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Unless this is a Gazebo question (in which case it should have been posted on answers.gazebosim.org and SDF can be used) the situation described in #q244903 and #q216101 hasn't changed. That means it's not possible to model such a platform in URDF (or at least: you cannot model the multiple-parent constraint).

The answer posted by @lucasw in #q244903 would seem to be a nice work-around.

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