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Physics run really slow? #420

Answered by diegoferigo
nicholaspalomo asked this question in Q&A
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Oh wow indeed the behavior is quite odd! It took me a while to figure out what's the cause.

I initially thought that the problem was the anymal model. I tried disabling all the torque and joint velocity limits, switching to a pure velocity control, etc but nothing changed. Then, I tried to replace the quadruped with a simple cube, and the same behavior occurs. Something else was off.

To facilitate and speed up debugging, I ported your C++ example to Python, you can find the script below. I found out that the problem occurred only when the base velocity of the model is reset.

Digging more into the rabbit hole, I isolated the source of the problem to the following lines:

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@diegoferigo
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