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gkjohnson / urdf-exporter-js

Utility for exporting THREE.js object trees as a URDF file

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Collapse unused / unneeded fixed joints and links

gkjohnson opened this issue · comments

commented

When exporting a URDF from another loaded file, there may be a lot of excessive placeholder elements in the THREEjs object hierarchy, which will lead to an unnecessarily deep URDF.

Possible solutions:

  • Making a utility that can operate on any URDF file to collapsed unneeded fixed links
  • At every link, see if the rest is just geometry and collapse it to a single visual node
  • Provide API for excluding nodes or specifying if they should just be a link
commented

Added basic functionality with 39433ec