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<robot name="egg">
<link name="world"/>
<link name="egg">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="0.15079644737231007"/>
<inertia ixx="7.539822368615503e-05" ixy="0.0" ixz="0.0" iyy="7.539822368615503e-05" iyz="0.0" izz="5.428672105403162e-05"/>
</inertial>
<visual name="egg_visual_0">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</visual>
<collision name="egg_collision_0">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
</collision>
</link>
<joint name="egg_joint" type="floating">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<parent link="world"/>
<child link="egg"/>
<limit lower="-999999" upper="999999" effort="1000.0" velocity="1000.0"/>
</joint>
</robot>
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