<?xml version="1.0" ?>
<sdf version='1.7'>
  <model name="model_invalid_joint_relative_to">
    <link name="P"/>
    <link name="C"/>
    <joint name="Jcycle" type="fixed">
      <pose relative_to="Jcycle">0 1 0 0 0 0</pose>   <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
      <parent>P</parent>
      <child>C</child>
    </joint>
    <joint name="J" type="fixed">
      <pose relative_to="A">0 2 0 0 0 0</pose>        <!-- INVALID: no sibling frame named A. -->
      <parent>P</parent>
      <child>C</child>
    </joint>
  </model>
</sdf>
