<robot name="beam">
  <link name="beam">
    <inertial>
      <mass value="5"/>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin xyz="0.35 0 0"/>
      <geometry>
        <box size="0.7 0.03 0.03" />
      </geometry>
      <material name="blue">
        <color rgba="0.11 0.42 0.56 1.0"/>
      </material>
    </visual>
    <visual>
      <origin xyz="-0.35 0 0"/>
      <geometry>
        <box size="0.7 0.03 0.03" />
      </geometry>
      <material name="red">
        <color rgba="0.56 0.42 0.11 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <box size="1.4 0.03 0.03" />
      </geometry>
    </collision>
  </link>
</robot>
