Asking for advice on improving the simulation performance

Hi,
Greetings! We have recently been utilizing MuJoCo for our project involving the simulation of a Unitree Go1 quadrupedal robot navigating across varied terrains. However, we're facing some performance bottlenecks during our training cycles. Consequently, we're seeking your insights and advice on potential ways to enhance the simulation speed.
Below, I've provided some context and specifics from our experiment conducted on an AMD Ryzen 9 5950x CPU, which has 16 cores and 32 threads.
Question 1: Discrepancies in Simulation Speed Factors
The MuJoCo MPC paper indicates that a single CPU thread can simulate a 27-DoF humanoid system 4000 times faster than real-time.

for example, the humanoid (a 27-DoF system) can be simulated 4000 times faster than realtime on a single CPU thread.

To replicate this performance, we ran testspeed on the humanoid model and achieved a real:sim factor of roughly 150 times for a single thread. Although this surpasses the speed reported in post #897, it falls far short of the 4000x speed cited in the paper.
Running 10000 steps per thread at dt = 0.005 ...

Summary for all 16 threads

 Total simulation time  : 0.44 s
 Total steps per second : 366686
 Total realtime factor  : 1833.43 x
 Total time per step    : 2.7 µs

Details for thread 0

 Simulation time      : 0.34 s
 Steps per second     : 29722
 Realtime factor      : 148.61 x
 Time per step        : 33.6 µs

 Broadphase accuracy  : 44.85%
 Midphase accuracy    : 40.36%
 Contacts per step    : 12.56
 Constraints per step : 43.56
 Degrees of freedom   : 27

 Internal profiler for thread 0 (µs per step)
             step :   33.5  (100.00 %)
          forward :   31.8  ( 95.04 %)
         position :   17.1  ( 51.03 %)
         velocity :    1.7  (  5.08 %)
        actuation :    0.3  (  0.92 %)
     acceleration :    0.6  (  1.72 %)
       constraint :   12.0  ( 35.76 %)
   pos_kinematics :    2.4  (  7.07 %)
      pos_inertia :    2.0  (  5.84 %)
    pos_collision :    8.3  ( 24.73 %)
         pos_make :    4.3  ( 12.80 %)
      pos_project :    0.0  (  0.08 %)
            other :    1.8  (  5.49 %)

Can anyone guide us on how we can approach this 4000x magnitude? Are there any specific configurations, compilation flags, or model modifications that we need to consider? We are building MuJoCo from the source and any advice regarding this matter would be highly appreciated!
Below is the build log when I build MuJoCo from source. AVX should be enabled by default.

