How to enable batched simulation for MPM-based scenes? (Build error with n_envs > 1)

[MingyuJiang]

Hi Genesis team,

I'm currently working with the differentiable_push.py example and trying to run it with n_envs=2 for batched simulation. However, I encountered the following error during scene.build(n_envs=2):
[Genesis] [ERROR] Batching is only supported for rigid-only scenes as of now.

It seems that batching support is currently limited to rigid-body scenes. Since my scene involves MPM-based deformable objects (e.g., Elastic material with gs.materials.MPM.Elastic), is there any workaround or plan to support batching in deformable simulations?

My goal is to accelerate optimization via parallel environments, especially for gradient-based tasks.

Any advice or recommended alternatives would be greatly appreciated. Thanks in advance!

Best regards,
MingYu Jiang

[duburcqa]

You should update to the latest version of Genesis simulator.