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<?xml version="1.0" ?>
<sdf version='1.8'>
<world name="world_nested_frame">
<frame name="world_frame"/> <!-- VALID: Directly attached_to implicit world frame. -->
<model name="top_level_model">
<link name="L"/>
<model name="nested_model">
<link name="L"/>
<frame name="nested_model_frame" attached_to="L"/> <!-- VALID: Directly attached_to link top_level_model::L. -->
</model>
<frame name="top_level_model_frame" attached_to="nested_model::L"/> <!-- VALID: Directly attached_to link nested_model::L. -->
<joint name="J1" type="fixed">
<parent>L</parent>
<child>top_level_model_frame</child>
</joint>
</model>
</world>
</sdf>
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