Parallel Multi-Agent Environment for Batched Interacting Franka Robot Arms

[kaifishr]

How can I create a multi-agent environment with Franka robot arms where the agents are batched and can run in parallel across multiple environments? Specifically, I want to implement a system where:

1. Multiple Franka arms interact with each other in a single environment
2. The agents (Franka arms) are batched for efficient processing
3. Multiple instances of this multi-agent environment can run in parallel

What would be the best approach to design and implement such a system, considering both the batching of agents within an environment and the parallelization of multiple environments?

Any guidance would be greatly appreciated. Thank you!