  <link name="hip2">
    <visual>
      <origin rpy="1.5707963268 0 0" xyz="0.0 -0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.575"/>
      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
				{podRadius}" /> -->
      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
    </inertial>
  </link>
  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
  <joint name="10" type="revolute">
    <parent link="body"/>
    <child link="hip2"/>
    <axis xyz="1 0 0"/>
    <origin xyz="0.2263 -0.07 0"/>
    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Upper leg -->
  <link name="upper2">
    <visual>
      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.775"/>
      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
  <joint name="4" type="revolute">
    <parent link="hip2"/>
    <child link="upper2"/>
    <axis xyz="0 -1 0"/>
    <origin xyz="0.0 -0.10098 0"/>
    <!--  rpy="0 -0.3 0" -->
    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Lower leg -->
  <link name="lower2">
    <visual>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.075"/>
      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <!-- Knee joint. Joint names are: 1 3 5 7 -->
  <joint name="5" type="revolute">
    <parent link="upper2"/>
    <child link="lower2"/>
    <axis xyz="0 1 0"/>
    <origin xyz="-0.206 0 0"/>
    <!--rpy="0 0.5 0"-->
    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Toe -->
  <link name="toe2">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.015"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
    </inertial>
  </link>
  <joint name="jtoe2" type="fixed">
    <parent link="lower2"/>
    <child link="toe2"/>
    <origin xyz="0.206 0 -0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Hip motor -->
  <link name="hip3">
    <visual>
      <origin rpy="1.5707963268 0 0" xyz="-0.0 -0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="1.5707963268 0 0" xyz="0 -0.028 0"/>
      <geometry>
        <cylinder length="0.08" radius="0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.575"/>
      <!-- <inertia ixx="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}"  ixy="0"  ixz="0" iyy="1/12*${podMass}*${podLength}*${podLength} + 1/4*${podMass}*${podRadius}*${podRadius}" iyz="0" izz="1/2*${podMass}*${podRadius}*$
				{podRadius}" /> -->
      <inertia ixx="0.00066963541" ixy="0" ixz="0" iyy="0.00066963541" iyz="0" izz="0.0008696875"/>
    </inertial>
  </link>
  <!-- Abduction joint. Joint names are: 8 9 10 11 -->
  <joint name="11" type="revolute">
    <parent link="body"/>
    <child link="hip3"/>
    <axis xyz="1 0 0"/>
    <origin xyz="-0.2263 -0.07 0"/>
    <limit effort="40" lower="-0.707" upper="0.707" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Upper leg -->
  <link name="upper3">
    <visual>
      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.103 0.022 0"/>
      <geometry>
        <box size="0.206 0.022 0.055"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.775"/>
      <inertia ixx="5e-05" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <!-- Hip joint. (Motor to upper leg). Joint names are: 0 2 4 6 -->
  <joint name="6" type="revolute">
    <parent link="hip3"/>
    <child link="upper3"/>
    <axis xyz="0 -1 0"/>
    <origin xyz="-0.0 -0.10098 0"/>
    <!--  rpy="0 -0.3 0" -->
    <limit effort="40" lower="-6.28318530718" upper="6.28318530718" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Lower leg -->
  <link name="lower3">
    <visual>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 1.5707963268 0" xyz="0.103 0 0"/>
      <geometry>
        <cylinder length="0.206" radius="0.013"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.075"/>
      <inertia ixx="5e-06" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <!-- Knee joint. Joint names are: 1 3 5 7 -->
  <joint name="7" type="revolute">
    <parent link="upper3"/>
    <child link="lower3"/>
    <axis xyz="0 1 0"/>
    <origin xyz="-0.206 0 0"/>
    <!--rpy="0 0.5 0"-->
    <limit effort="40" lower="0" upper="3.14159265359" velocity="30"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <!-- Toe -->
  <link name="toe3">
    <contact>
      <friction_anchor/>
      <stiffness value="30000.0"/>
      <damping value="1000.0"/>
      <spinning_friction value="0.3"/>
      <lateral_friction value="3.0"/>
    </contact>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.015"/>
      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
      <!-- <inertia ixx="2/5*${toeMass}*${toeRadius}*${toeRadius}"  ixy="0"  ixz="0" iyy="2/5*${toeMass}*${toeRadius}*${toeRadius}" iyz="0" izz="2/5*${toeMass}*${toeRadius}*${toeRadius}" /> -->
    </inertial>
  </link>
  <joint name="jtoe3" type="fixed">
    <parent link="lower3"/>
    <child link="toe3"/>
    <origin xyz="0.206 0 -0.0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
</robot>

