Hello all I'm working on a bin picking simulation based on Gazebo, and I'd like to simulate a large number of scenes , and for every scene I need to import different meshes or same meshes of different 6D pose. For now I have to create a .world file for every scene and load them to Gazebo at the start of simulation.
What I want is to remove old objects, reset the simulation (robot arm pose) and import new objects, then start the simulation again. For example in bullet I can do this with pybullet API like pybullet.createCollisionShape()
Is there any way to do similar operation with Gazebo or any way to reset simulation with different meshes quickly?