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Unity-Technologies / URDF-Importer

URDF importer
Apache License 2.0
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Supporting mimic joints in URDF #211

Open PawitKoch opened 1 year ago

PawitKoch commented 1 year ago

Is your feature request related to a problem? Please describe. I am trying to import a Robotiq 2f-140 model via URDF importer into my Unity scene and it seems the mimic joint information that comes with the original file doesn't get implemented. This is confirmed when I exported the Unity model back into URDF from the robot model and found that the <mimic> tags were missing upon comparison between the 2 URDF files.

Describe the solution you'd like A way for mimic joints to be implemented in URDF importer.

Describe alternatives you've considered I considered manually setting other joints that mimic a specific target joint in my Unity script, but this obviously doesn't scale well to complex models with many joints.

Additional context Attached are the 2 URDF files with one having mimic joint information missing. robotiq_2f_140.urdf.txt (original URDF file) robotiq_arg2f_140_model.urdf.txt (Exported robot-to-URDF file)

PawitKoch commented 1 year ago

Has there been any follow-up on this?