herb_description contains URDF and SRDF descriptions of HERB, a bimanual mobile manipulation robot designed and built by the Personal Robotics Lab in the Robotics Institute at Carnegie Mellon University. The URDF descriptions follow REP 120.
BHD280_URDF.URDF: BarrettHand model (the BH-280 hardware revision)
HERB_BASE_URDF.URDF: HERB torso and head
WAM_URDF.URDF: Barrett WAM model (7-DOF, with wrist and force/torque sensor)
These files should not be edited by hand since they will be overwritten by future SolidWorks exports.
The URDF exported from SolidWorks does not correctly specify mass, inertia
properties, and joint limits. These properties are patched into the raw
URDF exported by SolidWorks using the
Specifically, the following transformations occur at build time:
These output files, with the suffix
_raw.urdf, are an intermediate build
artifact and should not be used directly. See below if you you want to
include a BH-280 or WAM model as part of a larger URDF file.
The files generated above are wrapped in thin
xacro wrappers using the
script. This script performs several transformations of the input file:
- Wrap the entire URDF file in a
xacro:macrotag with a
prefixonto all link and joint names
- Repair any incorrect
package://URIs generated by
- Assign a default color to all links (optional)
- Replace the collision geometry with primitives and/or meshes (optional)
- Replace visual STL files with COLLADA models (optional)
Together, transformations (1) and (2) allow one URDF model exported by SolidWorks to be instantiated more than once in a larger xacro file. This is critical since HERB has two Barrett WAMs and BarrettHand end-effectors. The following transformations occur at build time:
These output files are placed in the
devel space in your Catkin workspace and
are intended for re-use. You should use these files when constructing
larger models out of these components.
herb.urdf.xacro file is expanded into
herb.urdf by directly
invoking xacro. This xacro file specifies the overall HERB description by
wam.urdf.xacro xacro macros generated in the previous build step. Similarly,
herb.srdf SRDF file is generated from the
herb.srdf.xacro file You
should only include the
herb.srdf files generated in this
build step for most applications.
As a convenience, the following two URDF models are also generated:
bh280_standalone.urdf- standalone BarrettHand
wam_standalone.urdf- 7-DOF WAM with force/torque sensor and wrist
wam_bh280_standalone.urdf- model consisting of
bh280_standalone.urdfattached to the wrist of
Notes on Visual Geometry
Getting the COLLADA (i.e.
.dae) files to both display properly in RViz
andload in OpenRAVE takes some effort. Specifically:
- When generating new meshes, make sure the correct schema (
1.5) is used. The second line of the file should read:
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.0">
- Depending on the software that is exporting the mesh, you must take care to
ensure that the resulting file has the
- All units should be in meters
Unless otherwise noted, herb_description is licensed under a BSD license (see
LICENSE.bsd). The COLLADA visual geometry for the Barrett WAM and BarrettHand
are licensed under the GPL (see
LICENSE.gpl). This includes the following
files in the
.daemodels except for:
.jpgtextures except for:
This is a non-exhaustive list of contributors:
- The URDF and SRDF packaging of HERB was done by Michael Koval
- This model is based on an earlier model built by Mike Vande Weghe
- HERB's torso and head were designed, modeled, and exported by Michael Dawson-Haggerty
- The visual geometry for HERB's torso and head was modeled by Aaron Walsman.
- The Barrett WAM and BarrettHand URDF files were exported by Michael Dawson-Haggerty from the SolidWorks models provided by Barrett Technology, Inc.
- The visual geometry for the Barrett WAM and BarrettHand is copied from models produced by RE2 Inc. as part of the DARPA Autonomous Robotic Manipulation program. This package was available under the GPL license (see above for more information).
- Simplified collision geometry for the entire model is courtesy of Aaron Walsman.