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<?xml version="1.0" ?>
<sdf version="1.8">
<world name="default">
<frame name="F0">
<pose>0 2 0 0 0 0</pose>
</frame>
<include>
<!-- This file is in test/integration/model/. The search directory has to be set by the test -->
<uri>double_pendulum.toml</uri>
<pose relative_to="F0">1 0 0 0 0 0</pose>
</include>
<frame name="F1">
<pose relative_to="double_pendulum"/>
</frame>
<frame name="F1_attach" attached_to="double_pendulum"/>
<frame name="F2">
<pose relative_to="double_pendulum::upper_link"/>
</frame>
<frame name="F2_attach" attached_to="double_pendulum::upper_link"/>
<frame name="F3">
<pose relative_to="double_pendulum::upper_joint"/>
</frame>
<frame name="F3_attach" attached_to="double_pendulum::upper_joint"/>
<frame name="F4">
<pose relative_to="double_pendulum::frame_1"/>
</frame>
<frame name="F4_attach" attached_to="double_pendulum::frame_1"/>
<frame name="F5">
<pose relative_to="double_pendulum::child_model"/>
</frame>
<frame name="F5_attach" attached_to="double_pendulum::child_model"/>
<frame name="F6">
<pose relative_to="double_pendulum::child_model::base_link"/>
</frame>
<frame name="F6_attach" attached_to="double_pendulum::child_model::base_link"/>
<frame name="F7">
<pose relative_to="double_pendulum::child_dp::model_1"/>
</frame>
<frame name="F7_attach" attached_to="double_pendulum::child_dp::model_1"/>
<frame name="F8">
<pose relative_to="double_pendulum::child_dp::model_1::lower_link"/>
</frame>
<frame name="F8_attach" attached_to="double_pendulum::child_dp::model_1::lower_link"/>
<frame name="F9">
<pose relative_to="double_pendulum::child_dp::lower_joint"/>
</frame>
<frame name="F9_attach" attached_to="double_pendulum::child_dp::lower_joint"/>
</world>
</sdf>
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