Build Log for MuJoCo
mujoco> unpacking sources
mujoco> unpacking source archive /nix/store/wxivcwsqz6zylr31hnfx1cckbwl8wr3i-source
mujoco> source root is source
mujoco> patching sources
mujoco> applying patch /nix/store/fpka17kjcczv7zc1cmq4j7p7dpf49pcp-dependencies.patch
mujoco> patching file cmake/MujocoDependencies.cmake
mujoco> patching file simulate/cmake/SimulateDependencies.cmake
mujoco> configuring
mujoco> fixing cmake files...
mujoco> cmake flags: -DCMAKE_FIND_USE_SYSTEM_PACKAGE_REGISTRY=OFF -DCMAKE_FIND_USE_PACKAGE_REGISTRY=OFF -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_INSTALL_LOCALEDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/locale -DCMAKE_INSTALL_LIBEXECDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/libexec -DCMAKE_INSTALL_LIBDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib -DCMAKE_INSTALL_DOCDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/doc/mujoco -DCMAKE_INSTALL_INFODIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/info -DCMAKE_INSTALL_MANDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/man -DCMAKE_INSTALL_OLDINCLUDEDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include -DCMAKE_INSTALL_INCLUDEDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include -DCMAKE_INSTALL_SBINDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/sbin -DCMAKE_INSTALL_BINDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin -DCMAKE_INSTALL_NAME_DIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib -DCMAKE_POLICY_DEFAULT_CMP0025=NEW -DCMAKE_OSX_SYSROOT= -DCMAKE_FIND_FRAMEWORK=LAST -DCMAKE_STRIP=/nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/strip -DCMAKE_RANLIB=/nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/ranlib -DCMAKE_AR=/nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/ar -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -DCMAKE_INSTALL_PREFIX=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6
mujoco> -- The C compiler identification is GNU 12.2.0
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mujoco> -- Build Version:                             8.1-alpha1
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mujoco> -- Library Directory (LIB_INSTALL_DIR):       lib
mujoco> -- Include Directory (INCLUDE_INSTALL_DIR):   include
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mujoco> -- Build Type (CMAKE_BUILD_TYPE):             Release
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mujoco>   CMake that the project does not need compatibility with older versions.
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mujoco> CMake Warning (dev) at build/_deps/ccd-src/CMakeLists.txt:9 (project):
mujoco>   Policy CMP0048 is not set: project() command manages VERSION variables.
mujoco>   Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
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mujoco> This warning is for project developers.  Use -Wno-dev to suppress it.
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mujoco> [ 33%] Linking C static library ../../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libccd.a
mujoco> [ 33%] Built target ccd
mujoco> [ 37%] Linking C static library ../../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libglfw3.a
mujoco> [ 37%] Built target glfw
mujoco> [ 41%] Linking CXX static library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libtinyxml2.a
mujoco> [ 41%] Built target tinyxml2
mujoco> [ 41%] Linking C static library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libqhullstatic_r.a
mujoco> [ 41%] Built target qhullstatic_r
mujoco> [ 41%] Linking CXX static library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libtinyobjloader.a
mujoco> [ 41%] Built target tinyobjloader
mujoco> [ 41%] Linking CXX static library nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/liblodepng.a
mujoco> [ 41%] Built target lodepng
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_callback.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_box.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_driver.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_convex.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_primitive.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_core_constraint.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_core_smooth.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_crossplatform.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_derivative.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_derivative_fd.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_forward.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_inverse.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_io.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_passive.c.o
mujoco> [ 58%] Building CXX object CMakeFiles/mujoco.dir/src/engine/engine_plugin.cc.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_print.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_ray.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_resource.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_sensor.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_setconst.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_solver.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_blas.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_support.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_errmem.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_misc.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_solve.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_spatial.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vfs.c.o
mujoco> [ 66%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_sparse.c.o
mujoco> [ 66%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_init.c.o
mujoco> [ 66%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_interact.c.o
mujoco> [ 70%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_state.c.o
mujoco> [ 70%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_visualize.c.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_composite.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_mesh.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_model.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_api.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_util.cc.o
mujoco> [ 75%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_objects.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_native_reader.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_native_writer.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_base.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_util.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_urdf.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_numeric_format.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml.cc.o
mujoco> [ 79%] Building C object CMakeFiles/mujoco.dir/src/render/render_context.c.o
mujoco> [ 83%] Building CXX object CMakeFiles/mujoco.dir/src/render/glad/loader.cc.o
mujoco> [ 83%] Building C object CMakeFiles/mujoco.dir/src/render/glad/glad.c.o
mujoco> [ 83%] Building C object CMakeFiles/mujoco.dir/src/render/render_gl2.c.o
mujoco> [ 83%] Building C object CMakeFiles/mujoco.dir/src/render/render_gl3.c.o
mujoco> [ 87%] Building C object CMakeFiles/mujoco.dir/src/render/render_util.c.o
mujoco> [ 87%] Building C object CMakeFiles/mujoco.dir/src/ui/ui_main.c.o
mujoco> [ 87%] Linking CXX shared library nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libmujoco.so
mujoco> [ 87%] Built target mujoco
mujoco> [ 87%] Building CXX object plugin/sensor/CMakeFiles/sensor.dir/sensor.cc.o
mujoco> [ 87%] Building CXX object plugin/sensor/CMakeFiles/sensor.dir/touch_grid.cc.o
mujoco> [ 87%] Building CXX object plugin/elasticity/CMakeFiles/elasticity.dir/elasticity.cc.o
mujoco> [ 87%] Building CXX object sample/CMakeFiles/compile.dir/compile.cc.o
mujoco> [ 91%] Building CXX object sample/CMakeFiles/testspeed.dir/testspeed.cc.o
mujoco> [ 91%] Building CXX object plugin/elasticity/CMakeFiles/elasticity.dir/cable.cc.o
mujoco> [ 91%] Building CXX object plugin/elasticity/CMakeFiles/elasticity.dir/solid.cc.o
mujoco> [ 91%] Building CXX object sample/CMakeFiles/derivative.dir/derivative.cc.o
mujoco> [ 91%] Building CXX object simulate/CMakeFiles/platform_ui_adapter.dir/glfw_dispatch.cc.o
mujoco> [ 91%] Building CXX object simulate/CMakeFiles/platform_ui_adapter.dir/glfw_adapter.cc.o
mujoco> [ 91%] Building CXX object simulate/CMakeFiles/platform_ui_adapter.dir/platform_ui_adapter.cc.o
mujoco> [ 95%] Building CXX object sample/CMakeFiles/record.dir/record.cc.o
mujoco> [ 95%] Building CXX object sample/CMakeFiles/testxml.dir/testxml.cc.o
mujoco> [ 95%] Building CXX object sample/CMakeFiles/basic.dir/basic.cc.o
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/basic
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/record
mujoco> [ 95%] Built target basic
mujoco> [ 95%] Built target platform_ui_adapter
mujoco> [ 95%] Built target record
mujoco> [ 95%] Building CXX object simulate/CMakeFiles/libsimulate.dir/simulate.cc.o
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/derivative
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/compile
mujoco> [ 95%] Built target derivative
mujoco> [ 95%] Built target compile
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testspeed
mujoco> [ 95%] Built target testspeed
mujoco> [100%] Linking CXX shared library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libsensor.so
mujoco> [100%] Built target sensor
mujoco> [100%] Linking CXX shared library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libelasticity.so
mujoco> [100%] Built target elasticity
mujoco> [100%] Linking CXX static library ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libsimulate.a
mujoco> [100%] Built target libsimulate
mujoco> [100%] Building CXX object simulate/CMakeFiles/simulate.dir/main.cc.o
mujoco> [100%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testxml
mujoco> [100%] Built target testxml
mujoco> [100%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/simulate
mujoco> [100%] Built target simulate
mujoco> installing
mujoco> install flags: -j64 SHELL=/nix/store/7q1b1bsmxi91zci6g8714rcljl620y7f-bash-5.2-p15/bin/bash install
mujoco> [  4%] Built target lodepng
mujoco> [  4%] Built target ccd
mujoco> [  8%] Built target tinyxml2
mujoco> [  8%] Built target tinyobjloader
mujoco> [ 25%] Built target qhullstatic_r
mujoco> [ 41%] Built target glfw
mujoco> [ 87%] Built target mujoco
mujoco> [ 91%] Built target derivative
mujoco> [ 91%] Built target sensor
mujoco> [ 91%] Built target compile
mujoco> [ 91%] Built target basic
mujoco> [ 95%] Built target testspeed
mujoco> [ 95%] Built target testxml
mujoco> [ 95%] Built target platform_ui_adapter
mujoco> [ 95%] Built target record
mujoco> [100%] Built target elasticity
mujoco> [100%] Built target libsimulate
mujoco> [100%] Built target simulate
mujoco> Install the project...
mujoco> -- Install configuration: "Release"
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/simulate
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/basic
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/compile
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/derivative
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/record
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testspeed
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testxml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libmujoco.so.2.3.6
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libmujoco.so
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjdata.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjexport.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjmacro.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjmodel.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjplugin.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjrender.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjtnum.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjui.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjvisualize.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjxmacro.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mujoco.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoTargets.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoTargets-release.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoConfig.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoConfigVersion.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/flag
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/flag/flag.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/slider_crank
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/slider_crank/slider_crank.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/balloons
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/balloons/balloons.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/jelly.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/cable.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/press.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/scene.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/belt.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/a.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/coil.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/floppy.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/touch_grid.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/22_humanoids.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/humanoid.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/humanoid.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/README.md
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/tendon_arm
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/tendon_arm/arm26.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/hammock
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/hammock/hammock.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/hammock/humanoid_body.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/adhesion
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/adhesion/active_adhesion.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/adhesion/README.md
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/softbox.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/grid2pin.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/particle_free.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/particle.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/scene.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/particle_free2d.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset/carpet.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset/marble.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset/sponge.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/cloth.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/loop.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid100
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid100/humanoid100.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid100/humanoid_body.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_orange_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_orange.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/red_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/red_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_red_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_red_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_orange_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_orange.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_orange_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_red_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_orange_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_red_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange_red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/README.md
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/cube_3x3x3.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug/mug.obj
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug/mug.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug/mug.xml

Question 2:
For our specific Go1 robot and terrain map setting (see the model here), the simulation speed dramatically decreases compared to the humanoid model.
Running 10000 steps per thread at dt = 0.005 ...

