Object placer in DLI kitchen scene#384
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cvolkcvolk wants to merge 7 commits intoalex/feature/kitchen_object_in_fridge_envfrom
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Object placer in DLI kitchen scene#384cvolkcvolk wants to merge 7 commits intoalex/feature/kitchen_object_in_fridge_envfrom
cvolkcvolk wants to merge 7 commits intoalex/feature/kitchen_object_in_fridge_envfrom
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cvolkcvolk
changed the title
## 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?
- Use make_configclass to dynamically generate SceneCfg, supporting
variable number of contact sensors
- Improve contact sensor naming: from index-based (contact_sensor_0) to
object name-based (contact_sensor_{object.name})
- Rename CLI arguments: --object → --objects, --destination →
--destinations
- Add TODO comments for RedCube/GreenCube documenting a known bug where
rigid body attributes must bind to root layer
### What is the impact of this change?
SortMultiObjectTask now supports an arbitrary number of objects without
hardcoded limitations.
…e/object_placer_kitchen_object_in_fridge_env
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Summary
Use the ObjectPlacer to place the jug on the kitchen counter.
Based on MR