Lula Robot Description Editor Generate Spheres has Wrong Distributed

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: GTX 4090
  • Driver Version: 550.120

Topic Description

Detailed Description

I use the Lula Robot Description Editor to automatically generate a set of N spheres that best fill the volume of the mesh, the robot is like

image
image910×676 71 KB
,
and the link used is
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image779×368 31.5 KB

The paramters are set as

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image538×304 14.9 KB

but the spheres generated are not arranged in a queue as described in the tutorial, but in a scattered manner， like this

image
image538×304 43.5 KB

How can I set the parameters to change this problem?

2

Hi @2214260490 according to our documentation Lula Robot Description and XRDF Editor — Isaac Sim Documentation

The locations and sizes of the connecting spheres are interpolated to best fill the volume of the cone-section defined by the two spheres being connected.

If you want the spheres to arrange in a queue, you can try increasing the radius offset and decreasing the number of spheres.