Support variable contact sensor for Sorting task. #381
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alexmillane
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Feb 4, 2026
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Thanks for cleaning this up! Looks great!
| from isaaclab_arena.utils.pose import Pose | ||
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| assert len(args_cli.destination) == len(args_cli.object) | ||
| assert len(args_cli.destinations) == len(args_cli.objects) |
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The code below only works for 2 objects. Let's add an additional assert that len(args_cli.destinations) == 2
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Sure. Do you think is there a way that we could support multiple objects and destinations more than two because I think the current blocker is to automatically arrange the objects position without overlap.
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Anyway, let's go ahead and merge this for now. We can explore a better solution in a follow-up MR if needed..
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Summary
Support variable number of objects in sorting task
Detailed description
What was the reason for the change?
The original SortMultiObjectTask used a hardcoded SceneCfg with fixed fields (contact_sensor_0, contact_sensor_1, etc.), limiting support to fewer than 4 objects.
What has been changed?
What is the impact of this change?
SortMultiObjectTask now supports an arbitrary number of objects without hardcoded limitations.