<?xml version="1.0"?>
<!--
This URDF contains a robot-level material named "brown". The material is defined
redundantly: once as a stand-alone material and once inside a particular visual
geometry. A third geometry references it by name. There should be no clash
because the definitions match and all geometries that reference the "brown"
material should indeed be brown.
-->
<robot name="non_conflicting_materials_2">
  <material name="brown">
    <color rgba="0.93333333333 0.79607843137 0.67843137254 1"/>
  </material>
  <link name="base_link">
    <inertial>
      <mass value="1"/>
      <inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
      <origin xyz="0 0 0.3"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0.3" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.6" radius="0.1"/>
      </geometry>
      <material name="brown">
        <color rgba="0.93333333333 0.79607843137 0.67843137254 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="package://drake/multibody/parsing/test/tri_cube.obj" scale="1.1 1.1 1.1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.2"/>
      </geometry>
      <origin xyz="0 0 0.3"/>
    </collision>
  </link>
  <link name="material_by_name">
    <inertial>
      <mass value="1"/>
      <inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
      <origin xyz="0 0 0.3"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0.3" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.1"/>
      </geometry>
      <material name="brown"/>
    </visual>
  </link>
</robot>
