Can MUJOCO dynamically generate models？

I need to generate randomly shaped blocks at random positions. Do you have any suggestions?

 

Guess you will need to automatically generate/modify xml files before they are loaded into mujoco.

 

Another option is to generate a set of objects outside of the field of view, or invisible, and teleport them into position when they are needed. This works well when there are not many objects and they don't vary too much.