Which packages do you think might support it?
Currently, joint_state_publisher has functionality that works like the mimic
tag might, but through additional parameters, not the actual tag. If it was
"officially" added to the URDF schema, I could easily add in support for
it.
On Fri, Jan 7, 2011 at 11:27 PM, John Hsu <
johnhsu@willowgarage.com> wrote:
> 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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>>
>
>
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