[ODE] CAD to ODE?

[David Wilkie]

Does anyone have any experience bringing a CAD model int ODE?

I have a CAD model of a robot, fairly complex, that I need to bring
into a rigid-body dynamics simulator.  My current plan of attack is to
write a COLLADA exporter for Pro/ENGINEER (under development
currently) and then load that COLLADA model into a supporting
simulator.

Does anyone see any problem with this plan or know an easier way?

Thanks,
David