Interactive URDF Spherization Tool for Custom Robots

[bheijden]

Hi all,

Great work on the motion planner! Especially the CPU-only + permissive license is perfect for our use-case.

While integrating a custom robot (xarm6), I ran into cases where automatic spherization was hard to tune. I ended up with quite a lot of spheres. To this end, I built a small manual spherization tool that outputs a clean list of spheres (.yaml) for each robot link or directly a URDF with all it's collision shapes replaced by the spheres. I thought I'd share it here for people struggling as well.

Can be installed with

pip install bubblify

Small demo:

bubblify_demo_reduced.mp4

[zkingston]

Very nice tool and thank you for sharing!