<?xml version="1.0" ?>
<sdf version="1.8">
  <world name="nested_model_world">
    <model name="parent_model">
      <model name="nested_model">
        <pose>1 2 2  0 0 0</pose>
        <link name="nested_link1">
          <pose>3 1 1  0 0 1.5707</pose>
          <collision name="nested_collision1">
            <geometry>
              <sphere>
                <radius>2</radius>
              </sphere>
            </geometry>
          </collision>
        </link>
        <link name="nested_link2">
          <pose relative_to="nested_link1">0 1 0  1.5707 0 0</pose>
          <collision name="nested_collision2">
            <geometry>
              <sphere>
                <radius>2</radius>
              </sphere>
            </geometry>
          </collision>
        </link>
      </model>
      <link name="link1"/>

      <!-- Use duplicate link names for testing that these don't collide
      with the links in the models above -->
      <model name="nested_model2">
        <link name="nested_link1"/>
      </model>
      <model name="nested_model3">
        <link name="link1"/>
      </model>
    </model>

    <model name="parent_model2">
      <model name="child_model">
        <model name="grand_child_model">
          <link name="link1"/>
        </model>
      </model>
    </model>
  </world>
</sdf>
