Found this on an American RV forum applied to table legs but it reminded me of the time when I stubbed my toes on the bed leg when fumbling about in the dark from the loo – very painful.
We are going to try out the single bed arrangement on our next trip so even more bed legs to negotiate.
I used 22mm pipe insulation and rather than splitting the insulation I removed the screwed feet, pushed on the insulation pieces on to the legs and refitted the feet.
Motorhome Mods UK 
Also used the insulation to put on the passenger and drivers seat swivel lever which I have caught up on occasionally.
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