Summary for all 16 threads

 Total simulation time  : 10.41 s
 Total steps per second : 15377
 Total realtime factor  : 76.88 x
 Total time per step    : 65.0 µs

Details for thread 0

 Simulation time      : 8.27 s
 Steps per second     : 1209
 Realtime factor      : 6.05 x
 Time per step        : 826.9 µs

 Broadphase accuracy  : 24.62%
 Midphase accuracy    : 12.47%
 Contacts per step    : 40.70
 Constraints per step : 254.77
 Degrees of freedom   : 18

 Internal profiler for thread 0 (µs per step)
             step :  826.7  (100.00 %)
          forward :  825.7  ( 99.88 %)
         position :  178.0  ( 21.53 %)
         velocity :    2.2  (  0.26 %)
        actuation :    0.2  (  0.03 %)
     acceleration :    0.3  (  0.04 %)
       constraint :  642.7  ( 77.74 %)
   pos_kinematics :    2.2  (  0.26 %)
      pos_inertia :    1.0  (  0.12 %)
    pos_collision :  160.1  ( 19.37 %)
         pos_make :   14.5  (  1.75 %)
      pos_project :    0.0  (  0.00 %)
            other :    3.3  (  0.40 %)

This MJCF model works adequately for policy training, but the simulation speed is considerably slower, which hinders our process. The terrain map consists of 1600 x 1600 points. Are there any suggestions on improving the performance for this specific scenario?
Thank you for your time and consideration. Your insights and assistance are greatly valued!

Below is the build log when I build MuJoCo from source. AVX should be enabled by default.

