Sim Speed: Convex hull vs Full rendering

[rohit-kumar-j]

I have noticed that when using convex hull rendering, in simulate.cc, the robot model orbits, pans, and zooms faster than with the fully rendered model.(especially robots with heavy stl files).

During training or working with time-critical computation, is it faster when we train with only convex hulls enabled when we call mujoco.mj_step(model, data) without visualization?

while not done:
    mujoco.mj_step(model, data)
    # viewer.render()  # renders in a window

[yuvaltassa]

Is you are not rendering during training, it should not matter.

That said, you might get some milage from the compiler's discardvisual flag as that actually removes non colliding geoms and would save you some kinematics computation.