[Question] Add an event to randomzie pos but always look at origin / asset in scene

[shiven2001]

Question

Hello, I wanted to ask if there is a way I can use the eventcfg's reset_root_state_uniform but add a condition where the randomization of robot position in the environment is based on where the camera on the robot is looking. For example, in isaac sim replicator we have a function like:

    rep.modify.pose(
        position=rep.distribution.uniform((-1.8, -1.0, -0.4), (1.8, 1.8, 3.0)),
        # rotation=rep.distribution.uniform((80, -10, 160), (100, 10, 220)),
        look_at=prim_node,
    ),

where I can randomize pose and orientation of camera but wherever the camera spawns, it will always be looking at the prim_node which is an asset in the environment. Can I do that for events in training isaaclab as well?

Please let me know how.

[RandomOakForest]

Thanks for posting this, interesting question. I'll move this to our Discussions for the team to follow up.