<?xml version="1.0"?>
<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
  <model name="scoped_model">
    <link name="base"/>
    <model name="robot1">
      <link name="robot_base"/>
      <frame name="tool_frame">
        <pose relative_to="robot_base">1 2 3  0 0 0</pose>
      </frame>
    </model>
    <frame name="frame">
      <pose relative_to="base">1 2 3  0 0 0</pose>
    </frame>
  </model>
</sdf>
