<?xml version="1.0" ?>
<sdf version="1.10">
  <world name="world_joint_child_frame">
    <model name="parent_model">
      <link name="L_P"/>
    </model>
    <model name="child_model">
      <link name="L_C"/>
    </model>
    <frame name="child_frame" attached_to="child_model">
      <pose>4 5 6 0 0 0</pose>
    </frame>
    <frame name="parent_frame" attached_to="parent_model">
      <pose>1 2 3 0 0 0</pose>
    </frame>
    <joint name="J1" type="fixed">
      <pose>1 1 1 0 0 0</pose>
      <parent>parent_frame</parent>
      <child>child_frame</child>
    </joint>
    <joint name="J2" type="fixed">
      <parent>world</parent>
      <child>parent_model::L_P</child>
    </joint>
  </world>
</sdf>
