ip2urdf

This project provides a tool converting CAD properties exported by Autodesk Inventor into a link description in URDF.

Limitation

Since the tool is currently hard-coded, the Autodesk Inventor 2020 (Japanese) is only supported.

We welcome any contribution, including operation check reports in other Inventor versions!

Installation

You can install the tool into your computer with the following command:

cargo install --path . --bin ip2urdf

Usage

Options

ip2urdf 0.1.0

USAGE:
    ip2urdf [OPTIONS]

FLAGS:
    -h, --help       Prints help information
    -V, --version    Prints version information

OPTIONS:
    -d <direct>        Directly read from arguments
    -i <input>         Input file
    -o <output>        Output file, stdout if not present

Examples

Load a text file and display the result:

ip2urdf -i sample.txt

Load a text file and write into a specified file:

ip2urdf -i sample.txt -o output.xml

Read properties from the argument and display the result:

ip2urdf -d '物理プロパティ Part1
一般的なプロパティ:
    材料:    {一般}
    密度:    1.00000000 g/cm^3
    質量:    6000.00000000 kg (相対誤差 = 0.000000%)
    領域:    22.00000000 m^2 (相対誤差 = 0.000000%)
    体積:    6.00000000 m^3 (相対誤差 = 0.000000%)
重心:
    X:    0.00000000 m (相対誤差 = 0.000000%)
    Y:    -0.00000000 m (相対誤差 = 0.000000%)
    Z:    0.00000000 m (相対誤差 = 0.000000%)
重心に関する慣性の質量モーメント(負の値を使って計算)
    Ixx            6500.00000000 kg m^2 (相対誤差 = 0.000000%)
    Iyx Iyy        -0.00000000 kg m^2 (相対誤差 = 0.000000%)    5000.00000000 kg m^2 (相対誤差 = 0.000000%)
    Izx Izy Izz    0.00000000 kg m^2 (相対誤差 = 0.000000%)    0.00000000 kg m^2 (相対誤差 = 0.000000%)    2500.00000000 kg m^2 (相対誤差 = 0.000000%)
グローバルに関する慣性の質量モーメント(負の値を使って計算)
    Ixx            6500.00000000 kg m^2 (相対誤差 = 0.000000%)
    Iyx Iyy        -0.00000000 kg m^2 (相対誤差 = 0.000000%)    5000.00000000 kg m^2 (相対誤差 = 0.000000%)
    Izx Izy Izz    0.00000000 kg m^2 (相対誤差 = 0.000000%)    0.00000000 kg m^2 (相対誤差 = 0.000000%)    2500.00000000 kg m^2 (相対誤差 = 0.000000%)
重心に関する慣性の基本モーメント
    I1:    6500.00000000 kg m^2 (相対誤差 = 0.000000%)
    I2:    5000.00000000 kg m^2 (相対誤差 = 0.000000%)
    I3:    2500.00000000 kg m^2 (相対誤差 = 0.000000%)
グローバルから焦点への回転
    Rx:    0.00000000 rad (相対誤差 = 0.000000%)
    Ry:    0.00000000 rad (相対誤差 = 0.000000%)
    Rz:    0.00000000 rad (相対誤差 = 0.000000%)
'

The output for these examples is:

<link name="Part1">
  <inertial>
    <origin xyz="0 -0 0" rpy="0 0 0"/>
    <mass value="6000"/>
    <inertia ixx="6500" ixy="-0" ixz="0" iyy="5000" iyz="0" izz="2500"/>
  </inertial>
</link>

Tips

Using the xsel command, you can directly copy the result on the clipboard.

ip2urdf -i sample.txt | xsel --clipboard --input