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Just a copy paste from my original comment:

The only way to accomplish what you're talking about that I can think if is to create a third URDF, and import the top URDF and bottom URDF files into it, then add a joint to connect the two. If you're fancy, you can parameterize this third urdf to accept two paths, and two links to join together. That way you can specify a top and bottom URDF, and the link in the top to joint to a link on the bottom...