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 (GPU-based parallel under development, currently supported with multi-processing)

  • Genesis

  • PyBullet (supported by multi-processing)

We won’t support other simulators to use multiple environments due to the limitation of the simulators:

  • CoppeliaSim/PyRep

  • MuJoCo (until MuJoCo 3 release)