questions about attach_external_objects_to_robot

[frankchan12138]

I tried to use attach_external_objects_to_robot in motion_gen.py. I wonder why we have to judge n_spheres variable?

        max_spheres = self.robot_cfg.kinematics.kinematics_config.get_number_of_spheres(link_name)
        object_names = [x.name for x in external_objects]
        n_spheres = int(max_spheres / len(object_names))
        sphere_tensor = torch.zeros((max_spheres, 4))
        sphere_tensor[:, 3] = -10.0
        sph_list = []
        if n_spheres == 0:
            log_warn(
                "MG: No spheres found, max_spheres: "
                + str(max_spheres)
                + " n_objects: "
                + str(len(object_names))
            )
            return False

[balakumar-s]

We have to set a specific number of spheres as this is allocated during creation of the kinematics instance.

[frankchan12138]

Got it, Thank you very much!