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SDF links relative to each other

Hi. I wonder if the possibility to define a pose of a link relative to another link is implemented yet? I saw this question, where they said it was on the to do list, but 3 years later i am not able to find any good documentation. http://answers.gazebosim.org/question/12752/frames-in-sdf-robot-model-how-to-define-relative-links/

If it is possible, do anyone have a good example on how to do it?