<?xml version="1.0" ?>
<robot name="BUMI_V3.0_260119">
    <link name="base_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/base_link.STL"/>
            </geometry>
            <material name="">
                <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/base_link.STL"/>
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        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="8.156417e-04 -1.105322e-04 8.352916e-02"/>
            <mass value="1.215661e+00"/>
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    </link>
    <link name="waist_yaw_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/waist_yaw_link.STL"/>
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            <material name="">
                <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/waist_yaw_link.STL"/>
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        <inertial>
            <origin rpy="0 0 0" xyz="-6.030196e-03 -1.342551e-03 1.367433e-01"/>
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    </link>
    <joint name="waist_yaw_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0.129049999999987"/>
        <parent link="base_link"/>
        <child link="waist_yaw_link"/>
        <axis xyz="0 0 1"/>
        <limit effort="0" lower="-1.57" upper="1.57" velocity="0"/>
    </joint>
    <link name="l_arm_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_arm_pitch_link.STL"/>
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            <material name="">
                <color rgba="0.498039215686275 0.498039215686275 0.498039215686275 1"/>
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        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_arm_pitch_link.STL"/>
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            <origin rpy="0 0 0" xyz="5.774862e-03 4.078573e-02 -6.394732e-05"/>
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    </link>
    <joint name="l_arm_pitch_joint" type="revolute">
        <origin rpy="0.2618 0 0" xyz="0.0010007 0.083723 0.17204"/>
        <parent link="waist_yaw_link"/>
        <child link="l_arm_pitch_link"/>
        <axis xyz="0 1 0"/>
        <limit effort="0" lower="-3.14" upper="1.57" velocity="0"/>
    </joint>
    <link name="l_arm_roll_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_arm_roll_link.STL"/>
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            <material name="">
                <color rgba="0.498039215686275 0.498039215686275 0.498039215686275 1"/>
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        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_arm_roll_link.STL"/>
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            <origin rpy="0 0 0" xyz="3.253168e-04 1.944947e-02 -5.723695e-02"/>
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    </link>
    <joint name="l_arm_roll_joint" type="revolute">
        <origin rpy="-0.2618 0 0" xyz="-0.0010007 0.044 0"/>
        <parent link="l_arm_pitch_link"/>
        <child link="l_arm_roll_link"/>
        <axis xyz="1 0 0"/>
        <limit effort="0" lower="-0.14" upper="1.94" velocity="0"/>
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    <link name="l_arm_yaw_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_arm_yaw_link.STL"/>
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            <material name="">
                <color rgba="0.498039215686275 0.498039215686275 0.498039215686275 1"/>
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            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_arm_yaw_link.STL"/>
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            <origin rpy="0 0 0" xyz="7.621968e-03 2.386257e-03 -5.507440e-02"/>
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    </link>
    <joint name="l_arm_yaw_joint" type="revolute">
        <origin rpy="0.087266 0 0" xyz="0.0010007 0.023135 -0.092344"/>
        <parent link="l_arm_roll_link"/>
        <child link="l_arm_yaw_link"/>
        <axis xyz="0 0 1"/>
        <limit effort="0" lower="-1.57" upper="1.57" velocity="0"/>
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    <link name="l_elbow_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_elbow_pitch_link.STL"/>
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            <material name="">
                <color rgba="0.498039215686275 0.498039215686275 0.498039215686275 1"/>
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        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_elbow_pitch_link.STL"/>
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            <origin rpy="0 0 0" xyz="7.205027e-05 1.244475e-03 -9.442433e-02"/>
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    </link>
    <joint name="l_elbow_pitch_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0.010308 0 -0.061252"/>
        <parent link="l_arm_yaw_link"/>
        <child link="l_elbow_pitch_link"/>
        <axis xyz="0 1 0"/>
        <limit effort="0" lower="-2.26" upper="0" velocity="0"/>
    </joint>
    <link name="r_arm_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_arm_pitch_link.STL"/>
