Best way to repeat simulations

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Hi all,

I am currently working on a simple fetch and carry scenario in a simulation using ros gazebo. it's an almost complete mobile manipulator system with kinect and laser scanners.

I would like to do something this: 1: launch environment and related objects 2: run the fetch and carry node 3: reset the environment (robot and object back to initial position) 4: iterate 2 and 3 for a few hundred or thousand times.

My question is, is there a good way for repeating the simulations?

EDIT: I guess it's best to describe an example. Say that I would like to run the fetch and carry scenario 100 times. Each time it runs, an object will be thrown on the floor. In that 100 runs, how many times the mobile manipulator collide / bump into the new object.

I'm actually imagining a big for loop that resets the simulation environment and runs the fetch and carry package again. How expensive will that be!!

So, the question is still: What's the best way to repeat simulations.

NB: I wonder how will rosbag help