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			<pose>0 0 0 0 0 0</pose>
			<link name='link_d0'>
			<inertial>
			<mass>0</mass>
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			</inertial>
			<collision name='collision_0'>
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			<visual name='visual'>
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			<pose>0 0 0 0 0 0</pose>
			<link name='link_d1'>
			<inertial>
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			<inertia>
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			<collision name='collision_1'>
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			<link name='link_d2'>
			<inertial>
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			<inertia>
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			<collision name='collision_2'>
			<geometry>
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			<visual name='visual'>
				<geometry>
				<mesh>
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				<specular>0.1 0.1 0.1 1</specular>
				<emissive>0 0 0 0</emissive>
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			 </visual>
			 </link>
			</model>
	</world>
</sdf>
