We tried to run the simulator on a beefy machine (40 cores, 4 GPUs) with a full team of robots (3 UGVs, 3 UAVs, approx. 30 cameras in total). Neither the CPUs nor any GPU were throttled to max, yet the real-time-factor was between 1-2 percent. Is there any clear performance bottleneck that could be worked on? E.g. aren't the sensors rendered serially (i.e. first one camera, then a second one, and so on)? Or is there something else? I'm pretty sure the physics computations shouldn't be that costly (and the performance doesn't drop lineraly with the number of robots).
We tried to run the simulator on a beefy machine (40 cores, 4 GPUs) with a full team of robots (3 UGVs, 3 UAVs, approx. 30 cameras in total). Neither the CPUs nor any GPU were throttled to max, yet the real-time-factor was between 1-2 percent. Is there any clear performance bottleneck that could be worked on? E.g. aren't the sensors rendered serially (i.e. first one camera, then a second one, and so on)? Or is there something else? I'm pretty sure the physics computations shouldn't be that costly (and the performance doesn't drop lineraly with the number of robots).