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Thanks for sharing those resources, Peter! I completely agree that the shift toward standards like Collada and URDF has made integrating these models significantly easier than it used to be.
While V-REP and the toolboxes mentioned are definitely the right path for robust robotic simulation, I often find myself needing to do quick sanity checks on the raw .OBJ or .STL files before doing the heavy lifting. For instance, I sometimes just drag the meshes into Paint 3D for a really fast visual inspection or to do lightweight scaling before I bother importing them into my main ROS pipeline. It's surprisingly handy for a quick look to ensure the CAD export didn't break anything.
Good luck with the V-REP class-based interface prototype!