How fast is MuJoCo on a phone? This update adds timing instrumentation to find the bottleneck. The result: individual simulation steps complete in roughly half a millisecond, with total compute around 15% of wall-clock time — the physics keeps up with real time, and then some.
The remaining sluggishness shows up only in spatial AR mode (likely spatial-mapping/LiDAR overhead), while virtual mode stays snappy. Good news for multibody dynamics on iOS.
Key points
- Per-step solve times near 0.5 ms
- Physics compute ~15% of real time
- Bottleneck isolated to spatial mapping, not the solver
Compare virtual and spatial rendering in Augmented Reality.