Build Log for MuJoCo
mujoco> unpacking sources
mujoco> unpacking source archive /nix/store/wxivcwsqz6zylr31hnfx1cckbwl8wr3i-source
mujoco> source root is source
mujoco> patching sources
mujoco> applying patch /nix/store/fpka17kjcczv7zc1cmq4j7p7dpf49pcp-dependencies.patch
mujoco> patching file cmake/MujocoDependencies.cmake
mujoco> patching file simulate/cmake/SimulateDependencies.cmake
mujoco> configuring
mujoco> fixing cmake files...
mujoco> cmake flags: -DCMAKE_FIND_USE_SYSTEM_PACKAGE_REGISTRY=OFF -DCMAKE_FIND_USE_PACKAGE_REGISTRY=OFF -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_INSTALL_LOCALEDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/locale -DCMAKE_INSTALL_LIBEXECDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/libexec -DCMAKE_INSTALL_LIBDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib -DCMAKE_INSTALL_DOCDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/doc/mujoco -DCMAKE_INSTALL_INFODIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/info -DCMAKE_INSTALL_MANDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/man -DCMAKE_INSTALL_OLDINCLUDEDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include -DCMAKE_INSTALL_INCLUDEDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include -DCMAKE_INSTALL_SBINDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/sbin -DCMAKE_INSTALL_BINDIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin -DCMAKE_INSTALL_NAME_DIR=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib -DCMAKE_POLICY_DEFAULT_CMP0025=NEW -DCMAKE_OSX_SYSROOT= -DCMAKE_FIND_FRAMEWORK=LAST -DCMAKE_STRIP=/nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/strip -DCMAKE_RANLIB=/nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/ranlib -DCMAKE_AR=/nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/ar -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -DCMAKE_INSTALL_PREFIX=/nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6
mujoco> -- The C compiler identification is GNU 12.2.0
mujoco> -- The CXX compiler identification is GNU 12.2.0
mujoco> -- Detecting C compiler ABI info
mujoco> -- Detecting C compiler ABI info - done
mujoco> -- Check for working C compiler: /nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/gcc - skipped
mujoco> -- Detecting C compile features
mujoco> -- Detecting C compile features - done
mujoco> -- Detecting CXX compiler ABI info
mujoco> -- Detecting CXX compiler ABI info - done
mujoco> -- Check for working CXX compiler: /nix/store/d9fndiing52fkalp5knfalrvlb3isi6w-gcc-wrapper-12.2.0/bin/g++ - skipped
mujoco> -- Detecting CXX compile features
mujoco> -- Detecting CXX compile features - done
mujoco> -- Performing Test CAN_BUILD_AVX
mujoco> -- Performing Test CAN_BUILD_AVX - Success
mujoco> -- Performing Test SUPPORTS_LLD
mujoco> -- Performing Test SUPPORTS_LLD - Failed
mujoco> -- Performing Test SUPPORTS_GOLD
mujoco> -- Performing Test SUPPORTS_GOLD - Success
mujoco> -- Performing Test SUPPORTS_GC_SECTIONS
mujoco> -- Performing Test SUPPORTS_GC_SECTIONS - Success
mujoco> -- mujoco::FindOrFetch: checking for targets in package `qhull`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `qhull` - target `qhull` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `qhull`
mujoco> -- Looking for sys/types.h
mujoco> -- Looking for sys/types.h - found
mujoco> -- Looking for inttypes.h
mujoco> -- Looking for inttypes.h - found
mujoco> -- Looking for stddef.h
mujoco> -- Looking for stddef.h - found
mujoco> -- Looking for stdint.h
mujoco> -- Looking for stdint.h - found
mujoco> -- Check size of off_t
mujoco> -- Check size of off_t - done
mujoco> -- Looking for fseeko
mujoco> -- Looking for fseeko - found
mujoco> -- Looking for ftello
mujoco> -- Looking for ftello - found
mujoco> -- Looking for PRIdMAX
mujoco> -- Looking for PRIdMAX - found
mujoco> --
mujoco> -- ========== qhull Build Information ==========
mujoco> -- Build Version:                             8.1-alpha1
mujoco> -- Install Prefix (CMAKE_INSTALL_PREFIX):     /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6
mujoco> -- Binary Directory (BIN_INSTALL_DIR):        bin
mujoco> -- Library Directory (LIB_INSTALL_DIR):       lib
mujoco> -- Include Directory (INCLUDE_INSTALL_DIR):   include
mujoco> -- Documentation Directory (DOC_INSTALL_DIR): share/doc/qhull
mujoco> -- Man Pages Directory (MAN_INSTALL_DIR):     share/man/man1
mujoco> -- CMake Directory (CMAKE_INSTALL_DIR):       lib/cmake/QHull
mujoco> -- PkgConfig Directory (PKGCONFIG_INSTALL_DIR):lib/pkgconfig
mujoco> -- Build Type (CMAKE_BUILD_TYPE):             Release
mujoco> -- Build static libraries:                    ON
mujoco> -- Build shared library:                      OFF
mujoco> -- Use shared library for linking apps:       OFF
mujoco> -- Build tests:                            OFF
mujoco> -- To override these options, add -D{OPTION_NAME}=... to the cmake command
mujoco> --   Build the debug targets                  -DCMAKE_BUILD_TYPE=Debug
mujoco> --
mujoco> -- To build and install qhull, enter "make" and "make install"
mujoco> -- To smoketest qhull, enter "ctest"
mujoco> --
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `qhull` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `tinyxml2`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `tinyxml2` - target `tinyxml2` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `tinyxml2`
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `tinyxml2` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `tinyobjloader`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `tinyobjloader` - target `tinyobjloader` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `tinyobjloader`
mujoco> CMake Deprecation Warning at build/_deps/tinyobjloader-src/CMakeLists.txt:5 (cmake_minimum_required):
mujoco>   Compatibility with CMake < 2.8.12 will be removed from a future version of
mujoco>   CMake.
mujoco>   Update the VERSION argument <min> value or use a ...<max> suffix to tell
mujoco>   CMake that the project does not need compatibility with older versions.
mujoco>
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `tinyobjloader` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `ccd`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `ccd` - target `ccd` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `ccd`
mujoco> CMake Deprecation Warning at build/_deps/ccd-src/CMakeLists.txt:1 (cmake_minimum_required):
mujoco>   Compatibility with CMake < 2.8.12 will be removed from a future version of
mujoco>   CMake.
mujoco>   Update the VERSION argument <min> value or use a ...<max> suffix to tell
mujoco>   CMake that the project does not need compatibility with older versions.
mujoco>
mujoco> CMake Warning (dev) at build/_deps/ccd-src/CMakeLists.txt:9 (project):
mujoco>   Policy CMP0048 is not set: project() command manages VERSION variables.
mujoco>   Run "cmake --help-policy CMP0048" for policy details.  Use the cmake_policy
mujoco>   command to set the policy and suppress this warning.
mujoco>   The following variable(s) would be set to empty:
mujoco>     PROJECT_VERSION
mujoco>     PROJECT_VERSION_MAJOR
mujoco>     PROJECT_VERSION_MINOR
mujoco>     PROJECT_VERSION_PATCH
mujoco> This warning is for project developers.  Use -Wno-dev to suppress it.
mujoco>
mujoco> -- Performing Test COMPILER_SUPPORTS_VISIBILITY
mujoco> -- Performing Test COMPILER_SUPPORTS_VISIBILITY - Success
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `ccd` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `absl`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `absl` - target `absl::core_headers` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `abseil-cpp`
mujoco> -- Performing Test ABSL_INTERNAL_AT_LEAST_CXX17
mujoco> -- Performing Test ABSL_INTERNAL_AT_LEAST_CXX17 - Success
mujoco> -- Performing Test CMAKE_HAVE_LIBC_PTHREAD
mujoco> -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
mujoco> -- Found Threads: TRUE
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `abseil-cpp` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `GTest`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `GTest` - target `gtest` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `googletest`
mujoco> -- Could NOT find Python (missing: Python_EXECUTABLE Interpreter)
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `googletest` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `benchmark`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `benchmark` - target `benchmark::benchmark` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `benchmark`
mujoco> -- Failed to find LLVM FileCheck
mujoco> -- Could NOT find Git (missing: GIT_EXECUTABLE)
mujoco> -- Version: 1.7.1
mujoco> -- Looking for shm_open in rt
mujoco> -- Looking for shm_open in rt - found
mujoco> -- Performing Test HAVE_CXX_FLAG_WALL
mujoco> -- Performing Test HAVE_CXX_FLAG_WALL - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WEXTRA
mujoco> -- Performing Test HAVE_CXX_FLAG_WEXTRA - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WSHADOW
mujoco> -- Performing Test HAVE_CXX_FLAG_WSHADOW - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WFLOAT_EQUAL
mujoco> -- Performing Test HAVE_CXX_FLAG_WFLOAT_EQUAL - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WERROR
mujoco> -- Performing Test HAVE_CXX_FLAG_WERROR - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WSUGGEST_OVERRIDE
mujoco> -- Performing Test HAVE_CXX_FLAG_WSUGGEST_OVERRIDE - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_PEDANTIC
mujoco> -- Performing Test HAVE_CXX_FLAG_PEDANTIC - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_PEDANTIC_ERRORS
mujoco> -- Performing Test HAVE_CXX_FLAG_PEDANTIC_ERRORS - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WSHORTEN_64_TO_32
mujoco> -- Performing Test HAVE_CXX_FLAG_WSHORTEN_64_TO_32 - Failed
mujoco> -- Performing Test HAVE_CXX_FLAG_FSTRICT_ALIASING
mujoco> -- Performing Test HAVE_CXX_FLAG_FSTRICT_ALIASING - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED_DECLARATIONS
mujoco> -- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED_DECLARATIONS - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED
mujoco> -- Performing Test HAVE_CXX_FLAG_WNO_DEPRECATED - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WSTRICT_ALIASING
mujoco> -- Performing Test HAVE_CXX_FLAG_WSTRICT_ALIASING - Success
