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