<?xml version="1.0" ?>
<sdf version="1.5">
<model name='main_model_prefix'>
      <link name='frame'>
        <pose frame=''>0.06 -0.0005 0 0 -0 0</pose>
      </link>
      <model name='subnested_model'>
	  <link name='link1' />
      </model>

      <joint name='joint1' type='revolute'>
        <parent>subnested_model</parent>
        <child>subnested_model::link1</child>
      </joint>

      <joint name='joint2' type='revolute'>
        <parent>main_model_prefix::subnested_model::link1</parent>
        <child>joint1</child>
      </joint>
    </model>
</sdf>
