<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="joint_parent_world">
    <link name="link">
      <pose>0 0 1 0 0 0</pose>
    </link>
    <joint name="joint" type="fixed">
      <pose>0 0 3 0 0 0</pose>
      <parent>world</parent>
      <child>link</child>
    </joint>
  </model>
</sdf>
