<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="link_joint_same_name">
    <link name="base">
      <pose>1 0 0 0 0 0</pose>
    </link>
    <link name="attachment">
      <pose>0 2 0 0 0 0</pose>
    </link>
    <joint name="attachment" type="fixed">
      <pose>0 0 3 0 0 0</pose>
      <parent>base</parent>
      <child>attachment</child>
    </joint>
  </model>
</sdf>
