Waypoint following enviroment development

[PaoloGinefra]

Hi everyone, right now I am trying to develop an Isaac lab direct RL environment for a waypoint following task of a mobile robot. The task is simply to follow the waypoints without colliding with some obstacles that need to be randomized at every reset.

I am a bit stuck on how to spawn the obstacles and then on how to randomize their positions. My best try so far uses the Rigid Body Collection (even tho the obstacles need to be static) but I can't figure out how to spawn multiple obstacles per env.

Also rn I have a basic waypoint following implementation.

Any suggestions or resources are more than appreciated since I am new to this framework.