Simulation time not proportional to simulation step number

[MasterXiong]

Simulation time not proportional to simulation step number

[yuvaltassa]

Yes, this makes sense for a certain class of models. The constraint solver is sometimes significantly sped up by warmstarting with the previous solution. This speedup effect is larger for smaller timesteps, since in that case subsequent states are more similar (fewer changes in contact state, etc.).

This is not MuJoCo-specific and happens in any warmstarted physics engine (i.e. nearly all of them)

[yuvaltassa]

https://mujoco.readthedocs.io/en/latest/modeling.html#performance-tuning

[MasterXiong]

@yuvaltassa Thanks for your reply! I was wondering if there are some other common ways to accelerate Mujoco simulation? Or is there any reference for this? Thanks!