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            <material name="">
                <color rgba="1 1 1 1"/>
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        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_arm_pitch_link.STL"/>
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            <origin rpy="0 0 0" xyz="5.774892e-03 -4.078567e-02 -6.363571e-05"/>
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    <joint name="r_arm_pitch_joint" type="revolute">
        <origin rpy="-0.2618 0 0" xyz="0.0010007 -0.083723 0.17204"/>
        <parent link="waist_yaw_link"/>
        <child link="r_arm_pitch_link"/>
        <axis xyz="0 1 0"/>
        <limit effort="0" lower="-3.14" upper="1.57" velocity="0"/>
    </joint>
    <link name="r_arm_roll_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_arm_roll_link.STL"/>
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            <material name="">
                <color rgba="1 1 1 1"/>
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        </visual>
        <collision>
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            <origin rpy="0 0 0" xyz="3.248965e-04 -1.944891e-02 -5.723630e-02"/>
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    </link>
    <joint name="r_arm_roll_joint" type="revolute">
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        <parent link="r_arm_pitch_link"/>
        <child link="r_arm_roll_link"/>
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    <link name="r_arm_yaw_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_arm_yaw_link.STL"/>
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            <material name="">
                <color rgba="1 1 1 1"/>
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        </visual>
        <collision>
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    <joint name="r_arm_yaw_joint" type="revolute">
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        <parent link="r_arm_roll_link"/>
        <child link="r_arm_yaw_link"/>
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    <link name="r_elbow_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_elbow_pitch_link.STL"/>
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            <material name="">
                <color rgba="1 1 1 1"/>
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    <joint name="r_elbow_pitch_joint" type="revolute">
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        <parent link="r_arm_yaw_link"/>
        <child link="r_elbow_pitch_link"/>
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    <link name="l_leg_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_leg_pitch_link.STL"/>
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    <joint name="l_leg_pitch_joint" type="revolute">
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        <parent link="base_link"/>
        <child link="l_leg_pitch_link"/>
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    <link name="l_leg_roll_link">
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            <origin rpy="0 0 0" xyz="0 0 0"/>
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                <mesh filename="package://BUMI_V3.0_260119/meshes/l_leg_roll_link.STL"/>
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    </link>
    <joint name="l_leg_roll_joint" type="revolute">
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        <child link="l_leg_roll_link"/>
        <axis xyz="1 0 0"/>
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    <link name="l_leg_yaw_link">
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            <origin rpy="0 0 0" xyz="0 0 0"/>
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    </link>
    <joint name="l_leg_yaw_joint" type="revolute">
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        <parent link="l_leg_roll_link"/>
        <child link="l_leg_yaw_link"/>
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    <link name="l_knee_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_knee_pitch_link.STL"/>
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                <color rgba="1 1 1 1"/>
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    <joint name="l_knee_pitch_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 -0.101"/>
        <parent link="l_leg_yaw_link"/>
        <child link="l_knee_pitch_link"/>
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    <link name="l_ankle_pitch_link">
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            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_ankle_pitch_link.STL"/>
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    <joint name="l_ankle_pitch_joint" type="revolute">
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        <parent link="l_knee_pitch_link"/>
        <child link="l_ankle_pitch_link"/>
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        <limit effort="0" lower="-0.96" upper="0.44" velocity="0"/>
    </joint>
    <link name="l_ankle_roll_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/l_ankle_roll_link.STL"/>
