Dynamic Spawning Issues with RigidBody and Articulation Assets

[Amin173]

Hi everyone,

I've recently started experimenting with IsaacLab for some RL applications. From examining the source code, it seems that RigidBody and Articulation assets rely on callbacks that are triggered when the simulation application is launched, which leads to undefined attributes when attempting to spawn assets at runtime.

I have some ideas on implementing trigger events for dynamic spawning, but I was wondering if there’s a more straightforward or built-in way to achieve this. Has anyone encountered and solved this issue?

Thanks in advance for any insights!