<?xml version="1.0" ?>
<sdf version="1.7">
  <model name="frame_only_model">
    <static>true</static>
    <frame name="F1">
      <pose>0 0 0 3.141592 0 0 </pose>
    </frame>
    <frame name="F2">
      <pose relative_to="F1">0 0 0 0 3.141592 0 </pose>
    </frame>
  </model>
</sdf>
