Does pinocchio 3 support the URDF <mimic> tag

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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Does pinocchio 3 support the URDF <mimic> tag #2131

Closed manumerous closed 8 months ago

manumerous commented 8 months ago

To my knowledge pinocchio 3 will be much more flexible with internal constraints. Is it planned to support the standard mimic URDF tag? This tag is used to specify that the defined joint mimics another existing joint. The value of this joint can be computed as value = multiplier * other_joint_value + offset.

Any help is much appreciated.

MegMll commented 8 months ago

Hello @manumerous,

We are indeed hoping to support mimic joint tag, in pinocchio 3. However we cannot provide you with a timeline of when it will be available. Sorry about that.