<?xml version="1.0"?>
<robot name="materials">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.6" radius="0.2"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 .8 1"/>
      </material>
    </visual>
  </link>

  <link name="right_leg">
    <visual>
      <geometry>
        <box size="0.6 .2 .1"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
  </link>

  <joint name="base_to_right_leg" type="fixed">
    <parent link="base_link"/>
    <child link="right_leg"/>
    <origin xyz="0.22 0 .25"/>
  </joint>

  <link name="left_leg">
    <visual>
      <geometry>
        <box size="0.6 .2 .1"/>
      </geometry>
      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
      <material name="white"/>
    </visual>
  </link>

  <joint name="base_to_left_leg" type="fixed">
    <parent link="base_link"/>
    <child link="left_leg"/>
    <origin xyz="-0.22 0 .25"/>
  </joint>

</robot>

