Features¶
“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