<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="default">
    <frame name="F1">
      <pose>1 0 0 0 0 0</pose>
    </frame>
    <frame name="F2" attached_to="F1">
      <pose>0 1 0 0 0 0</pose>
    </frame>
    <model name="M">
      <pose relative_to="F2">0.0 0 2 0 0 0</pose>
      <link name="L1"></link>
    </model>
  </world>
</sdf>

