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<?xml version="1.0" ?>
<sdf version="1.8">
<world name="world_invalid_root_reference">
<model name="model1" placement_frame="__root__">
<pose relative_to="__root__">1 0 0 0 0 0</pose> <!-- INVALID: __root__ cannot be used as a relative_to reference -->
<link name="link1"/>
<link name="link2"/>
<joint name="joint1" type="fixed">
<pose relative_to="link2"/>
<parent>__root__</parent> <!-- INVALID: __root__ cannot be used as a parent frame -->
<child>link2</child>
</joint>
<joint name="joint2" type="fixed">
<pose relative_to="link1"/>
<parent>link1</parent>
<child>__root__</child> <!-- INVALID: __root__ cannot be used as a child frame -->
</joint>
</model>
<model name="model2" canonical_link="__root__">
<link name="link1">
<sensor name="sensor1" type="imu">
<imu>
<orientation_reference_frame>
<custom_rpy parent_frame="__root__"/>
</orientation_reference_frame>
</imu>
</sensor>
</link>
</model>
<frame name="frame1" attached_to="__root__"/> <!-- INVALID: __root__ cannot be used as a attached_to reference -->
<frame name="frame2">
<pose relative_to="__root__">1 0 0 0 0 0</pose> <!-- INVALID: __root__ cannot be used as a relative_to reference -->
</frame>
<include>
<uri>test_model_with_frames</uri>
<placement_frame>__root__</placement_frame> <!-- INVALID: __root__ cannot be used as placement_frame reference -->
<pose>1 0 0 0 0 0</pose>
</include>
</world>
</sdf>
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