<?xml version="1.0"?>
<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
  <model name="scoped_model">
    <link name="base">
      <inertial>
        <mass>1</mass>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.2 0.2 2.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.2 0.2 2.2</size>
          </box>
        </geometry>
        <material>
          <!--
              Test usage of diffuse map from a separate resource that requires
              package:// URI resolution.
          -->
          <drake:diffuse_map>
            package://process_model_directives_test/circle.png
          </drake:diffuse_map>
        </material>
      </visual>
    </link>
    <frame name="frame">
      <pose relative_to="base">1 2 3  0 0 0</pose>
    </frame>
  </model>
</sdf>
