curobo.examples.reference.sphere_fit_comparison module

Sphere Fitting Comparison Demo – visualise different fitting methods in Viser.

Loads a robot URDF, picks a subset of collision links, fits spheres to each link using every SphereFitType method, and renders the results side-by-side in an interactive Viser viewer.

Each fitting method is displayed as a column of coloured spheres next to the original mesh, so you can visually compare coverage and density.

Usage:

python sphere_fit_comparison.py
python sphere_fit_comparison.py --urdf franka.yml
python sphere_fit_comparison.py --links panda_link0 panda_link7 panda_hand
python sphere_fit_comparison.py --port 8081

Press Ctrl-C to stop the server.

main()