<?xml version='1.0'?>
<sdf version='1.7'>
  <world name='default'>
    <model name='ParentModel'>
      <frame name='M1::__model__' attached_to='M1::L1'>
        <pose relative_to='__model__'>10 0 0 0 -0 1.5708</pose>
      </frame>
      <frame name='M1::F1' attached_to='M1::__model__'>
        <pose>0 0 0 1.5708 -0 0</pose>
      </frame>
      <frame name='M1::F2' attached_to='M1::__model__'>
        <pose relative_to='M1::F1'>0 0 0 0 0.785398 0</pose>
      </frame>
      <link name='M1::L1'>
        <pose relative_to='M1::F1'>0 0 0 0 -0 0</pose>
        <visual name='V1'>
          <pose relative_to='M1::F2'>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
        </visual>
        <collision name='C1'>
          <pose relative_to='M1::__model__'>0 0 0 0 -0 0</pose>
          <geometry>
            <sphere>
              <radius>1</radius>
            </sphere>
          </geometry>
        </collision>
      </link>
      <link name='M1::L2'>
        <pose relative_to='M1::F1'>1 0 0 0 -0 0</pose>
      </link>
      <link name='M1::L3'>
        <pose relative_to='M1::L2'>0 1 0 0 -0 0</pose>
      </link>
      <link name='M1::L4'>
        <pose relative_to='M1::__model__'>0 0 1 0 -0 0</pose>
      </link>
      <joint name='M1::J1' type='universal'>
        <pose relative_to='M1::L1'>0 0 0 0 -0 0</pose>
        <parent>M1::L1</parent>
        <child>M1::L2</child>
        <axis>
          <xyz expressed_in='M1::F2'>0 0 1</xyz>
        </axis>
        <axis2>
          <xyz expressed_in='M1::F2'>1 0 0</xyz>
        </axis2>
      </joint>
      <joint name='M1::J2' type='revolute'>
        <pose>0 0 1 0 -0 0</pose>
        <parent>M1::L2</parent>
        <child>M1::L3</child>
        <axis>
          <xyz expressed_in='M1::__model__'>0 0 1</xyz>
        </axis>
      </joint>
      <joint name='M1::J3' type='fixed'>
        <pose relative_to='M1::__model__'>1 0 1 0 -0 0</pose>
        <parent>M1::L3</parent>
        <child>M1::L4</child>
      </joint>
      <model name='M1::M2'>
        <pose relative_to='M1::F1'>1 0 0 0 -0 0</pose>
        <link name='L5'>
          <pose>1 0 0 0 -0 0</pose>
        </link>
      </model>
    </model>
  </world>
</sdf>
