[Question] Can I somehow remove all objects and then add new ones via random selectionf of a usd to each env individually usding .reset in ManagerBasedRL env?

[vluduk]

Question

I have a parking lot env in which i want to spawn objects from several usd files (some cars and trucks basicly) that should be random in every env, the spawn chance of each and the amnt of objects being spawned should be controlled. I am trying to do this via EventManager, since other options seem to be ruled out. Is there a way to clear an env via eventmanager, then add varying amnt of objects from usd to it?

[glvov-bdai]

I recommend checking out: https://isaac-sim.github.io/IsaacLab/main/source/how-to/multi_asset_spawning.html

[vluduk]

From my understanding you cant really modify the probabiliti of spawning each of the usd files, which isn`t good im my case

I found a potential solution in creating a Terrain, just setting the usd as a mesh, still working on the implementation

[RandomOakForest]

Thanks for posting this. In general, the recommendation of the team is to not add or remove objects once simulation is running.

[vluduk]

hmm, okay, what solution is best in your opinion

I don`t need to respawn all of the objects in each env, just add or remove a couple depending on difficulty increace

should I look into using Terrain in some way?