Hello,
I want to create a serial kinematics in Collada 1.5 that is divided like a tree (more specific - an anthropomorphic robot hand).
If I understand the documentation correctly, it is only possible to divide the chain by insertion several
attachment_full elements within the same link.
However, this means the subchains start at the exactly the same point with exactly the same orientation.
I think it would be much more useful if you could specify several links after an attachment_full.
Is there any possibility to achieve this without the need to introduce additional (synchronized) joints?
the transformation of an attachment element is done within the element itself. So you can put to different joints under a link with different transformation.
The rule is the same as for nodes. The transformations within a node element defines the frame relative to its parent.
So, the transformation within an attachment element defines the frame relative to its parent link element, and the transformation within a link element defines the frame relative to its parent attachment element.
Looking to the spec, there seems to be a bug on page 10-6 in the example. But the example on page 10-8 looks correctly.
Thank you very much Steffen. I think this should be pointed out more clearly in the documentation - perhaps place there an example of a forked kinematics?