Isaac sim simulating subsets of the environments

Omniverse Isaac Sim
1

In the manager-based environment (or whatever environment class), we simulate the simulation by using “self.sim.step()”. This causes all environments to be activated and move simultaneously.

However, I want to activate only a subset of the environments. For example, out of 4096 environments, I only want to simulate environments with IDs 0 to 100, while the others remain inactive.

Is there any way to achieve this in Isaac Sim?

2

It’s not possible to step physics for only some environments, but there are APIs in physics that let you disable individual rigid bodies or mark ones as kinematics.