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?
Thank you a lot in advance,
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.
<translate>10 0 0</translate>
<translate>20 0 0</translate>
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?