Multiple embodiments

[e-zorzi]

Hi,
I'm interested in using this library in my research. Do you support multiple embodiments in the same scene?
I would like to work on the "G1 Loco-Manipulation Box Pick and Place Task", but I want to use at least two robots instead of one. Is it supported?

Thanks

[xyao-nv]

You can provide another register-ed embodiment thru cli args --embodiment YOUR-EMBODIMENT https://github.com/isaac-sim/IsaacLab-Arena/blob/main/isaaclab_arena_environments/galileo_g1_locomanip_pick_and_place_environment.py#L94