Mimic joints in Ignition

Hi all,

I have a robot model where I need one joint to mimic another. I know that in Gazebo I can achieve this by using a mimic plugin, so I’d like to understand how that works in Ignition. Is it also solved by adding a mimic plugin? (which I couldn’t find so I guess I’ll need to build it). Or is there any other way of mimicking joints (e.g. through sdf tags)?

Thank!

Isn’t this behavior always done somehow mechanically in real robots? I mean, do you really need mimicking joints? Isn’t it enough to properly model the real robot?