<?xml version="1.0"?>
<sdf version="1.9">
  <model name="top">
    <link name="torso">
      <pose>0 0 1   0 0 0</pose>
    </link>

    <model name="tactile_sensor">
      <pose relative_to="arm_sdf::grasp_frame"/>
      <link name="sensor_link"/>
    </model>

    <joint name="arm_attach" type="fixed">
      <parent>torso</parent>
      <child>arm_sdf::mount</child>
    </joint>

    <model name="arm_sdf">
      <pose relative_to="torso"/>
      <include merge="true">
        <pose>1 0 0 0 0 0</pose>
        <uri>package://interface_api_test/arm_merge_include.sdf</uri>
      </include>
    </model>


    <model name="arm_urdf">
      <pose relative_to="arm_sdf"/>
      <include merge="true">
        <pose>0 2 0 0 0 0</pose>
        <uri>package://interface_api_test/arm.urdf</uri>
      </include>
    </model>

    <joint name="extra_arm_attach" type="fixed">
      <parent>arm_sdf::L1</parent>
      <child>arm_urdf::L1</child>
    </joint>


    <model name="arm_sdf_name_override">
      <pose relative_to="torso"/>
      <include merge="true">
        <pose>1 0 0 0 0 0</pose>
        <uri>package://interface_api_test/arm_merge_include.sdf</uri>
        <name>test_arm_sdf_name</name>
      </include>
    </model>

    <model name="arm_urdf_name_override">
      <pose relative_to="arm_sdf"/>
      <include merge="true">
        <pose>0 2 0 0 0 0</pose>
        <uri>package://interface_api_test/arm.urdf</uri>
        <name>test_arm_urdf_name</name>
      </include>
    </model>

    <model name="arm_mjcf">
      <pose relative_to="arm_sdf"/>
      <include merge="true">
        <pose>10 2 0 0 0 0</pose>
        <uri>package://interface_api_test/arm.xml</uri>
      </include>
    </model>
  </model>
</sdf>