mujoco> -- Performing Test HAVE_CXX_FLAG_WD654
mujoco> -- Performing Test HAVE_CXX_FLAG_WD654 - Failed
mujoco> -- Performing Test HAVE_CXX_FLAG_WTHREAD_SAFETY
mujoco> -- Performing Test HAVE_CXX_FLAG_WTHREAD_SAFETY - Failed
mujoco> -- Performing Test HAVE_CXX_FLAG_COVERAGE
mujoco> -- Performing Test HAVE_CXX_FLAG_COVERAGE - Success
mujoco> -- Compiling and running to test HAVE_STD_REGEX
mujoco> -- Performing Test HAVE_STD_REGEX -- success
mujoco> -- Compiling and running to test HAVE_GNU_POSIX_REGEX
mujoco> -- Performing Test HAVE_GNU_POSIX_REGEX -- failed to compile
mujoco> -- Compiling and running to test HAVE_POSIX_REGEX
mujoco> -- Performing Test HAVE_POSIX_REGEX -- success
mujoco> -- Compiling and running to test HAVE_STEADY_CLOCK
mujoco> -- Performing Test HAVE_STEADY_CLOCK -- success
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `benchmark` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `mujoco`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `mujoco` - found
mujoco> -- mujoco::FindOrFetch: checking for targets in package `glfw3`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `glfw3` - target `glfw` not defined.
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `glfw3`
mujoco> -- Using X11 for window creation
mujoco> -- Found X11: /nix/store/gl91xz6rfkdkkqwpxmmizjmciw6sd3jg-xorgproto-2021.5/include
mujoco> -- Looking for XOpenDisplay in /nix/store/gzs13l92w3308ichywy2013bw2n6l413-libX11-1.8.4/lib/libX11.so;/nix/store/pfn3d53934dswdsf269kmi2acbcjkq2p-libXext-1.3.4/lib/libXext.so
mujoco> -- Looking for XOpenDisplay in /nix/store/gzs13l92w3308ichywy2013bw2n6l413-libX11-1.8.4/lib/libX11.so;/nix/store/pfn3d53934dswdsf269kmi2acbcjkq2p-libXext-1.3.4/lib/libXext.so - found
mujoco> -- Looking for gethostbyname
mujoco> -- Looking for gethostbyname - found
mujoco> -- Looking for connect
mujoco> -- Looking for connect - found
mujoco> -- Looking for remove
mujoco> -- Looking for remove - found
mujoco> -- Looking for shmat
mujoco> -- Looking for shmat - found
mujoco> -- mujoco::FindOrFetch: Using FetchContent to retrieve `glfw3` - Done
mujoco> -- mujoco::FindOrFetch: checking for targets in package `mujoco`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `mujoco` - found
mujoco> -- mujoco::FindOrFetch: checking for targets in package `glfw3`
mujoco> -- mujoco::FindOrFetch: checking for targets in package `glfw3` - found
mujoco> -- Configuring done
mujoco> -- Generating done
mujoco> CMake Warning:
mujoco>   Manually-specified variables were not used by the project:
mujoco>     CMAKE_EXPORT_NO_PACKAGE_REGISTRY
mujoco>
mujoco> -- Build files have been written to: /build/source/build
mujoco> cmake: enabled parallel building
mujoco> cmake: enabled parallel installing
mujoco> cmake version 3.25.3
mujoco> CMake suite maintained and supported by Kitware (kitware.com/cmake).
mujoco> CMakeCache.txt  bin                    lib                        nix       src
mujoco> CMakeFiles      ccd-targets.cmake      model                      plugin
mujoco> Makefile        cmake_install.cmake    mujocoConfig.cmake         sample
mujoco> _deps           compile_commands.json  mujocoConfigVersion.cmake  simulate
mujoco> ------------------------------------------------------------
mujoco> building
mujoco> build flags: -j64 SHELL=/nix/store/7q1b1bsmxi91zci6g8714rcljl620y7f-bash-5.2-p15/bin/bash
mujoco> [  0%] Building C object _deps/ccd-build/src/CMakeFiles/ccd.dir/ccd.c.o
mujoco> [  0%] Building C object _deps/ccd-build/src/CMakeFiles/ccd.dir/mpr.c.o
mujoco> [  0%] Building CXX object _deps/tinyobjloader-build/CMakeFiles/tinyobjloader.dir/tiny_obj_loader.cc.o
mujoco> [  4%] Building C object _deps/ccd-build/src/CMakeFiles/ccd.dir/polytope.c.o
mujoco> [  4%] Building C object _deps/ccd-build/src/CMakeFiles/ccd.dir/vec3.c.o
mujoco> [  4%] Building CXX object _deps/tinyxml2-build/CMakeFiles/tinyxml2.dir/tinyxml2.cpp.o
mujoco> [  4%] Building C object _deps/ccd-build/src/CMakeFiles/ccd.dir/support.c.o
mujoco> [  4%] Building CXX object CMakeFiles/lodepng.dir/_deps/lodepng-src/lodepng.cpp.o
mujoco> [  8%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/init.c.o
mujoco> [  8%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/input.c.o
mujoco> [  8%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/context.c.o
mujoco> [  8%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/monitor.c.o
mujoco> [  8%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/global_r.c.o
mujoco> [  8%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/window.c.o
mujoco> [  8%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/x11_monitor.c.o
mujoco> [ 12%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/stat_r.c.o
mujoco> [ 16%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/x11_init.c.o
mujoco> [ 16%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/poly2_r.c.o
mujoco> [ 16%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/x11_window.c.o
mujoco> [ 16%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/vulkan.c.o
mujoco> [ 16%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/merge_r.c.o
mujoco> [ 16%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/libqhull_r.c.o
mujoco> [ 20%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/geom_r.c.o
mujoco> [ 20%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/posix_time.c.o
mujoco> [ 20%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/geom2_r.c.o
mujoco> [ 20%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/egl_context.c.o
mujoco> [ 20%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/xkb_unicode.c.o
mujoco> [ 20%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/osmesa_context.c.o
mujoco> [ 20%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/qset_r.c.o
mujoco> [ 25%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/posix_thread.c.o
mujoco> [ 25%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/glx_context.c.o
mujoco> [ 25%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/poly_r.c.o
mujoco> [ 25%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/userprintf_rbox_r.c.o
mujoco> [ 25%] Building C object _deps/glfw3-build/src/CMakeFiles/glfw.dir/linux_joystick.c.o
mujoco> [ 25%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/userprintf_r.c.o
mujoco> [ 25%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/io_r.c.o
mujoco> [ 25%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/mem_r.c.o
mujoco> [ 33%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/rboxlib_r.c.o
mujoco> [ 33%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/usermem_r.c.o
mujoco> [ 33%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/random_r.c.o
mujoco> [ 33%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/user_r.c.o
mujoco> [ 33%] Building C object _deps/qhull-build/CMakeFiles/qhullstatic_r.dir/src/libqhull_r/accessors_r.c.o
mujoco> [ 33%] Linking C static library ../../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libccd.a
mujoco> [ 33%] Built target ccd
mujoco> [ 37%] Linking C static library ../../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libglfw3.a
mujoco> [ 37%] Built target glfw
mujoco> [ 41%] Linking CXX static library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libtinyxml2.a
mujoco> [ 41%] Built target tinyxml2
mujoco> [ 41%] Linking C static library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libqhullstatic_r.a
mujoco> [ 41%] Built target qhullstatic_r
mujoco> [ 41%] Linking CXX static library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libtinyobjloader.a
mujoco> [ 41%] Built target tinyobjloader
mujoco> [ 41%] Linking CXX static library nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/liblodepng.a
mujoco> [ 41%] Built target lodepng
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_callback.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_box.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_driver.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_convex.c.o
mujoco> [ 45%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_collision_primitive.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_core_constraint.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_core_smooth.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_crossplatform.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_derivative.c.o
mujoco> [ 50%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_derivative_fd.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_forward.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_inverse.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_io.c.o
mujoco> [ 54%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_passive.c.o
mujoco> [ 58%] Building CXX object CMakeFiles/mujoco.dir/src/engine/engine_plugin.cc.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_print.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_ray.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_resource.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_sensor.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_setconst.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_solver.c.o
mujoco> [ 58%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_blas.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_support.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_errmem.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_misc.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_solve.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_spatial.c.o
mujoco> [ 62%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vfs.c.o
mujoco> [ 66%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_util_sparse.c.o
mujoco> [ 66%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_init.c.o
mujoco> [ 66%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_interact.c.o
mujoco> [ 70%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_state.c.o
mujoco> [ 70%] Building C object CMakeFiles/mujoco.dir/src/engine/engine_vis_visualize.c.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_composite.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_mesh.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_model.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_api.cc.o
mujoco> [ 70%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_util.cc.o
