diff --git a/CHANGELOG.md b/CHANGELOG.md
index 069d94c6b43c1..6f73cb994ae54 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -19,6 +19,7 @@
 
 * Parsers
 
+  * Added `sdf` parsing for `fixed` joint and `material` tag of visual shape: [#775](https://github.com/dartsim/dart/pull/775)
   * Added support of urdfdom_headers 1.0: [#766](https://github.com/dartsim/dart/pull/766)
 
 * Misc improvements and bug fixes
diff --git a/dart/utils/sdf/SdfParser.cpp b/dart/utils/sdf/SdfParser.cpp
index 5dcbd7ef0e6af..c546de53575c1 100644
--- a/dart/utils/sdf/SdfParser.cpp
+++ b/dart/utils/sdf/SdfParser.cpp
@@ -167,6 +167,11 @@ dynamics::ShapeNode* readShapeNode(
     const std::string& skelPath,
     const common::ResourceRetrieverPtr& retriever);
 
+
+void readMaterial(
+    tinyxml2::XMLElement* materialEle,
+    dynamics::ShapeNode* shapeNode);
+
 void readVisualizationShapeNode(
     dynamics::BodyNode* bodyNode,
     tinyxml2::XMLElement* vizShapeNodeEle,
@@ -634,6 +639,10 @@ std::pair<dynamics::Joint*,dynamics::BodyNode*> createJointAndNodePair(
     return skeleton->createJointAndBodyNodePair<dynamics::BallJoint>(parent,
           static_cast<const dynamics::BallJoint::Properties&>(*joint.properties),
           static_cast<const typename NodeType::Properties&>(*node.properties));
+  else if (std::string("fixed") == type)
+    return skeleton->createJointAndBodyNodePair<dynamics::WeldJoint>(parent,
+          static_cast<const dynamics::WeldJoint::Properties&>(*joint.properties),
+          static_cast<const typename NodeType::Properties&>(*node.properties));
   else if (std::string("free") == type)
     return skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>(parent,
           static_cast<const dynamics::FreeJoint::Properties&>(*joint.properties),
@@ -981,6 +990,29 @@ dynamics::ShapeNode* readShapeNode(
   return shapeNode;
 }
 
+
+//==============================================================================
+void readMaterial(
+  tinyxml2::XMLElement* materialEle,
+  dynamics::ShapeNode* shapeNode) {
+
+  auto visualAspect = shapeNode->getVisualAspect();
+  if (hasElement(materialEle, "diffuse")) {
+    Eigen::VectorXd color = getValueVectorXd(materialEle, "diffuse");
+    if (color.size() == 3) {
+      Eigen::Vector3d color3d = color;
+      visualAspect->setColor(color3d);
+    } else if (color.size() == 4) {
+      Eigen::Vector4d color4d = color;
+      visualAspect->setColor(color4d);
+    } else {
+      dterr << "[SdfParse::readMaterial] Unsupported color vector size: "
+            << color.size() << "\n";
+    }
+  }
+}
+
+
 //==============================================================================
 void readVisualizationShapeNode(
     dynamics::BodyNode* bodyNode,
@@ -994,6 +1026,13 @@ void readVisualizationShapeNode(
                       skelPath, retriever);
 
   newShapeNode->createVisualAspect();
+
+  // Material
+  if (hasElement(vizShapeNodeEle, "material"))
+  {
+    tinyxml2::XMLElement* materialEle = getElement(vizShapeNodeEle, "material");
+    readMaterial(materialEle, newShapeNode);
+  }
 }
 
