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<?xml version="1.0" ?>
<sdf version='1.7'>
<model name="outer_model">
<link name="outer_link"/>
<joint name="outer_joint" type="fixed">
<parent>world</parent>
<child>outer_link</child>
</joint>
<frame name="outer_frame"/>
<model name="mid_model">
<pose>1 0 0 0 1.5707963267948966 0</pose>
<link name="mid_link"/>
<joint name="mid_joint" type="fixed">
<parent>world</parent>
<child>mid_link</child>
</joint>
<frame name="mid_frame"/>
<model name="inner_model">
<link name="inner_link"/>
<joint name="inner_joint" type="fixed">
<parent>world</parent>
<child>inner_link</child>
</joint>
<frame name="inner_frame"/>
</model>
</model>
</model>
</sdf>
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