<?xml version="1.0" ?>
<sdf version='1.7'>
  <world name="world_frame_invalid_relative_to">

    <frame name="F">
      <pose relative_to="A">1 0 0 0 0 0</pose>            <!-- INVALID: no sibling frame named A. -->
    </frame>
    <frame name="self_cycle">
      <pose relative_to="self_cycle">2 0 0 0 0 0</pose>   <!-- INVALID: graph cycle when frame relative_to itself. -->
    </frame>

    <model name="M">
      <pose relative_to="A">0 3 0 0 0 0</pose>            <!-- INVALID: no sibling frame named A. -->
      <link name="L"/>
    </model>
    <model name="cycle">
      <pose relative_to="cycle">0 4 0 0 0 0</pose>        <!-- INVALID: graph cycle when model relative_to itself. -->
      <link name="L"/>
    </model>

  </world>
</sdf>
