<?xml version="1.0"?>
<sdf xmlns:drake="http://drake.mit.edu" version='1.7'>
  <model name='test'>
    <include>
      <name>robot1</name>
      <uri>package://collision_filter_group_parsing_test/robot.sdf</uri>
    </include>
    <include>
      <name>robot2</name>
      <uri>package://collision_filter_group_parsing_test/robot.sdf</uri>
    </include>
    <drake:collision_filter_group name="group_6s">
      <!-- Build a group from links of nested robots. -->
      <drake:member>robot1::link6</drake:member>
      <drake:member>robot2::link6</drake:member>
      <drake:ignored_collision_filter_group>group_6s</drake:ignored_collision_filter_group>
    </drake:collision_filter_group>
    <drake:collision_filter_group name="group_3s">
      <!-- Build a rule from links and collision filter groups of nested robots. -->
      <drake:member>robot1::link3</drake:member>
      <drake:ignored_collision_filter_group>robot2::group_link3</drake:ignored_collision_filter_group>
    </drake:collision_filter_group>
    <drake:collision_filter_group name="group_of_groups">
      <!-- Build a group and rule from collision filter groups of nested robots. -->
      <drake:member_group>robot1::group_link2</drake:member_group>
      <drake:member_group>robot2::group_link3</drake:member_group>
      <drake:ignored_collision_filter_group>group_of_groups</drake:ignored_collision_filter_group>
    </drake:collision_filter_group>
  </model>
</sdf>
