urdf-spherizer
Convert URDF visual geometry into conservative sphere-based collision geometry.
Usage
uvx urdf-spherizer path/to/model.urdf -o path/to/model.spheres.urdf --max-spheres 64 --margin 0.002
Optional visualization with rerun:
uvx urdf-spherizer path/to/model.urdf --viz
If your URDF uses package:// URLs, pass package roots:
uvx urdf-spherizer path/to/model.urdf --package-dir my_robot=/path/to/my_robot
Results
https://github.com/user-attachments/assets/494a6be0-eeb3-41ec-a807-08dbced9c3a8
1 maintainer
Metadata
1 maintainer
Release files for urdf-spherizer 0.1.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | Provenance | |
|---|---|---|---|---|
| urdf_spherizer-0.1.1.tar.gz | 29.4 kB | Without provenance | Details |
Built distributions (wheels)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| urdf_spherizer-0.1.1-cp39-abi3-win_amd64.whl | CPython 3.9 | abi3 | Windows x86-64 | Details |
| urdf_spherizer-0.1.1-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl | CPython 3.9 | abi3 | Linux glibc 2.17+ x86-64 | Details |
| urdf_spherizer-0.1.1-cp39-abi3-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl | CPython 3.9 | abi3 | macOS 11.0+ ARM64, macOS 10.12+ x86-64, macOS 10.12+ universal2 (ARM64, x86-64) | Details |
Total release size: 802.9 kB
Release files / urdf_spherizer-0.1.1.tar.gz
| Download URL | urdf_spherizer-0.1.1.tar.gz |
|---|---|
| Size | 29.4 kB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
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No |
| Uploaded via |
maturin/1.11.5
|
Release files / urdf_spherizer-0.1.1-cp39-abi3-win_amd64.whl
| Download URL | urdf_spherizer-0.1.1-cp39-abi3-win_amd64.whl |
|---|---|
| Size | 132.5 kB |
| Tags | CPython 3.9 Windows x86-64 abi3 |
|
SHA-256 checksum How to use checksums |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.11.5
|
Release files / urdf_spherizer-0.1.1-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
| Download URL | urdf_spherizer-0.1.1-cp39-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl |
|---|---|
| Size | 234.5 kB |
| Tags | CPython 3.9 Linux glibc 2.17+ x86-64 abi3 |
|
SHA-256 checksum How to use checksums |
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BLAKE2b-256 checksum How to use checksums |
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No |
| Uploaded via |
maturin/1.11.5
|
Release files / urdf_spherizer-0.1.1-cp39-abi3-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl
| Download URL | urdf_spherizer-0.1.1-cp39-abi3-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl |
|---|---|
| Size | 406.5 kB |
| Tags | CPython 3.9 abi3 macOS 10.12+ universal2 (ARM64, x86-64) macOS 10.12+ x86-64 macOS 11.0+ ARM64 |
|
SHA-256 checksum How to use checksums |
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| Upload date | |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
maturin/1.11.5
|
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