How to load different objects in different environment (used in case of parallel simulation)

[v-wewei]

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I wonder how to load different objects such as different target objects for manipulation in different environment, which is common in other simulator, such as mujoco and isaacgym. Thanks advance.

[parzival2108]

Here is how add it: Object_1 = scene.add_entity(gs.morphs.Sphere(pos =(1,1,1)))

Object_2 = scene.add_entity(gs.morphs.Box(pos =(2,2,1)))

Object_3 = scene.add_entity(gs.morphs.Cylinder(pos =(3,3,1)))

[zhouxian]

Hmm in parallel sim, every env is identical

Indont think mujoco or Isaac support this either

[ziyanx02]

Hmm in parallel sim, every env is identical

Indont think mujoco or Isaac support this either

I do remember isaacgym supports loading different objects in different environments. And there is also a solution in IsaacSim: https://github.com/isaac-sim/IsaacLab/issues/186

[hgaurav2k]

This is imporant for training robust manipulation policies. I am curious if the authors plan to fix this issue. You can definitely do this in IsaacGym today. Check out https://github.com/isaac-sim/IsaacGymEnvs/tree/main/isaacgymenvs/tasks/allegro_kuka

[ArthurAllshire]

Yes, this is very important in manipulation. For an example of how it can be important check out our paper Dextrah-RGB https://dextrah-rgb.github.io/ where we train any-object grasping policy -- such efforts would be great to do in genesis but totally impossible without multi object loading

[zhouxian]

Yes this could be a useful feature. We have recently started working on adding it :) Requires a bit of work by tuning the data structure a bit

[ziqiao30]

Hey, just checking in again—any update or solution on this?