I have some questions about closed loops in Collada:
- <attachment_start> and <attachment_end>
- have to occur in pairs with the same “joint” attribute.
- together they form an attachment that connects two links: their parent links.
I could not find this in the spec but the example is built like that and it sounds reasonable to me. Is it correct?
Why <attachment_start> must have at least one or child but <attachment_end> and <attachment_full> don’t?
In the sample link B should be be translated by 6 0 0 (not -6 0 0)?
In the CTS data set <attachment_start> and <attachment_end> have different orientations. Is this possible? In my understanding their translation and rotation have to match to get a well-defined position and orientation for the axis of j4.