<?xml version="1.0" ?>
<sdf version='1.7'>
  <model name="model_invalid_frame_relative_to_cycle">
    <link name="L">
      <pose>1 0 0 0 0 0</pose>                      <!-- Link pose relative_to the model frame (M) by default. -->
    </link>

    <frame name="F1">
      <pose relative_to="F2">0 1 0 0 0 0</pose>
    </frame>

    <frame name="F2">
      <pose relative_to="F1">0 2 0 0 0 0</pose>  <!-- INVALID: cycle in relative_to graph does not lead to model frame. -->
    </frame>
  </model>
</sdf>
