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Is it currently possible in Genesis to have parallel environments that each have different objects? For example, maybe all of the environments have the same robot, but the object that the robot is interacting with in each environment is different. In environment 1 it is a cuboid object, in env 2 it is a sphere object, etc. |
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Currently there isn't, but they plan on adding it in the future. Someone had a workaround posted here where they loaded every object needed, say both the cuboid and the sphere, into the parallels environments and moved the unneeded ones away using the object's link and environment index. This workaround has a very noticeable increase in overhead when working with many environments, so it isn't practical for stuff like RL. |
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That makes sense, thank you! |
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Currently there isn't, but they plan on adding it in the future. Someone had a workaround posted here where they loaded every object needed, say both the cuboid and the sphere, into the parallels environments and moved the unneeded ones away using the object's link and environment index. This workaround has a very noticeable increase in overhead when working with many environments, so it isn't practical for stuff like RL.