Parallel Simulation#
By default, the simulator only has one environment. You can create multiple environments by setting the num_envs
argument.
For example, to create 4 environments in IsaacLab, you can run:
python metasim/scripts/replay_demo.py --task=StackCube --num_envs=4
Currently, we support the following simulators to use multiple environments:
IsaacLab
IsaacGym
SAPIEN (on-going)
Genesis (on-going)
We won’t support other simulators to use multiple environments due to the limitation of the simulators:
PyBullet
CoppeliaSim/PyRep
MuJoCo (until MuJoCo 3 release)