Options for removing objects at run-time (using python)

[fahimfss]

Intro

Hi, I am a MSc student. I am using Mujoco to create an environment with robotic arms (from Mujoco Menagerie) for Reinforcement Learning tasks.

My setup

Mujoco 3.2.3, Python 3.10, Ubuntu 22

My question

Hi!

Is there a way to enable/disable objects in the sim during runtime using Python API? Right now, I am dropping objects below the ground with a negative z value, but I'd like to know if there's a better way to enable/disable objects.

N.B. I found a post with this exact question, but the feature was not available in Mujoco back then: #439

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

https://mujoco.readthedocs.io/en/latest/python.html#model-editing