<?xml version="1.0"?>
<sdf version="1.7">
  <world name="default">
    <frame name="F1">
      <pose>0 0 10 0 0 0</pose>
    </frame>
    <model name="M1">
      <pose relative_to="F1">0.5 0 0 0 0 3.14159265358979</pose>
      <link name="L1">
        <pose>0.5 0 0 0 0 0</pose>
        <visual name="V1">
          <pose>0.0 0.2 0 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
    </model>
    <model name="M2">
      <pose relative_to="M1">0.0 0.5 0 0 0 0</pose>
      <link name="L2">
        <pose>0.5 -0.5 0 0 0 0</pose>
        <visual name="V2">
          <pose>0.0 -0.2 0 0 0 0</pose>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>
