test.urdf

<?xml version="1.0"?>
<robot name="myfirst">
  <material name="green">
     <color rgba="0 0.8 0 1"/>
   </material>

   <material name="black">
   <color rgba="0 0 0 1"/>
 </material>

 <material name="gold">
   <color rgba="0.5 0.5 0.5 1"/>
 </material>


  <link name="base_link">
    <visual>
      <geometry>
        <box size=".6 .6 .3"/>
      </geometry>
      <material name="green"/>
      <origin rpy="0 0 0" xyz="0 0 0.2"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.6" radius="0.5"/>
      </geometry>
    </collision>
  </link>


  <link name="fr">
      <visual>
        <geometry>
          <box size=".01 .01 .01"/>
        </geometry>
        <origin rpy="1.55 0.1 0.3" xyz=".37 0 0.35"/>
      </visual>
    </link>
  <link name="ff">
      <visual>
        <geometry>
          <box size=".01 .01 .01"/>
        </geometry>
        <origin rpy="1.55 0.2 0.3" xyz=".37 0 0.35"/>
      </visual>
    </link>
  <link name="fl">
      <visual>
        <geometry>
          <box size=".01 .01 .01"/>
        </geometry>
        <origin rpy="1.55 0.3 0.3" xyz=".37 0 0.35"/>
      </visual>
    </link>

    <joint name="mount_to_fr" type="fixed">
      <parent link="base_link"/>
      <child link="fr"/>
      <origin rpy="1.55 0.1 -1" xyz=".37 0 0.35"/>
    </joint>
    <joint name="mount_to_ff" type="fixed">
      <parent link="base_link"/>
      <child link="ff"/>
        <origin rpy="1.55 0.1 0" xyz=".37 0 0.35"/>
    </joint>
    <joint name="mount_to_fl" type="fixed">
      <parent link="base_link"/>
      <child link="fl"/>
        <origin rpy="1.55 0.1 1" xyz=".37 0 0.35"/>
    </joint>

</robot>