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A fixed joint does not exist in simulation. The URDF parser auto-magically eliminates fixed joint by restructuring the URDF contents.

There are two ways to attach two models together:

1) Use a revolute joint with zero limits.

2) Include a model inside another (this is the preferred method because it doesn't introduce an additional constraint on the system). Take a look at worlds/model_nesting.world as an example.

There is only one way to attach a model to the world (which means it's fixed at its location of creation), and this is through a joint.