I'm working on a project that involves controlling a 4 degree-of-freedom manipulator arm powered by HEBI X-series actuators. So far, I've created a xacro file for my robot model and used "rosrun xacro xacro robot.xacro > robot.urdf" to create a URDF robot model but I would love to convert my .xacro file into an HRDF model and play around with the forward and inverse kinemetics of HEBI's C++ ROS API. How can I convert my xacro robot model file into an HRDF robot model file?
I am looking through the hebi_description/scripts folder (https://github.com/HebiRobotics/hebi_de ... er/scripts) but I cannot file any program that would take in a xacro file as input and convert to an HRDF format. Perhaps I'm mistaken though and would appreciate some guidance on this matter.
1) visually build the configuration at https://robotbuilder.hebi.us/ and click "export" in the bottom right corner
2) adapt existing hrdf files from https://github.com/HebiRobotics/hebi-hrdf or the examples. You can find the full syntax at https://docs.hebi.us/tools.html#robot-d ... ion-format.
Once you have an hrdf file, you can use the "hrdf viewer" in Scope (monitoring tab) to confirm that everything is working correctly.
If you have a specific file, feel free to list it here and we can provide the corresponding HRDF.
As Florian said, going from URDF to HRDF in general isn't possible, because you lose some of the information about the actuators when converting to URDF.