lula-description-generator

What problem does it solve?

Manually creating collision sphere approximations for robot links is time‑consuming and error‑prone; this Skill automates the generation of those spheres directly from a URDF, producing a ready‑to‑use Lula robot description for Isaac Sim.

Core Features & Use Cases

• Automated mesh repair using pymeshfix with a trimesh fallback, ensuring non‑watertight meshes can be processed.
• Voxel‑based interior analysis followed by Euclidean distance transforms to capture geometry detail.
• Greedy medial‑axis sphere packing that yields a set of collision spheres per link, customizable via parameters such as max_spheres_per_link and voxel_fraction.
• Full YAML robot description output compatible with Isaac Sim’s CuMotion/RMPflow/Lula planners, supporting package:// URI resolution and optional c‑space configuration.
• Use case: Researchers can feed any robot URDF into the skill to instantly obtain a collision‑aware description, accelerating simulation setup and motion‑planning experiments.

Quick Start

Run the lula description generator on my_robot.urdf to obtain a Lula description YAML file.