search

ARISE-Initiative / robosuite

robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
https://robosuite.ai
Other
1.34k stars 413 forks source link

Increasing Simulation speed #51

Closed febert closed 4 years ago

febert commented 4 years ago

Hi,

simulation speed with standard parameters is currently very slow. For a single env.step() it takes about 0.15 seconds.

Is there a parameter that allows speeding this up? I know there are Mujoco solver parameters like the number of iterations it takes at every step. Is that exposed in robosuite anywhere?

Thanks!

amandlek commented 4 years ago

It certainly shouldn't take that long - what parameters and settings are you using? Do you have a script that can reproduce the problem? If this is with image observations, this could be a rendering speed issue related to making sure that the correct version of mujoco-py is installed (the one that actually leverages the GPU).