Nested model - modulabs/gazebo-tutorial GitHub Wiki

<sdf version="1.6">
  <model name="model_00">
    <pose>0 0 0.5 0 0 0</pose>
    <link name="link_00">
      <pose>0.0 0 0 0 0 0</pose>
      <collision name="collision_00">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </collision>
      <visual name="visual_00">
        <geometry>
          <sphere>
            <radius>0.5</radius>
          </sphere>
        </geometry>
      </visual>
    </link>

    <model name="model_01">
      <pose>1.0 0 0.0 0 0 0</pose>
      <link name="link_01">
        <pose>0.25 0 0.0 0 0 0</pose>
        <collision name="collision_01">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual_01">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
      <joint name="joint_00" type="revolute">
        <parent>link_00</parent>
        <child>model_01::link_01</child>
        <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <axis>
          <xyz>1.0 0.0 0.0</xyz>
        </axis>
      </joint>
    </model>
  </model>
</sdf>