How to use python scripts to create an environment with moving pedestrians?

I want to build an dynamic environment to train my deep reinforcement learning based mobile robot navigation algorithm, so I need some dynamic obstacles in the scene. But I found that there is no related example or tutorial on how to add them through python scripts.
Could you please give me some suggestion? My Isaac Sim version is 2023.1.1. Thanks!

This looks similar to what you want:

https://pegasussimulator.github.io/PegasusSimulator/source/tutorials/create_simulation_with_people.html

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Thank you so much. It is useful!

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