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Create a traingular frame


I am trying to create a triangular frame where each side is a cylindrical link. Each link is connected to the other two via a joint(like in a triangle). Is it possible to model this in SDF? The joint can be anything for now. I am trying to import this into pybullet for simulation but the simulation dies. Is it because, I have a loop like structure defined in the SDF file? The structure of the frame defined by me is as follows: 3 links- Link A,B and C Joint#1 : parent A, child B Joint#2 : parent B, child C joint#3 : parent C, child A

Is this definition of joints and their corresponding parents and children valid in SDF format? Is there an alternative definition I could use?

Thank you!