The ros2_control tags are missing

[OpenGHz]

The ROS2 control framework requires the use of the ros2_control tag in the URDF, however yourdfpy does not seem to take this into account

[clemense]

Thanks! Can you point to some specification?

[OpenGHz]

You can refer to this official link: https://control.ros.org/jazzy/doc/getting_started/getting_started.html#hardware-description-in-urdf.
In addition, I created a pull request to try to solve the problem of missing tags for mimic and ros2_control, I hope it will help enhance the functionality of yourdfpy!