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.
<link sid="A"> <attachment_full joint="model/jointB"> <link sid="B"/> </attachment_full> <attachment_full joint="model/jointC"> <link sid="C"/> </attachment_full> </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,