<?xml version="1.0" ?>
<sdf version="1.7">
  <model name="box_with_frame_semantics">
    <pose>0 0 0.5 0 0 0</pose>
    <frame name="offset">
      <pose>5 0 0 0 0 0</pose>
    </frame>
    <link name="L1">
      <pose>0 0 1 0 0 0</pose>
      <collision name="C">
        <pose relative_to="offset"/>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </collision>
      <visual name="V">
        <pose relative_to="offset"/>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </visual>
    </link>
    <link name="L2">
      <pose relative_to="L1">0 5 0 0 0 0</pose>
      <collision name="C">
        <pose relative_to="offset"/>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </collision>
      <visual name="V">
        <pose relative_to="offset"/>
        <geometry>
          <box>
            <size>1 1 1</size>
          </box>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>
