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<?xml version='1.0'?>
<sdf version='1.7'>
<world name='default'>
<model name='ParentModel'>
<frame name='M1::__model__' attached_to='M1::L1'>
<pose relative_to='__model__'>10 0 0 0 -0 1.5708</pose>
</frame>
<frame name='M1::F1' attached_to='M1::__model__'>
<pose>0 0 0 1.5708 -0 0</pose>
</frame>
<frame name='M1::F2' attached_to='M1::__model__'>
<pose relative_to='M1::F1'>0 0 0 0 0.785398 0</pose>
</frame>
<link name='M1::L1'>
<pose relative_to='M1::F1'>0 0 0 0 -0 0</pose>
<visual name='V1'>
<pose relative_to='M1::F2'>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>1</radius>
</sphere>
</geometry>
</visual>
<collision name='C1'>
<pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
<geometry>
<sphere>
<radius>1</radius>
</sphere>
</geometry>
</collision>
</link>
<link name='M1::L2'>
<pose relative_to='M1::F1'>1 0 0 0 -0 0</pose>
</link>
<link name='M1::L3'>
<pose relative_to='M1::L2'>0 1 0 0 -0 0</pose>
</link>
<link name='M1::L4'>
<pose relative_to='M1::__model__'>0 0 1 0 -0 0</pose>
</link>
<joint name='M1::J1' type='universal'>
<pose relative_to='M1::L1'>0 0 0 0 -0 0</pose>
<parent>M1::L1</parent>
<child>M1::L2</child>
<axis>
<xyz expressed_in='M1::F2'>0 0 1</xyz>
</axis>
<axis2>
<xyz expressed_in='M1::F2'>1 0 0</xyz>
</axis2>
</joint>
<joint name='M1::J2' type='revolute'>
<pose>0 0 1 0 -0 0</pose>
<parent>M1::L2</parent>
<child>M1::L3</child>
<axis>
<xyz expressed_in='M1::__model__'>0 0 1</xyz>
</axis>
</joint>
<joint name='M1::J3' type='fixed'>
<pose relative_to='M1::__model__'>1 0 1 0 -0 0</pose>
<parent>M1::L3</parent>
<child>M1::L4</child>
</joint>
</model>
</world>
</sdf>
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