Hi Mrinal,
The mimic tag is actually not officially supported.  It was used by openrave
only.  If it's a really useful feature, please file a feature request
ticket, and we can work on pushing it through to being supported officially.
Thanks,
John

On Fri, Jan 7, 2011 at 3:55 AM, Mrinal Kalakrishnan <mail@mrinal.net> wrote:

> Hi,
>
> I could not find any documentation about the joint <mimic> tag in
> urdf. I use the tag in my own model and I can read the values using
> the urdf parser, but I just want to confirm the semantics of "offset"
> and "multiplier" - can I assume that the mimicked value =
> angle*multiplier + offset?
>
> Also, I'm curious as to which packages actually support the use of
> mimic joints. For example, the cturtle robot_state_publisher currently
> requires all joint angle values in its input, i.e., mimic joint angle
> values are not inferred. Is this something that will be supported in
> future, or is it just a temporary solution that will be deprecated
> with urdf 2.0?
>
> - Mrinal
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