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<?xml version="1.0" ?>
<sdf version='1.8'>
<world name="world_relative_to_nested_reference">
<model name="M1">
<pose>1 0 0 0 1.5707963267948966 0</pose>
<link name="L1">
<pose>0 1 0 0 0 0</pose>
</link>
<joint name="J1" type="fixed">
<parent>L1</parent>
<child>L2</child>
</joint>
<link name="L2">
<pose>0 0 1 0 0 0</pose>
</link>
<frame name="F1">
<pose relative_to="L2">1 0 0 0 0 0</pose>
</frame>
<model name="CM1">
<pose>0 1 0 1.5707963267948966 0 0</pose>
<link name="L">
<pose>1 0 0 0 -1.5707963267948966 0</pose>
</link>
</model>
</model>
<frame name="F2">
<pose relative_to="M1">2 0 0 0 0 0</pose>
</frame>
<frame name="F3">
<pose relative_to="M1::L1">3 0 0 0 0 0</pose>
</frame>
<frame name="F4">
<pose relative_to="M1::J1">4 0 0 0 0 0</pose>
</frame>
<frame name="F5">
<pose relative_to="M1::F1">5 0 0 0 0 0</pose>
</frame>
<frame name="F6">
<pose relative_to="M1::CM1">6 0 0 0 0 0</pose>
</frame>
<frame name="F7">
<pose relative_to="M1::CM1::L">7 0 0 0 0 0</pose>
</frame>
</world>
</sdf>
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