I have newly started working on the Isaac Gym simulator for RL. I looked at the documentation but could not find whether we can run the simulation on multiple GPUs on the same machine. I see an option to select graphics and a physics device. However, I wanted to know if there is a way to select the GPU devices in a manner that will allow simulations to run parallelly on 2 GPUs that I have on the same computer.
For reference, I am using a system having 2x NVIDIA RTX3090s, connected to each other using an NVLink Bridge,
Any tips on how to do this would be really helpful.