<?xml version="1.0" ?>
<sdf version="1.7" xmlns:mysim="http://example.org/mysim/schema">
  <model name="M1">
    <link name="L1" mysim:custom_attr_str="A" mysim:custom_attr_int="5" />
    <link name="L2" />
    <joint name="J1" type="revolute">
      <parent>L1</parent>
      <child>L2</child>
    </joint>

    <model name="M2">
      <link name="L1" mysim:custom_attr_str="B">
        <mysim:transmission name="simple_trans">
          <mysim:type>transmission_interface/SimpleTransmission</mysim:type>
          <mysim:joint name="J1">
            <mysim:hardwareInterface>EffortJointInterface</mysim:hardwareInterface>
          </mysim:joint>
        </mysim:transmission>
      </link>
    </model>
  </model>
</sdf>
