File: nested_model_cross_references.sdf

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<?xml version="1.0"?>
<!--This is a valid file-->
<sdf version="1.8">
  <model name="top_model">
    <frame name="top_frame"/>

    <link name="top_link">
      <pose relative_to="top_frame"/>
    </link>

    <model name="mid_model">
      <pose relative_to="top_link"/>

      <link name="mid_link"/>

      <model name="bottom_model">
        <pose relative_to="mid_link"/>
        <link name="bottom_link"/>
      </model>

      <model name="bottom_model_2">
        <model name="mid_model">
          <link name="mid_link"/>
        </model>

        <link name="bottom_link">
          <pose relative_to="mid_model::mid_link"/>
        </link>
      </model>

      <frame name="mid_to_bottom" attached_to="bottom_model::bottom_link"/>
    </model>
  </model>
</sdf>