Hi! I am currently working on a deep reinforcement learning task in Gazebo and I want to randomize the location of obstacles for every episode. For non-static object, I can achieve this by publishing to the setmodelstate topic. However, when it comes to static objects, setmodelstate does something strange; When I tried setmodelstate with static model, the robot will see the obstacle generated, but when I look over on gazebo, it does not visualize the obstacle.

Is there a good way to randomize a static objects?

Edit: This is what I meant for gazebo not visualizing the obstacles. On the left you can see the camera on the drone is picking up the buildings. But when you look on the gazebo window on the right, it shows nothing.