[Question] Dynamically replace objects in an environment during simulation

[virgilio96upm]

Question

There is a way to replace objects spawned in the environment while the simulation is running? (spawn a .usd of a new object and remove the one already defined in the configuration of the environment after the simulation completes a set of iterations or a certain condition is met).

So far I have tested that I can successfully add multiple usd into a manager-based RL example of the Franka Lift task example but I would like to know if it is possible to update the objects while the simulation is running.

# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from omni.isaac.lab.assets import RigidObjectCfg
from omni.isaac.lab.sensors import FrameTransformerCfg
from omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg import OffsetCfg
from omni.isaac.lab.sim.schemas.schemas_cfg import RigidBodyPropertiesCfg
from omni.isaac.lab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
from omni.isaac.lab.utils import configclass
from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR

## additional module added for multiple usd spawning and randomization
from omni.isaac.lab.sim.spawners.wrappers.wrappers_cfg import MultiUsdFileCfg



from omni.isaac.lab_tasks.manager_based.manipulation.lift import mdp
from omni.isaac.lab_tasks.manager_based.manipulation.lift.lift_env_cfg import LiftEnvCfg

##
# Pre-defined configs
##
from omni.isaac.lab.markers.config import FRAME_MARKER_CFG  # isort: skip
from omni.isaac.lab_assets.franka import FRANKA_PANDA_CFG  # isort: skip

@configclass
class FrankaCubeLiftEnvCfg(LiftEnvCfg):
    def __post_init__(self):
        # post init of parent
        super().__post_init__()
        self.scene.replicate_physics= False
        # Set Franka as robot
        self.scene.robot = FRANKA_PANDA_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")

        # Set actions for the specific robot type (franka)
        self.actions.arm_action = mdp.JointPositionActionCfg(
            asset_name="robot", joint_names=["panda_joint.*"], scale=0.5, use_default_offset=True
        )
        self.actions.gripper_action = mdp.BinaryJointPositionActionCfg(
            asset_name="robot",
            joint_names=["panda_finger.*"],
            open_command_expr={"panda_finger_.*": 0.04},
            close_command_expr={"panda_finger_.*": 0.0},
        )
        # Set the body name for the end effector
        self.commands.object_pose.body_name = "panda_hand"
        # Set tool as object
        self.scene.object = RigidObjectCfg(
            prim_path="{ENV_REGEX_NS}/Object",
            init_state=RigidObjectCfg.InitialStateCfg(pos=[0.4, 0, 0.055], rot=[0, 0, 0, 1]),
            ########## UPDATE THIS LIST OF USD FILES DURING SIMULATION TIME##############
            spawn=MultiUsdFileCfg(
                usd_path= [
                    f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
                    f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/MultiColorCube/multi_color_cube_instanceable.usd",
                ],
                random_choice=True,
                scale=(0.8, 0.8, 0.8),
                rigid_props=RigidBodyPropertiesCfg(
                    solver_position_iteration_count=16,
                    solver_velocity_iteration_count=1,
                    max_angular_velocity=1000.0,
                    max_linear_velocity=1000.0,
                    max_depenetration_velocity=5.0,
                    disable_gravity=False,
                ),
            ),
        )

        # Listens to the required transforms
        marker_cfg = FRAME_MARKER_CFG.copy()
        marker_cfg.markers["frame"].scale = (0.1, 0.1, 0.1)
        marker_cfg.prim_path = "/Visuals/FrameTransformer"
        self.scene.ee_frame = FrameTransformerCfg(
            prim_path="{ENV_REGEX_NS}/Robot/panda_link0",
            debug_vis=False,
            visualizer_cfg=marker_cfg,
            target_frames=[
                FrameTransformerCfg.FrameCfg(
                    prim_path="{ENV_REGEX_NS}/Robot/panda_hand",
                    name="end_effector",
                    offset=OffsetCfg(
                        pos=[0.0, 0.0, 0.1034],
                    ),
                ),
            ],
        )


@configclass
class FrankaCubeLiftEnvCfg_PLAY(FrankaCubeLiftEnvCfg):
    def __post_init__(self):
        # post init of parent
        super().__post_init__()
        # make a smaller scene for play
        self.scene.num_envs = 50
        self.scene.env_spacing = 2.5
        # disable randomization for play
        self.observations.policy.enable_corruption = False