This question has been asked several times on this site ([here](https://answers.ros.org/question/10249/gazebo-mimic-joints-property/) and [here](https://answers.ros.org/question/276399/mimic-tag-working-in-rviz-but-not-in-gazebo/)) as well as on the Gazebo QA site ([here](http://answers.gazebosim.org/question/8531/problem-implementing-mimic-joints/) and [here](http://answers.gazebosim.org/question/16141/mimic-joints-in-gazebo/)) but its still not clear to me if mimic joints are supported in Gazebo. Or if they are, how they're suppose to be defined in a URDF.
If I use the [mimic](http://wiki.ros.org/urdf/XML/joint#Elements) tag in the URDF joint and start Rviz, everything works as expected - if I move the parent joint, the child joint moves also. However, when I put the same model in Gazebo, it seems to ignore the mimic tag and only the parent joint moves.
I see that Gazebo has a gearbox type for it's joints, but I'm not sure how I would use that tag in a URDF since URDF joints don't have a gearbox type. If this is probably the right way to do things, could someone explain the basic idea of how to implement that?
Or, is the answer maybe that I should avoid URDF and use SDF for this portion of the robot? If so, can I include an SDF inside a URDF?
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