File: world_nested_model.sdf

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<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="world_nested_model">
    <model name='top_level_model'>
      <link name='parent'/>
      <link name='child'/>
      <model name='nested_model'>
        <link name='nested_link01'/>
        <model name='nested_nested_model'>
          <link name='nested_nested_link01'/>
        </model>
      </model>
      <joint name='top_level_joint' type='revolute'>
        <parent>parent</parent>
        <child>child</child>
        <axis>
          <xyz>1 0 0</xyz>
        </axis>
      </joint>
    </model>
  </world>
</sdf>