<?xml version="1.0"?>
<sdf version="1.8">
  <world name="SimWorld">
    <include>
      <uri>model://simple_robot1/</uri>
    </include>
    <include>
      <uri>model://simple_robot2/</uri>
    </include>
    <model name="weld_models">
      <include>
        <uri>model://simple_robot1/</uri>
      </include>
      <include>
        <uri>model://simple_robot2/</uri>
      </include>
      <joint name="weld_robots" type="revolute">
        <parent>robot1::base_link</parent>
        <child>robot2::base_link</child>
        <axis>
          <xyz>0 0 1</xyz>
        </axis>
      </joint>
    </model>
  </world>
</sdf>
