<?xml version="1.0"?>
<sdf version="1.8">
  <model name="parent_model">
    <!-- Testing frames attached to links in the same model -->
    <link name="L1"/>
    <link name="L2"/>

    <frame name="L1_offset" attached_to="L1">
      <pose>1 2 3   0 0 0</pose>
    </frame>
    <frame name="L2_offset" attached_to="L2">
      <pose>4 5 6   0 0 0</pose>
    </frame>

    <joint name="J1" type="fixed">
      <parent>L1_offset</parent>
      <child>L2_offset</child>
    </joint>

    <!-- Testing frames attached to links in the other (nested) models -->
    <model name="M1">
      <link name="base_link"/>
    </model>
    <model name="M2">
      <link name="base_link"/>
    </model>

    <frame name="M1_base_link_offset" attached_to="M1::base_link">
      <pose>1 2 3   0 0 0</pose>
    </frame>
    <frame name="M2_base_link_offset" attached_to="M2::base_link">
      <pose>4 5 6   0 0 0</pose>
    </frame>

    <joint name="J2" type="fixed">
      <parent>M1_base_link_offset</parent>
      <child>M2_base_link_offset</child>
    </joint>
  </model>
</sdf>
