is it posible to use multiple scence with many envs?

[HaoLiuHust]

I have many scence such as office room, warehouse etc, and a robot, I want to train a policy with those scence, however, I do not know hot to do it

[RandomOakForest]

Yes, with Isaac Lab you can use multiple distinct scenes or assets across many environments for training, such as office rooms, warehouses, etc. This is achieved by configuring your environments to spawn different USDs or assets, and is well-supported for reinforcement learning workflows.

Key points:

• Use the InteractiveScene and set up your scene configuration to allow different assets (robots, objects, or even backgrounds) per environment.
• For different assets in each environment: use MultiAssetSpawnerCfg or MultiUsdFileCfg (with the random_choice option or lists of assets/USDs).
• When using heterogeneous environments (different scenes or robots), set replicate_physics=False in your scene configuration.
• You can randomize which asset or scene each environment receives (e.g., some get an office, some a warehouse) as shown in the official guide.

Concise Isaac Lab example:

from isaaclab.scene import InteractiveSceneCfg
from isaaclab.sim import SimulationContext
from isaaclab.assets import RigidObjectCfg, ArticulationCfg
import isaaclab.sim as sim_utils

class MySceneCfg(InteractiveSceneCfg):
    # Different background/environment USDs or objects, randomly assigned
    background = RigidObjectCfg(
        prim_path="/World/envs/env_.*/Background",
        spawn=sim_utils.MultiUsdFileCfg(
            usd_path=[
                "path/to/office_room.usd",
                "path/to/warehouse.usd",
                "path/to/other_scene.usd"
            ],
            random_choice=True
        )
    )
    # Your robot, etc ...

scene_cfg = MySceneCfg(num_envs=64, replicate_physics=False)
scene = InteractiveScene(cfg=scene_cfg)

Tutorials and documentation:

• Spawning Multiple Assets (supports per-environment scene randomization)¹
• Interactive Scene tutorial - managing environments²
• API docs: InteractiveScene³

This is a powerful feature—just ensure all environments are compatible with your policy inputs/outputs if mixing scenes heavily.

Footnotes

1. https://isaac-sim.github.io/IsaacLab/main/source/how-to/multi_asset_spawning.html ↩

2. https://isaac-sim.github.io/IsaacLab/main/source/tutorials/02_scene/create_scene.html ↩

3. https://isaac-sim.github.io/IsaacLab/main/source/api/lab/isaaclab.scene.html ↩