Adding multiple cubes in franka_cube_stack task

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hi Team,

I am using IsaacGymEnvs (GitHub - NVIDIA-Omniverse/IsaacGymEnvs: Isaac Gym Reinforcement Learning Environments) where I want to modify the number of cubes available for FrankaCubeStack task.

I have gone through franka_cube_stack.py available in the tasks and I understand adding additional cube would be similar to CubeA and CubeB shown in existing code. However I am unsure if there is a more generic way to modify this.

Please let me know if I shall be looking at some examples that I might have missed.

TIA!