<robot name="obstacles">
  <!-- links -->
  <link name="obj1">
    <visual>
      <origin xyz="0.7 0.0 0.1" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.4 0.8 0.2" />
      </geometry>
      <material name="Cyan">
        <color rgba="0.2 0.5 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.7 0.0 0.1" rpy="0 0 0"/>
      <geometry>
        <box size="0.4 0.8 0.2" />
      </geometry>
    </collision>
  </link>
  <link name="obj2">
    <visual>
      <origin xyz="0.7 0.0 0.6" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.4 0.6 0.2" />
      </geometry>
      <material name="Cyan">
        <color rgba="1.0 0.1 0.1 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.7 0.0 0.6" rpy="0 0 0"/>
      <geometry>
        <box size="0.4 0.6 0.2" />
      </geometry>
    </collision>
  </link>
</robot>
