Hi NVIDIA and robotics friends,
I am simulating a robot grasping a box, similar to the
franka_cube_ik.py example. I wish to develop the following behavior:
- The robot attempts to grasp the box
- If successful, the box actor gets destroyed
- A new box actor (with a different shape and size) gets added into the simulated environment.
However, I have not been able to figure out how to destroy the old object and add a new one during the simulation. As far as I understand, the only way to create a new actor is doing something like
box_handle = gym.create_actor(env, box_asset, box_pose, "box", i, 0) before starting the simulation. Would it be possible to do that during simulation? Could you please give me some suggestions?
Thank you and kindest regards,