<?xml version="1.0" ?>
<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>
