Help with defining Prim Path for new objects in a sceneisaac-sim-api

Omniverse Isaac Sim
1

Hello,

I am a new user navigating IsaacLab/Sim. In my project I am trying to change the quadcopter_env.py exmaple code to have the drone land on a physical cube instead of just hover at the permeable floating cube target location.

I am attempting to insert a new cube at every environment instance at the same location as the target visualization cube to make progress towards the goal of landing.

I am having an issue with defining each env_id’s cube’s prim path and am getting this error:

ValueError: A prim already exists at path: '/World/envs/env_0/TargetPhysicalCube'.

This is the code I have incorporated to try to do so:

#create physical target cube in each environment
        for i in range(self.num_envs):
            env_path = f"/World/envs/env_{i}"
            initial_posiiton = (0.0, 0.0, 0.5) #initial pos to be updated later
            create_physical_cube(env_path + "/TargetCube", initial_posiiton)

If anyone has any advice on this error or how to go about my task overall it would be much appreciated.