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In order to do successful collada export, you need to use the robot_model trunk, the robot_model diamondback has an old exporter.

Please check out

svn co https://code.ros.org/svn/ros-pkg/stacks/robot_model/trunk robot_model

and make sure it is declared first in your ROS_PACKAGE_PATH variable, then remake all your projects.

Afterwords, run:

rosrun openrave openrave0.3-robot.py yourrobot.dae --list links

this will give you the list of links you can choose from so you can edit your manipulator description.

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