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            <material name="">
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    <joint name="l_ankle_roll_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <parent link="l_ankle_pitch_link"/>
        <child link="l_ankle_roll_link"/>
        <axis xyz="1 0 0"/>
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    <link name="r_leg_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_leg_pitch_link.STL"/>
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            <material name="">
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            <origin rpy="0 0 0" xyz="9.055554e-03 5.476017e-03 -5.660980e-02"/>
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    </link>
    <joint name="r_leg_pitch_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0.0010184 -0.1 0.03875"/>
        <parent link="base_link"/>
        <child link="r_leg_pitch_link"/>
        <axis xyz="0 1 0"/>
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    <link name="r_leg_roll_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_leg_roll_link.STL"/>
            </geometry>
            <material name="">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_leg_roll_link.STL"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="8.612892e-04 3.809841e-05 -7.003093e-02"/>
            <mass value="6.984906e-01"/>
            <inertia ixx="1.188826e-03" ixy="1.180748e-06" ixz="8.864805e-06" iyy="1.440776e-03" iyz="-6.742416e-07" izz="8.010887e-04"/>
        </inertial>
    </link>
    <joint name="r_leg_roll_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 -0.0665"/>
        <parent link="r_leg_pitch_link"/>
        <child link="r_leg_roll_link"/>
        <axis xyz="1 0 0"/>
        <limit effort="0" lower="-1.57" upper="0.66" velocity="0"/>
    </joint>
    <link name="r_leg_yaw_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_leg_yaw_link.STL"/>
            </geometry>
            <material name="">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_leg_yaw_link.STL"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="2.650329e-03 -5.537468e-03 -8.994589e-02"/>
            <mass value="9.396171e-01"/>
            <inertia ixx="1.254790e-03" ixy="-1.277653e-05" ixz="-7.800780e-05" iyy="1.057798e-03" iyz="-5.547580e-05" izz="8.788730e-04"/>
        </inertial>
    </link>
    <joint name="r_leg_yaw_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 -0.098"/>
        <parent link="r_leg_roll_link"/>
        <child link="r_leg_yaw_link"/>
        <axis xyz="0 0 1"/>
        <limit effort="0" lower="-2.53" upper="2.53" velocity="0"/>
    </joint>
    <link name="r_knee_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_knee_pitch_link.STL"/>
            </geometry>
            <material name="">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_knee_pitch_link.STL"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="8.088816e-03 -8.253235e-04 -9.228835e-02"/>
            <mass value="1.307187e+00"/>
            <inertia ixx="4.558299e-03" ixy="6.541687e-06" ixz="-8.442118e-05" iyy="4.545765e-03" iyz="5.857367e-05" izz="1.405409e-03"/>
        </inertial>
    </link>
    <joint name="r_knee_pitch_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 -0.101"/>
        <parent link="r_leg_yaw_link"/>
        <child link="r_knee_pitch_link"/>
        <axis xyz="0 1 0"/>
        <limit effort="0" lower="0" upper="2.24" velocity="0"/>
    </joint>
    <link name="r_ankle_pitch_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_ankle_pitch_link.STL"/>
            </geometry>
            <material name="">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_ankle_pitch_link.STL"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-2.329797e-04 -2.572427e-03 1.211673e-03"/>
            <mass value="1.801549e-01"/>
            <inertia ixx="2.836453e-05" ixy="1.079834e-07" ixz="-5.171955e-08" iyy="3.209454e-05" iyz="-6.591582e-07" izz="3.145023e-05"/>
        </inertial>
    </link>
    <joint name="r_ankle_pitch_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0.00066801 0.0005 -0.20237"/>
        <parent link="r_knee_pitch_link"/>
        <child link="r_ankle_pitch_link"/>
        <axis xyz="0 1 0"/>
        <limit effort="0" lower="-0.96" upper="0.44" velocity="0"/>
    </joint>
    <link name="r_ankle_roll_link">
        <visual>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_ankle_roll_link.STL"/>
            </geometry>
            <material name="">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://BUMI_V3.0_260119/meshes/r_ankle_roll_link.STL"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="1.808309e-02 2.086016e-05 -2.678408e-02"/>
            <mass value="8.434906e-01"/>
            <inertia ixx="5.024592e-04" ixy="4.167645e-07" ixz="4.840139e-05" iyy="2.308970e-03" iyz="2.306108e-07" izz="2.538343e-03"/>
        </inertial>
    </link>
    <joint name="r_ankle_roll_joint" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <parent link="r_ankle_pitch_link"/>
        <child link="r_ankle_roll_link"/>
        <axis xyz="1 0 0"/>
        <limit effort="0" lower="-0.17" upper="0.17" velocity="0"/>
    </joint>
</robot>