[Question] Choices of MultiAssetSpawnerCfg

[bamertsa]

Hello,

I am working on an RL project with a set of diverse rigid objects. I reviewed the tutorial on spawning randomized assets for each environment. Unlike the tutorial, I need to spawn multiple randomized objects per environment. I am therefore using the MultiAssetSpawnerCfg with random_choice enabled inside a RigidObjectCollection. Everything is working well, and the objects are being randomly spawned.

For my custom observations however, it is crucial to know which object type I am observing. So I am trying to find out if there is a convenient way to determine the choices made by the spawner. Ideally, there would be a tensor with the random choice for each environment and object.

Any help would be greatly appreciated. Thanks in advance!

[RandomOakForest]

Thank you for posting this. I'm reviewing with the team the best way to address this. Will aim to post here again soon.

[luju97]

Hi, is there any update on this? Thank you

[bamertsa]

Not an official update, but what I did to solve my problem is update this line so that instead of choosing a prim_path directly, an index is selected. I then saved that index in the rigid objects spawn dictionary. I hope this helps!

[luju97]

@bamertsa Thank you for the suggestion, this workaround worked:)