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Create a joint between xacro model and sdf model

Hi my name is Peppe and I working on gazebo from a bit time. I have a problem with joint between 2 models. I have a sdf model connected to another sdf model with the below lines:

<parent>model1::base_link</parent>
<child>model2::base_link</child>

Now i want connect another model but it's in xacro. how i can performe the joint ?

Thank