mujoco> [ 75%] Building CXX object CMakeFiles/mujoco.dir/src/user/user_objects.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_native_reader.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_native_writer.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_base.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_util.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_urdf.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml_numeric_format.cc.o
mujoco> [ 79%] Building CXX object CMakeFiles/mujoco.dir/src/xml/xml.cc.o
mujoco> [ 79%] Building C object CMakeFiles/mujoco.dir/src/render/render_context.c.o
mujoco> [ 83%] Building CXX object CMakeFiles/mujoco.dir/src/render/glad/loader.cc.o
mujoco> [ 83%] Building C object CMakeFiles/mujoco.dir/src/render/glad/glad.c.o
mujoco> [ 83%] Building C object CMakeFiles/mujoco.dir/src/render/render_gl2.c.o
mujoco> [ 83%] Building C object CMakeFiles/mujoco.dir/src/render/render_gl3.c.o
mujoco> [ 87%] Building C object CMakeFiles/mujoco.dir/src/render/render_util.c.o
mujoco> [ 87%] Building C object CMakeFiles/mujoco.dir/src/ui/ui_main.c.o
mujoco> [ 87%] Linking CXX shared library nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libmujoco.so
mujoco> [ 87%] Built target mujoco
mujoco> [ 87%] Building CXX object plugin/sensor/CMakeFiles/sensor.dir/sensor.cc.o
mujoco> [ 87%] Building CXX object plugin/sensor/CMakeFiles/sensor.dir/touch_grid.cc.o
mujoco> [ 87%] Building CXX object plugin/elasticity/CMakeFiles/elasticity.dir/elasticity.cc.o
mujoco> [ 87%] Building CXX object sample/CMakeFiles/compile.dir/compile.cc.o
mujoco> [ 91%] Building CXX object sample/CMakeFiles/testspeed.dir/testspeed.cc.o
mujoco> [ 91%] Building CXX object plugin/elasticity/CMakeFiles/elasticity.dir/cable.cc.o
mujoco> [ 91%] Building CXX object plugin/elasticity/CMakeFiles/elasticity.dir/solid.cc.o
mujoco> [ 91%] Building CXX object sample/CMakeFiles/derivative.dir/derivative.cc.o
mujoco> [ 91%] Building CXX object simulate/CMakeFiles/platform_ui_adapter.dir/glfw_dispatch.cc.o
mujoco> [ 91%] Building CXX object simulate/CMakeFiles/platform_ui_adapter.dir/glfw_adapter.cc.o
mujoco> [ 91%] Building CXX object simulate/CMakeFiles/platform_ui_adapter.dir/platform_ui_adapter.cc.o
mujoco> [ 95%] Building CXX object sample/CMakeFiles/record.dir/record.cc.o
mujoco> [ 95%] Building CXX object sample/CMakeFiles/testxml.dir/testxml.cc.o
mujoco> [ 95%] Building CXX object sample/CMakeFiles/basic.dir/basic.cc.o
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/basic
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/record
mujoco> [ 95%] Built target basic
mujoco> [ 95%] Built target platform_ui_adapter
mujoco> [ 95%] Built target record
mujoco> [ 95%] Building CXX object simulate/CMakeFiles/libsimulate.dir/simulate.cc.o
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/derivative
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/compile
mujoco> [ 95%] Built target derivative
mujoco> [ 95%] Built target compile
mujoco> [ 95%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testspeed
mujoco> [ 95%] Built target testspeed
mujoco> [100%] Linking CXX shared library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libsensor.so
mujoco> [100%] Built target sensor
mujoco> [100%] Linking CXX shared library ../../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libelasticity.so
mujoco> [100%] Built target elasticity
mujoco> [100%] Linking CXX static library ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libsimulate.a
mujoco> [100%] Built target libsimulate
mujoco> [100%] Building CXX object simulate/CMakeFiles/simulate.dir/main.cc.o
mujoco> [100%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testxml
mujoco> [100%] Built target testxml
mujoco> [100%] Linking CXX executable ../nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/simulate
mujoco> [100%] Built target simulate
mujoco> installing
mujoco> install flags: -j64 SHELL=/nix/store/7q1b1bsmxi91zci6g8714rcljl620y7f-bash-5.2-p15/bin/bash install
mujoco> [  4%] Built target lodepng
mujoco> [  4%] Built target ccd
mujoco> [  8%] Built target tinyxml2
mujoco> [  8%] Built target tinyobjloader
mujoco> [ 25%] Built target qhullstatic_r
mujoco> [ 41%] Built target glfw
mujoco> [ 87%] Built target mujoco
mujoco> [ 91%] Built target derivative
mujoco> [ 91%] Built target sensor
mujoco> [ 91%] Built target compile
mujoco> [ 91%] Built target basic
mujoco> [ 95%] Built target testspeed
mujoco> [ 95%] Built target testxml
mujoco> [ 95%] Built target platform_ui_adapter
mujoco> [ 95%] Built target record
mujoco> [100%] Built target elasticity
mujoco> [100%] Built target libsimulate
mujoco> [100%] Built target simulate
mujoco> Install the project...
mujoco> -- Install configuration: "Release"
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/simulate
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/basic
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/compile
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/derivative
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/record
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testspeed
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/bin/testxml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libmujoco.so.2.3.6
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/libmujoco.so
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjdata.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjexport.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjmacro.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjmodel.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjplugin.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjrender.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjtnum.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjui.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjvisualize.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mjxmacro.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/include/mujoco/mujoco.h
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoTargets.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoTargets-release.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoConfig.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/lib/cmake/mujoco/mujocoConfigVersion.cmake
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/flag
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/flag/flag.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/slider_crank
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/slider_crank/slider_crank.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/balloons
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/balloons/balloons.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/jelly.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/cable.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/press.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/scene.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/belt.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/a.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/coil.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/floppy.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/plugin/touch_grid.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/22_humanoids.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/humanoid.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/humanoid.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid/README.md
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/tendon_arm
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/tendon_arm/arm26.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/hammock
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/hammock/hammock.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/hammock/humanoid_body.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/adhesion
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/adhesion/active_adhesion.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/adhesion/README.md
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/softbox.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/grid2pin.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/particle_free.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/particle.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/scene.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/particle_free2d.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset/carpet.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset/marble.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/asset/sponge.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/cloth.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/composite/loop.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid100
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid100/humanoid100.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/humanoid100/humanoid_body.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_orange_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_orange.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/red_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/red_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_red_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_red_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_orange_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_orange.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_orange_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_red_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_orange_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue_red_white.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/blue.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/green_yellow.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange_red.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/assets/orange.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/README.md
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/cube/cube_3x3x3.xml
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug/mug.obj
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug/mug.png
mujoco> -- Installing: /nix/store/hj2d8zyd3yjb5n6s5m1m1k22i5rbniwh-mujoco-2.3.6/share/mujoco/model/mug/mug.xml

