<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="model_00">
    <pose>0 0 0.5 0 0 0</pose>
    <link name="link_00">
      <pose>0.25 0 1 0 0 0</pose>
      <collision name="collision_00">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </collision>
      <visual name="visual_00">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>

    <model name="model_01">
      <pose relative_to="link_00">1.0 0 0 0 0 0</pose>
      <link name="link_01">
        <pose>0.25 0 1.0 0 0 0</pose>
        <collision name="collision_01">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual_01">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Red</name>
            </script>
          </material>
        </visual>
      </link>
      <model name="model_02">
        <pose relative_to="link_01">0 2 0 0 0 0</pose>
        <link name="link_02">
          <pose>0.25 0 1.0 0 0 0</pose>
          <collision name="collision_02">
            <geometry>
              <cylinder>
                <radius>0.5</radius>
                <length>1</length>
              </cylinder>
            </geometry>
          </collision>
          <visual name="visual_02">
            <geometry>
              <cylinder>
                <radius>0.5</radius>
                <length>1</length>
              </cylinder>
            </geometry>
            <material>
              <script>
                <uri>file://media/materials/scripts/gazebo.material</uri>
                <name>Gazebo/Green</name>
              </script>
            </material>
          </visual>
        </link>
        <model name="model_03">
          <pose relative_to="link_02">0 0 3 0 0 0</pose>
          <link name="link_03">
            <pose>0.25 0 1.0 0 0 0</pose>
            <collision name="collision_03">
              <geometry>
                <box>
                  <size>1 1 1</size>
                </box>
              </geometry>
            </collision>
            <visual name="visual_03">
              <geometry>
                <box>
                  <size>1 1 1</size>
                </box>
              </geometry>
              <material>
                <script>
                  <uri>file://media/materials/scripts/gazebo.material</uri>
                  <name>Gazebo/Blue</name>
                </script>
              </material>
            </visual>
          </link>
        </model>
      </model>
    </model>

    <!-- Joints that reference entities in nested models are not compatible 
      with frame semantics in SDFormat 1.7 -->

    <!-- <joint name="joint_00" type="revolute"> -->
    <!--   <parent>link_00</parent> -->
    <!--   <child>model_01::link_01</child> -->
    <!--   <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> -->
    <!--   <axis> -->
    <!--     <xyz>1.0 0.0 0.0</xyz> -->
    <!--   </axis> -->
    <!-- </joint> -->

    <!-- <joint name="joint_01" type="revolute"> -->
    <!--   <parent>model_01::link_01</parent> -->
    <!--   <child>model_01::model_02::link_02</child> -->
    <!--   <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> -->
    <!--   <axis> -->
    <!--     <xyz>1.0 0.0 0.0</xyz> -->
    <!--   </axis> -->
    <!-- </joint> -->

    <!-- <joint name="joint_02" type="revolute"> -->
    <!--   <parent>model_01::model_02::link_02</parent> -->
    <!--   <child>model_01::model_02::model_03::link_03</child> -->
    <!--   <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose> -->
    <!--   <axis> -->
    <!--     <xyz>1.0 0.0 0.0</xyz> -->
    <!--   </axis> -->
    <!-- </joint> -->
  </model>
</sdf>
