# using include in urdf model

hello, i have some experiance in ros and now i am learning to use gazebo. i made an urdf for my model. i am trying to add a table to the world and place my model fixed on the table.

what is the best way to do that? should i add the table model to my existing .urdf file? or include the table in the .world file ?

I tried to add the table and the model to the world, and using a launch file. How do i make ajoint between the model and the table ?

On the other hand i tried to add the table as an another link to my model, and make a jpint between them two: as you can see the main link that suppose to be on the table is named: "model1". the table is model that i bring from gazebo lib.

<include>
<uri>model://table</uri>
<pose>0 0 0 0 0 0</pose>
</include>
<joint name="table_model1" type="fixed">
<child>model1</child>

Error [pareser_urdf.cc:3422] Unable tocall parseURDF on robot model