diff --git a/pyrobosim/pyrobosim/core/locations.py b/pyrobosim/pyrobosim/core/locations.py
index d1ab0912..47235b6f 100644
--- a/pyrobosim/pyrobosim/core/locations.py
+++ b/pyrobosim/pyrobosim/core/locations.py
@@ -47,6 +47,16 @@ def add_metadata(cls, filename):
 
         cls.metadata.add(filename)
 
+    @classmethod
+    def clearout_metadata(cls):
+        """
+        Clear out old location metadata.
+        """
+        if not hasattr(cls, "metadata"):
+            cls.metadata = EntityMetadata()
+        cls.metadata.data = {}
+        cls.metadata.sources = []
+
     def __init__(
         self,
         name=None,
diff --git a/pyrobosim/pyrobosim/core/objects.py b/pyrobosim/pyrobosim/core/objects.py
index 6a4d8fcc..f29a3c17 100644
--- a/pyrobosim/pyrobosim/core/objects.py
+++ b/pyrobosim/pyrobosim/core/objects.py
@@ -48,6 +48,16 @@ def add_metadata(cls, filename):
 
         cls.metadata.add(filename)
 
+    @classmethod
+    def clearout_metadata(cls):
+        """
+        Clear out old object metadata.
+        """
+        if not hasattr(cls, "metadata"):
+            cls.metadata = EntityMetadata()
+        cls.metadata.data = {}
+        cls.metadata.sources = []
+
     def __init__(
         self,
         name=None,
diff --git a/pyrobosim/pyrobosim/core/world.py b/pyrobosim/pyrobosim/core/world.py
index b145fc1b..098d8d18 100644
--- a/pyrobosim/pyrobosim/core/world.py
+++ b/pyrobosim/pyrobosim/core/world.py
@@ -96,17 +96,11 @@ def set_metadata(self, locations=None, objects=None):
         :param objects: Path(s) to object metadata YAML file(s).
         :type objects: str | list[str] | None
         """
-        if isinstance(locations, list):
-            for location in locations:
-                Location.add_metadata(location)
-        elif isinstance(locations, str):
-            Location.add_metadata(locations)
+        # Clear out old metadata
+        Location.clearout_metadata()
+        Object.clearout_metadata()
 
-        if isinstance(objects, list):
-            for object in objects:
-                Object.add_metadata(object)
-        elif isinstance(objects, str):
-            Object.add_metadata(objects)
+        self.add_metadata(locations, objects)
 
     def add_metadata(self, locations=None, objects=None):
         """