<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="multilink_nested">

    <!-- nested includes not supported without sdformat11  -->
    <!-- <include>
      <uri>model://multilink</uri>
    </include> -->

    <model name="multilink">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="box_link">
        <pose>1 0 0 0 0 0</pose>
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
      <link name="sphere_link">
        <pose>-1.5 0 0 0 0 1.57</pose>
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

  </model>
</sdf>
