<?xml version="1.0"?>
<sdf version="1.7">
  <world name="default">
    <model name="M1">
      <pose>0.5 0 0 0 0 0</pose>
      <frame name="imu_frame" attached_to="L1">
        <pose>0.0 0.2 0 1.5707963267948966 0 0</pose>
      </frame>
      <link name="L1">
        <pose>0.5 0 0 0 0 0</pose>
        <inertial>
          <mass>12</mass>
        </inertial>
        <visual name="V1">
          <pose relative_to="imu_frame"/>
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </visual>
        <sensor name="imu_sensor" type="imu">
          <pose relative_to="imu_frame"/>
          <always_on>1</always_on>
        </sensor>
      </link>
      <link name="L2">
        <pose>0 1 0 0 0 0</pose>
        <inertial>
          <mass>12</mass>
        </inertial>
        <visual name="V1">
          <geometry>
            <sphere>
              <radius>0.1</radius>
            </sphere>
          </geometry>
        </visual>
      </link>
      <frame name="force_torque_frame" attached_to="L2">
        <pose>1 0 0 0 1.5707963267948966 0</pose>
      </frame>
      <joint name="J1" type="fixed">
        <parent>L1</parent>
        <child>L2</child>
        <sensor name="force_torque_sensor" type="force_torque">
          <pose relative_to="force_torque_frame"/>
        </sensor>
      </joint>
    </model>
  </world>
</sdf>
