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urdf collada difference

asked 2011-03-06 15:55:23 -0600

sam gravatar image

Hi, What is the major difference of urdf,stl,collada? STL is only composed by mesh, so it only can move the whole object, right? And urdf can define several joints to move. But if I use collada file could I move joints like importing urdf? Or I should import many collada files and control each part separately?

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answered 2011-03-07 17:52:30 -0600

KoenBuys gravatar image

The https://collada.org/mediawiki/index.php/COLLADA_-_Digital_Asset_and_FX_Exchange_Schema">Collada spec. 1.5 allows you to include also the kinematic chains. On the last Beta Program Conference Call I remembered one group (I think JSK) was expanding the Collada-ROS implementation. I currently have no idea of the current status.

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answered 2011-12-11 10:13:50 -0600

Kei Okada gravatar image

robot_model natively support collada file, you can export collada format from existing urdf(http://www.ros.org/wiki/collada_urdf) and display it in rviz (http://www.ros.org/wiki/collada_urdf/Tutorials/Working%20Directly%20with%20COLLADA). One benefit of using collada is you can add your own information as a part of collada tag.

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Asked: 2011-03-06 15:55:23 -0600

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Last updated: Dec 11 '11