You indicated that you built from source. As with all questions relating to performance, I'd strongly urge you to get baseline numbers from our official binary build first.

Hi, thanks for your questions!
Question 1: I apologize, I believe the line in the paper is a (rather serious) mistake. "on a single CPU thread" should read "on a single CPU". Note however that real-time ratios scale with the timestep. The humanoid model in the MuJoCo repository has a conservative 5ms timestep, but the one used by the MJPC planner has a timestep of 15ms which leads to a total real-time ratio of 4000x on an M1 Mac and 5400x on your machine. Of course large timesteps are "dangerous" in the sense that the physics can sometimes diverge, but when used in the context of short planner trajectories (that handle divergence gracefully), this is not a problem. The humanoid environment controlled by the MJPC planner actually has the default timestep of 2ms, for high stability and fidelity. Such are the benefits of asynchronous MPC, you can choose timesteps to suit your needs 🙂
Question 2: I think I can see multiple issues in the timing breakdown.

I find it curious that you have so many contacts. You say you have a quadruped on some terrain? How do you get to an average of 40 contacts / step? You have lots of geoms on the feet or something? Are you using a very dense height-field? (don't do that).
I find the constraint/contact ratio curious. I think you must be using 6D contacts? These are not free...
I find the 77% time spent in constraint resolution too high. Try switching solver and/or setting jacobian = "sparse".
The 19% time spent in collision detection is also pretty high. This is something we can help with. In version 2.3.3 we introduced a new mid-phase pruning stage that significantly enhanced collision detection speed (credit to @quagla!). The speedup was made possible because a user sent us models that we could benchmark against. The same thing that was done for individual geoms could and should be done with heightfields: use a binary tree search instead of nested for loops. Unfortunately we ourselves do not use heightfields much and do not have example benchmark models. If you send us your model we can see if we can add tree-based pruning to heightfields. But I would really ask that you first fix whatever you did that made constraint resolution so slow.

Very generally, MuJoCo has a built in profiler that is visible in the simulate app GUI (F3 key), that will show you how different choices affect compute speed (this is printed out in testspeed). Use it!
Allow me to apologize again for the typo in the paper, it is rather embarrassing 😬

Really appreciate your fast response!

I suspect you're missing the INTERPROCEDURAL_OPTIMIZATION flag.)

Thanks! This did boost the realtime factor from 1833 to 2200. Is this close to what you have @saran-t ?
@yuvaltassa Thanks a lot for the clarification on the MuJoCo MPC paper. The paper is very nice and the various benefits of using MuJoCo for planner rollout looks like a good fit.
On Question 2:

I find it curious that you have so many contacts. You say you have a quadruped on some terrain? How do you get to an average of 40 contacts / step? You have lots of geoms on the feet or something? Are you using a very dense height-field? (don't do that).

Unfortunately yes, we do have a very dense height field, with 1600 x 1600 vertex in 12m x 12m ground. The reason we have this is that since we are training a policy with model-free reinforcement learning, we need a relatively dense terrain to encourage the learned locomotion policy to lift feet hand enough.

I find the constraint/contact ratio curious. I think you must be using 6D contacts? These are not free...

Yes we set condim="6" on all feet based on code from mujoco-menagerie. When lower this down to "3", the simulation is indeed 20% faster. I am not sure whether this will affect sim2real at this moment.

I find the 77% time spent in constraint resolution too high. Try switching solver and/or setting jacobian = "sparse".

Using "CG" solver did help double the simulation performance. Setting "jacobian" to "sparse" does not seem to further improve the performance.

In version 2.3.3 we introduced a new mid-phase pruning stage that significantly enhanced collision detection speed (credit to @quagla!).

I noticed this when 2.3.3 was released (really appreciate your effort on actively developing it and regularly making new releases!). The algorithm was clever. I understand that currently it does not seem to work on heightfields - but in the end we just want some terrain with irregular ups and downs. Do you think it would be better if instead we create the terrain with a bunch of cubes on the ground which cannot move?

Very generally, MuJoCo has a built in profiler that is visible in the simulate app GUI (F3 key)
Nice. This is very useful. Thank you!

Thanks again for your time and patiently answer the questions!

So the only unresolved problem (and the biggest) is that we have a rather dense hfield. We need this to allow the training to get a policy where the quadruped can lift its legs higher.
In terms of performance, instead of using hfield, is it going to be faster if we replace the terrain with (a huge amount of) blocks, so that the binary tree search trick can kick in?

Another trick I can think of is to place 20 robots on a single terrain (i.e. a model with 20 robots) for training. I can carefully assign the contype and conaffinity to make those robots "disjoint" for conflict detection purpose. This seems to increase the "per-robot" performance a lot, but I think this might not be recommended and can even have harmful side effects that I am not aware of.

Replacing the hfield with primitives should help, though I suspect that you might be able to get away with a somewhat less dense hfield.
I can't think of side-effects of making a multi-robot scene, this should be fine.
Closing for now but will keep following this thread.


Card

Closes: #227
Describe the changes you've made
A clear and concise description of what you have done to successfully close your assigned issue. Any new files? or anything you feel to let us know!
Checklist:

[ ] My code follows the style guidelines of this project.
[ ] I have performed a self-review of my own code.
[ ] I have commented my code, particularly in hard-to-understand areas.
[ ] I have made corresponding changes to the documentation.
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Screenshots

Original
Updated

original screenshot
updated screenshot

Sorry but that repo deleted by me.

@khannakshat7 please review it

@khannakshat7  please review my PR

Good work @kumarishalini6 ,
@khannakshat7  this looks good to go

@khannakshat7  please review my PR


iOS 9 Safari crashes for the following payload

I unable to view the following (converted pdf) file in iOS 9, Safari. It systematically crashes with the following error on the screen.

Is this a bug with viewer.js ?
Also, can I avoid this using come configuration setting for the viewer instance or by limiting caching ?
Please advise. Thanks in advance.
Attachment:
ConvertedPDFAssets.zip

Requesting some feedback here. Please help us with this issue. Do know where we could be misconfiguring viewer ?

I realize it's very impolite to do this (and apologize), but let me add @lakenen to this thread.
Maybe he has some ideas.


