<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">    
    <material name="blue">
        <color rgba="0.0 0.0 0.8 1.0" />
    </material>

    <material name="orange">
        <color rgba="1.0 0.5 0.0 1.0" />
    </material>

    <material name="grey">
        <color rgba="0.5 0.5 0.5 1.0" />
    </material>

    <material name="white">
        <color rgba="1.0 1.0 1.0 1.0" />
    </material>
</robot>