File: model.sdf

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<?xml version="1.0" ?>
<sdf version="1.8">
  <model name="model_placement_frame" placement_frame="child_model::link2">
    <pose>0 0 10 0 0 0</pose>
    <link name="link1">
      <pose>1 0 0 0 0 0</pose>
    </link>
    <model name="child_model">
      <link name="link2">
        <pose>0 2 0 0 0 0</pose>
      </link>
      <link name="link3">
        <pose>0 0 3 0 0 0</pose>
      </link>
    </model>
  </model>
</sdf>