<?xml version="1.0" ?>
<sdf version="1.7" xmlns:mysim="http://example.org/mysim/schema">
  <world name="W" mysim:type="2d">
    <mysim:description>Description of this world</mysim:description>
    <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>

      <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>
    </model>
  </world>
</sdf>