 //==============================================================================
diff --git a/data/sdf/quad.sdf b/data/sdf/quad.sdf
new file mode 100644
index 0000000000000..244ec6ad93df0
--- /dev/null
+++ b/data/sdf/quad.sdf
@@ -0,0 +1,867 @@
+<?xml version='1.0' encoding='ASCII'?>
+<sdf version="1.4">
+  <model name="BabyElephant">
+    <link name="Body">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <mass>7.200000</mass>
+        <inertia>
+          <ixx>0.870000</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.222000</iyy>
+          <iyz>0.000000</iyz>
+          <izz>1.080000</izz>
+        </inertia>
+      </inertial>
+      <collision name="Body_collision">
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.600000 1.200000 0.100000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="Body_visual">
+        <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.600000 1.200000 0.100000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="00FLHip">
+      <pose>-0.300000 0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="00FLHip_collision">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="00FLHip_visual">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="01FLThigh">
+      <pose>-0.300000 0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="01FLThigh_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="01FLThigh_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="02FLShin">
+      <pose>-0.300000 0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="02FLShin_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="02FLShin_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="03FLFoot">
+      <pose>-0.300000 0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="03FLFoot_collision">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="03FLFoot_visual">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.900000 0.800000</diffuse>
+        </material>
+      </visual>
+      <visual name="FL_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="04FRHip">
+      <pose>0.300000 0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="04FRHip_collision">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="04FRHip_visual">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="05FRThigh">
+      <pose>0.300000 0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="05FRThigh_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="05FRThigh_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="06FRShin">
+      <pose>0.300000 0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="06FRShin_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="06FRShin_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="07FRFoot">
+      <pose>0.300000 0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="07FRFoot_collision">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="07FRFoot_visual">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.300000 0.400000 0.900000</diffuse>
+        </material>
+      </visual>
+      <visual name="FR_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="08BLHip">
+      <pose>-0.300000 -0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="08BLHip_collision">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="08BLHip_visual">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="09BLThigh">
+      <pose>-0.300000 -0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="09BLThigh_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="09BLThigh_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="10BLShin">
+      <pose>-0.300000 -0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="10BLShin_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="10BLShin_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="11BLFoot">
+      <pose>-0.300000 -0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="11BLFoot_collision">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="11BLFoot_visual">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.300000 0.400000 0.900000</diffuse>
+        </material>
+      </visual>
+      <visual name="BL_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="12BRHip">
+      <pose>0.300000 -0.600000 -0.060000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <mass>0.012500</mass>
+        <inertia>
+          <ixx>0.000005</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000005</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000005</izz>
+        </inertia>
+      </inertial>
+      <collision name="12BRHip_collision">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="12BRHip_visual">
+        <pose>0.000000 0.000000 -0.025000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.050000 0.050000 0.050000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="13BRThigh">
+      <pose>0.300000 -0.600000 -0.120000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="13BRThigh_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="13BRThigh_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="14BRShin">
+      <pose>0.300000 -0.600000 -0.520000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <mass>0.400000</mass>
+        <inertia>
+          <ixx>0.005667</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.005667</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000667</izz>
+        </inertia>
+      </inertial>
+      <collision name="14BRShin_collision">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="14BRShin_visual">
+        <pose>0.000000 0.000000 -0.200000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.400000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.500000 0.600000 0.800000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <link name="15BRFoot">
+      <pose>0.300000 -0.600000 -0.920000 0.000000 0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <mass>0.300000</mass>
+        <inertia>
+          <ixx>0.002500</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.002500</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000500</izz>
+        </inertia>
+      </inertial>
+      <collision name="15BRFoot_collision">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="15BRFoot_visual">
+        <pose>0.000000 0.000000 -0.150000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <box>
+            <size>0.100000 0.100000 0.300000</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>0.300000 0.400000 0.900000</diffuse>
+        </material>
+      </visual>
+      <visual name="BR_End">
+        <pose>0.000000 0.000000 -0.300000 0.000000 0.000000 0.000000</pose>
+        <geometry>
+          <sphere>
+            <radius>0.020000</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.000000 0.000000 0.000000</diffuse>
+        </material>
+      </visual>
+    </link>
+    <joint name="j_00FLHip" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>00FLHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_01FLThigh" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>00FLHip</parent>
+      <child>01FLThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_02FLShin" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>01FLThigh</parent>
+      <child>02FLShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_03FLFoot" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>02FLShin</parent>
+      <child>03FLFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_04FRHip" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>04FRHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_05FRThigh" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>04FRHip</parent>
+      <child>05FRThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_06FRShin" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>05FRThigh</parent>
+      <child>06FRShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_07FRFoot" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>06FRShin</parent>
+      <child>07FRFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_08BLHip" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>08BLHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_09BLThigh" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>08BLHip</parent>
+      <child>09BLThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_10BLShin" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>09BLThigh</parent>
+      <child>10BLShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_11BLFoot" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>10BLShin</parent>
+      <child>11BLFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_12BRHip" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>Body</parent>
+      <child>12BRHip</child>
+      <axis>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_13BRThigh" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>12BRHip</parent>
+      <child>13BRThigh</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_14BRShin" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>13BRThigh</parent>
+      <child>14BRShin</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+    <joint name="j_15BRFoot" type="revolute">
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <use_parent_model_frame>0</use_parent_model_frame>
+      <parent>14BRShin</parent>
+      <child>15BRFoot</child>
+      <axis>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+        <limit>
+          <lower>-3.141593</lower>
+          <upper>3.141593</upper>
+          <effort>200.000000</effort>
+          <velocity>12.000000</velocity>
+        </limit>
+      </axis>
+    </joint>
+  </model>
+</sdf>
diff --git a/unittests/testSdfParser.cpp b/unittests/testSdfParser.cpp
index f11086368045d..ec84f9bcf4dc1 100644
--- a/unittests/testSdfParser.cpp
+++ b/unittests/testSdfParser.cpp
@@ -119,6 +119,24 @@ TEST(SdfParser, ParsingSDFFiles)
   }
 }
 
+//==============================================================================
+TEST(SdfParser, ReadMaterial)
+{
+  std::string sdf_filename = DART_DATA_PATH"sdf/quad.sdf";
+  SkeletonPtr skeleton = SdfParser::readSkeleton(sdf_filename);
+  EXPECT_TRUE(nullptr != skeleton);  auto bodynode = skeleton->getBodyNode(0);
+
+  for (auto shapenode : bodynode->getShapeNodes()) {
+    if (shapenode->has<dart::dynamics::VisualAspect>()) {
+      Eigen::Vector4d color = shapenode->getVisualAspect()->getRGBA();
+      Eigen::Vector4d expected_color(0.5, 0.6, 0.8, 1.0);
+      double diff = (color - expected_color).norm();
+      EXPECT_LT(diff, 1e-4);
+    }
+  }
+
+}
+
 //==============================================================================
 int main(int argc, char* argv[])
 {