How to spawn object randomly when the environment is reset?

Omniverse Isaac Sim
1

Hi, I am training RL policy using IsaacLab, and I’m posting this because I don’t know how to set the environment I want.

I want to spawn object randomly when the environment is reset. (All of objects are configured in DirectRLEnvCfg.)

I know the Event function to do domain randomization.

However, I can not find examples about random spawning.

There is a question about this problem but, no one answered that question.

Continuing the discussion from Can we spawn a new rigid object in the mid of simulation through EventTermCfg or any other way:

Let me know how to do this or give any advice.

Thank you.

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Thank you for your interest in Isaac Lab. To ensure efficient support and collaboration, please submit your topic to its GitHub repo following the instructions provided on Isaac Lab’s Contributing Guidelines regarding discussions, submitting issues, feature requests, and contributing to the project.

We appreciate your understanding and look forward to assisting you.

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