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google-deepmind / mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.
https://mujoco.org
Apache License 2.0
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pipeline_step is very slow for humanoid robot #2104

Closed gautica closed 6 hours ago

gautica commented 6 hours ago

The feature, motivation and pitch

Hi!

I am a researcher in legged robot locomotion. I am very interested in applying RL methods with MJX, but I tried the Unitree H1 robot and found that it takes for a single environment about 3-5 milliseconds to run one step pipeline_step function and 0.5 seconds for 500 environments, which is much slower than the reported performance in the documentation. In my H1 model, the contact is simplified to be only at the feet. So my question is, is it normal that it is so slow?

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yuvaltassa commented 6 hours ago
  1. This is not a feature request. Please post in "asking for help".
  2. This is not reproducible, there is no way to help you.