RabbitMQ input plugin should allow saving message attributes in fields

The RabbitMQ input plugin doesn’t provide any means for accessing the attributes of a message. Attributes can contain interesting metadata that one would like to save into the Logstash message, including a timestamp that in many cases should be saved into Logstash’s @timestamp field, the message's routing key, or the payload's content type (making optional auto-selection of the input codec possible).
I suggest a configuration field is added to allow saving all RabbitMQ message attributes into a Logstash message field.
Example configuration:
input {
  rabbitmq {
    ...
    attributes_target => "attr"
  }
}

Example result:
{
  ...
  "attr": {
    "content-type": "application/json",
    "timestamp": "1234567890"
  }
}

Duplicate of #19, closing.


deployment.yaml not automatically updated

If you look at the image being pulled, it's currently 2.4 and the last release was 2.6.  Suggest either set up an automatic update for it, or set it to :latest and add that tag.
Thanks for putting this together!  I appreciate it.

I just responded with more info on slack if you care to discuss there..


Failure on CUDA11.1

On CUDA 11.1, python sample.py gives following error:
Cuda failure: 222 the provided PTX was compiled with an unsupported toolchain.
/home/ubuntu/ios/src/ios/ios_runtime.cu:1332
Aborting...

Hi, according to this post, it is likely that your compilation toolchain is not compatible with the driver. Can you try with a consistent driver and cuda toolkit?
Best

Please reopen the issue if this does not resolve the problem.


Handle missing to-one related resource.

Correctly handle missing to-one related resource by returning a null resource that following the specification (see http://jsonapi.org/format/#fetching-relationships). Fixes #97.

[ ] :ok:
[ ] :ok_hand:

This all works as expected! Nice one :+1:

Works a treat :+1:


convert UNIX time stamp to human readable format

Description
convert UNIX time stamp to human readable format
Unix Timestamp

Type of issue

NOTE: These boxes can be checked using [X]

[X] Feature (New Script)

[X] Bug

[X] Documentation

Checklist:

[X] I have read the project guidelines.
[X] I have checked all the existing projects, before submitting a new project issue.
[X] I have checked previous issues to avoid duplicates.
[X] This issue will be meaningful for the project.

Can you assign me this issue?

go for it @pranav6670

go for it @pranav6670
Great! Thanks, man!


Checking if the browser supports localStorage should try to set and get data

If localStorage is disabled (in safari) or max-size is set to 0, it will still report window.localStorage as available, but crash when trying to write to it.
Easily solved by doing a try/catch and trying to write and read.

+1

This should be solved.

This is still erroring after a hard refresh in safari private.

@rubinovitz Could you create a new issue? Preferably with a small example and error message. And we'll have it sorted out :)

For anyone else looking at this issue, it is not present in 0.3.10 as far as I can tell.


[DO NOT MANUAL MERGE] Release Qualification

Trigger release qualification jobs
none

@silverdev: The following test failed, say /retest to rerun them all:

Test name
Commit
Details
Rerun command

prow/daily-e2e-cluster_wide-auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth

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@silverdev: The following tests failed, say /retest to rerun them all:

Test name
Commit
Details
Rerun command

prow/daily-e2e-cluster_wide-auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth

prow/daily-e2e-cluster_wide-auth-default.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth-default

Instructions for interacting with me using PR comments are available here.  If you have questions or suggestions related to my behavior, please file an issue against the kubernetes/test-infra repository. I understand the commands that are listed here.

@silverdev: The following tests failed, say /retest to rerun them all:

Test name
Commit
Details
Rerun command

prow/daily-e2e-cluster_wide-auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth

prow/daily-e2e-cluster_wide-auth-default.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth-default

prow/daily-e2e-rbac-auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-rbac-auth

Instructions for interacting with me using PR comments are available here.  If you have questions or suggestions related to my behavior, please file an issue against the kubernetes/test-infra repository. I understand the commands that are listed here.

@silverdev: The following tests failed, say /retest to rerun them all:

Test name
Commit
Details
Rerun command

prow/daily-e2e-cluster_wide-auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth

prow/daily-e2e-cluster_wide-auth-default.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-cluster_wide-auth-default

prow/daily-e2e-rbac-auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-rbac-auth

prow/daily-e2e-rbac-no_auth.sh
58847633f6e238c60f02c060e4dae27fc19f580e
link
/test daily-e2e-rbac-no_auth

Instructions for interacting with me using PR comments are available here.  If you have questions or suggestions related to my behavior, please file an issue against the kubernetes/test-infra repository. I understand the commands that are listed here.


do we need some linter that also do some kind of type checking?

maybe we need here mypy and flake8 or something like that...

I have added Mypy checker into master branch. From now on it would become easier to start type fixing in selene.


Free Form Term Genie submission: apoptosis in response to oxidative stress

[Term]
id: GO:1990985
name: apoptosis in response to oxidative stress
namespace: biological_process
def: "Any biological process that results in permanent cessation of all vital functions of a cell upon exposure to oxidative stress." [GOC:pg, PMID:25950479]
subset: termgenie_unvetted
is_a: GO:0036473 ! cell death in response to oxidative stress
created_by: pg
creation_date: 2016-11-17T14:12:17Z

@pgaudet: the TermGenie Free Form submission is not meant to be in active use (email 6/23/16)  because not all inferences/parents are saved/created which could lead to loss of information and screwed up parentage.  Unfortunately, there is no speedy way to deactivate this functionality otherwise we would have done so.  (@cmungall) I'm moving the term request to GH for checking.  Please request all non-templatable terms through GH in the future.
@paolaroncaglia: does this term seem ok to you? (apoptosis-related)
Thank you both.

Hi @pgaudet and @tberardini
apoptosis in response to oxidative stress occurs via the intrinsic pathway (see the def of ‘intrinsic apoptotic signaling pathway’). Also, see the curation manual here: http://wiki.geneontology.org/index.php/Apoptosis_Curation_Manual#GO:0097193_intrinsic_apoptotic_signaling_pathway
So, I’d annotate to the existing term
id: GO:0008631
name: intrinsic apoptotic signaling pathway in response to oxidative stress
def: "A series of molecular signals in which an intracellular signal is conveyed to trigger the apoptotic death of a cell. The pathway is induced in response to oxidative stress, a state often resulting from exposure to high levels of reactive oxygen species, and ends when the execution phase of apoptosis is triggered." [GOC:ai, GOC:mtg_apoptosis]
synonym: "induction of apoptosis by oxidative stress" RELATED []
synonym: "oxidative stress-induced intrinsic apoptotic signaling pathway" EXACT [GOC:bf]
is_a: GO:0097193 ! intrinsic apoptotic signaling pathway
relationship: part_of GO:0036473 ! cell death in response to oxidative stress

Thank you, @paolaroncaglia .  I will obsolete the term in the TG queue.