<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="duplicate_joints">
    <link name="link1" />
    <link name="link2" />
    <link name="link3" />

    <joint name="joint" type="fixed">
      <parent>link1</parent>
      <child>link2</child>
    </joint>
    <joint name="joint" type="fixed">
      <parent>link2</parent>
      <child>link3</child>
    </joint>
  </model>
</sdf>
