Isaac Gym Simulation on Multiple GPUs

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.

Hi @mkulkarni,

You can choose the simulation cuda:0 for the first device and cuda:1 on the 2nd and run 2 instances of Gym in parallel, to collect twice as much of the experience and use it for learning. There is no way to run the single Isaac Gym instance on the 2 GPUs at the same time.

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