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That's a use case I did not consider when originally implementing it. The code has been relatively ignored for years, so I'm sure it could use freshening up.

The frustrating part is that how different URDF tags are handled across different nodes is inconsistent, so there's not a great understanding of how mimic tags are used in different places, i.e. whether you should just mimic the base joint or not. In the context of this one node however, I think you should be able to recurse.