Loaded object not visible

[RolandZhu]

Hi! Thanks for all of your support for the great simulator!

I'm working on a manipulation project that requires a robot to interact with 9 objects, one object at a time.
I choose to follow a simple pipeline: load one object, manipulate it, remove it with removeBody, and reload the next one.
However, the loaded object becomes invisible after 4 load-reload iterations, while they're an object ID for loaded object and I can get the body information through getBasePositionAndOrientation.
I can use the resetSimulation to remove everything, but that will require a re-load of the robot, which is not preferred.
Any idea why is this the case and how can I fix it?
I create a minimum example here to reproduce the issue.
Please let me know if you have any ideas or suggestions!

Many thanks.

[rohit-kumar-j]

@RolandZhu
There must be something wrong with the loading and unloading logic/methods, a little more code would be helpful.

If the robot needs to interact with boxes, see: createMultiBodyLinks.py

If you need to work with indexing, loading, and removing objects from the environment, run sim_utils.py. (However, I have not tested it with explicit URDFs)
You may have to add and subtract a few lines of code in this ⬆️

from sim_utils.py: (Thera are around 20~30 boxes indices in the buffer at a time)

bullet_box_launcher.online-video-cutter.com.mp4

-Rohit