Multiple environments support?

[gpu-daal]

Hi, I was just wondering if there is support for multiple environments. It seems like n_humanoid example just spawns 3 models instead of treating them as separate environments. Is nworld parameter basically number of environments? From the code it seems like it only affects the CUDA launch configuration, and only for benchmark ("only nworld == 1 supported for now" from io.py for viewer.py). Thank you!

[thowell]

@gpu-daal

• nworld is the number of independent environments
• the viewer only supports rendering one environment
• mujoco warp supports multiple environments by setting nworld > 1:

mjm = mujoco.MjModel.from_file(...)
m = mjwarp.put_model(mjm)
d = mjwarp.make_data(mjm, nworld=2)
mjwarp.step(m, d)

[j-pos]

Closing as answered.