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Project description
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
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