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 Features
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"simtrans" is a model format converter which can read and write formats used in major robotic simulators.

Currently, it can read following formats:

- URDF
- SDF
- VRML97 (including OpenHRP joint structure extensions)
- COLLADA
- STL

Can write following formats:

- URDF
- SDF
- VRML97 (including OpenHRP joint structure extensions)
- COLLADA
- STL
- Graphviz dot (to visualize joint structure)

It can convert following properties:

- Joints
- Links
- Shape primitives and meshes (including colors and textures)
- Physical properties for links and joints
- Sensors