<robot name="frame">
    <link name="link1">
        <inertial>
            <mass value="1" />
            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
        </inertial>
        <visual>
            <geometry>
                <sphere radius="0.04"/>
            </geometry>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
        <visual>
            <origin rpy="0 1.57 0" xyz="0.2 0 0.0"/>
            <geometry>
                <cylinder length="0.4" radius="0.02"/>
            </geometry>
            <material name="red">
                <color rgba="0.8 0 0 1"/>
            </material>
        </visual>
        <visual>
            <origin rpy="1.57 0 0" xyz="0.0 0.2 0.0"/>
            <geometry>
                <cylinder length="0.4" radius="0.02"/>
            </geometry>
            <material name="green">
                <color rgba="0 0.8 0 1"/>
            </material>
        </visual>
        <visual>
            <origin rpy="0.0 0 0" xyz="0.0 0.0 0.2"/>
            <geometry>
                <cylinder length="0.4" radius="0.02"/>
            </geometry>
            <material name="blue">
                <color rgba="0 0 .8 1"/>
            </material>
        </visual>

    </link>
</robot>
