<robot name="dumpUrdf">
	<link name="base" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0 0 0" />
			 <mass value = "0.00100" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
	</link>
	<link name="root" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 0.280000 0.000000" />
			 <mass value = "6.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.000000 0.280000 0.000000" />
			<geometry>
				<sphere radius = "0.360000" />
			</geometry>
		</collision>
	</link>
	<joint name="root" type="fixed" >
		<parent link = "base" />
		<child link="root" />
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
	</joint>
	<link name="chest" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 0.480000 0.000000" />
			 <mass value = "14.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.000000 0.480000 0.000000" />
			<geometry>
				<sphere radius = "0.440000" />
			</geometry>
		</collision>
	</link>
	<joint name="chest" type="spherical" >
		<parent link="root" />
		<child link="chest" />
				<origin rpy = "0 0 0" xyz = "0.000000 0.944604 0.000000" />
	</joint>
	<link name="neck" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 0.700000 0.000000" />
			 <mass value = "2.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.000000 0.700000 0.000000" />
			<geometry>
				<sphere radius = "0.410000" />
			</geometry>
		</collision>
	</link>
	<joint name="neck" type="spherical" >
		<parent link="chest" />
		<child link="neck" />
				<origin rpy = "0 0 0" xyz = "0.000000 0.895576 0.000000" />
	</joint>
	<link name="right_hip" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.840000 0.000000" />
			 <mass value = "4.500000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.840000 0.000000" />
			<geometry>
				<capsule length="1.200000" radius="0.220000"/>
			</geometry>
		</collision>
	</link>
	<joint name="right_hip" type="spherical" >
		<parent link="root" />
		<child link="right_hip" />
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.339548" />
	</joint>
	<link name="right_knee" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.800000 0.000000" />
			 <mass value = "3.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.800000 0.000000" />
			<geometry>
				<capsule length="1.240000" radius="0.200000"/>
			</geometry>
		</collision>
	</link>
	<joint name="right_knee" type="revolute" >
		<parent link="right_hip" />
		<child link="right_knee" />
		 <limit effort="1000.0" lower="-3.14" upper="0." velocity="0.5"/>
			<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
		<axis xyz = "0.000000 0.000000 1.000000" />
	</joint>
	<link name="right_ankle" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
			 <mass value = "1.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
			<geometry>
				<box size="0.708000 0.220000 0.360000" />
			</geometry>
		</collision>
	</link>
	<joint name="right_ankle" type="spherical" >
		<parent link="right_knee" />
		<child link="right_ankle" />
				<origin rpy = "0 0 0" xyz = "0.000000 -1.639480 0.000000" />
	</joint>
	<link name="right_shoulder" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.560000 0.000000" />
			 <mass value = "1.500000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.560000 0.000000" />
			<geometry>
				<capsule length="0.720000" radius="0.180000"/>
			</geometry>
		</collision>
	</link>
	<joint name="right_shoulder" type="spherical" >
		<parent link="chest" />
		<child link="right_shoulder" />
				<origin rpy = "0 0 0" xyz = "-0.096200 0.974000 0.732440" />
	</joint>
	<link name="right_elbow" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.480000 0.000000" />
			 <mass value = "1.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.480000 0.000000" />
			<geometry>
				<capsule length="0.540000" radius="0.160000"/>
			</geometry>
		</collision>
	</link>
	<joint name="right_elbow" type="revolute" >
		<parent link="right_shoulder" />
		<child link="right_elbow" />
		<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5"/>
				<origin rpy = "0 0 0" xyz = "0.000000 -1.099152 0.000000" />
		<axis xyz = "0.000000 0.000000 1.000000" />
	</joint>
	<link name="right_wrist" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
			 <mass value = "0.500000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
			<geometry>
				<sphere radius = "0.160000" />
			</geometry>
		</collision>
	</link>
	<joint name="right_wrist" type="fixed" >
		<parent link="right_elbow" />
		<child link="right_wrist" />
				<origin rpy = "0 0 0" xyz = "0.000000 -1.035788 0.000000" />
	</joint>
	<link name="left_hip" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.840000 0.000000" />
			 <mass value = "4.500000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.840000 0.000000" />
			<geometry>
				<capsule length="1.200000" radius="0.220000"/>
			</geometry>
		</collision>
	</link>
	<joint name="left_hip" type="spherical" >
		<parent link="root" />
		<child link="left_hip" />
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 -0.339548" />
	</joint>
	<link name="left_knee" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.800000 0.000000" />
			 <mass value = "3.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.800000 0.000000" />
			<geometry>
				<capsule length="1.240000" radius="0.200000"/>
			</geometry>
		</collision>
	</link>
	<joint name="left_knee" type="revolute" >
		<parent link="left_hip" />
		<child link="left_knee" />
		<limit effort="1000.0" lower="-3.14" upper="0." velocity="0.5"/>
				<origin rpy = "0 0 0" xyz = "0.000000 -1.686184 0.000000" />
		<axis xyz = "0.000000 0.000000 1.000000" />
	</joint>
	<link name="left_ankle" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
			 <mass value = "1.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.180000 -0.090000 0.000000" />
			<geometry>
				<box size="0.708000 0.220000 0.360000" />
			</geometry>
		</collision>
	</link>
	<joint name="left_ankle" type="spherical" >
		<parent link="left_knee" />
		<child link="left_ankle" />
				<origin rpy = "0 0 0" xyz = "0.000000 -1.639480 0.000000" />
	</joint>
	<link name="left_shoulder" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.560000 0.000000" />
			 <mass value = "1.500000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.560000 0.000000" />
			<geometry>
				<capsule length="0.720000" radius="0.180000"/>
			</geometry>
		</collision>
	</link>
	<joint name="left_shoulder" type="spherical" >
		<parent link="chest" />
		<child link="left_shoulder" />
				<origin rpy = "0 0 0" xyz = "-0.096200 0.974000 -0.732440" />
	</joint>
	<link name="left_elbow" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 -0.480000 0.000000" />
			 <mass value = "1.000000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "-1.570796 0 0" xyz = "0.000000 -0.480000 0.000000" />
			<geometry>
				<capsule length="0.540000" radius="0.160000"/>
			</geometry>
		</collision>
	</link>
	<joint name="left_elbow" type="revolute" >
		<parent link="left_shoulder" />
		<child link="left_elbow" />
		<limit effort="1000.0" lower="0" upper="3.14" velocity="0.5"/>
				<origin rpy = "0 0 0" xyz = "0.000000 -1.099152 0.000000" />
		<axis xyz = "0.000000 0.000000 1.000000" />
	</joint>
	<link name="left_wrist" >
		<inertial>
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
			 <mass value = "0.500000" />
			<inertia ixx = "0.1" ixy = "0" ixz = "0" iyy = "0.1" iyz = "0" izz = "0.1" />
		</inertial>
		<collision>
				<origin rpy = "0 0 0" xyz = "0.000000 0.000000 0.000000" />
			<geometry>
				<sphere radius = "0.160000" />
			</geometry>
		</collision>
	</link>
	<joint name="left_wrist" type="fixed" >
		<parent link="left_elbow" />
		<child link="left_wrist" />
				<origin rpy = "0 0 0" xyz = "0.000000 -1.035788 0.000000" />
	</joint>
</robot>
