Using Multiple Franka Robots with SimulationApp


I’m working on a project with a Franka robot and I have a question. I want to run lots of copies - maybe even thousands - of this robot at the same time with SimulationApp.

I want to test different points where the robot can grab things in the same scene. I hope by having lots of robots running at once, I can test these points quicker.

You can find my project code here: isaac-performance/ at master · kciebiera/isaac-performance · GitHub

So, here’s what I need to know:

  1. Can SimulationApp let me run lots of Franka robots at the same time?
  2. If it can, is there anything I should worry about? Like, do I need a really powerful computer? Will it slow things down?
  3. Any tips for doing this?

Thanks for your help!



1- Yes, you can run lots of cloned robots concurrently. See here: 1. Overview & Getting Started — Omniverse Robotics documentation and GitHub - NVIDIA-Omniverse/OmniIsaacGymEnvs: Reinforcement Learning Environments for Omniverse Isaac Gym
2- You can see the minimum requirements for Isaac Sim here and the recommended ones: 1. Isaac Sim Requirements — Omniverse Robotics documentation
3- Run through our tutorials and envs provided first. Make sure to run your pipeline on the gpu by specifying the device in the SimulationContext.

Let us know if you have more questions and make sure you post questions in the right forum here: Isaac Sim - NVIDIA Developer Forums

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