Pybyullet bullet version/gpu support

[Marc-Morcos]

Hi I'm trying to figure out if the newest pybullet uses gpu. Does it wrap bullet 2.x or 3.x? Do i have to do something to enable gpu for physics simulation?

[bcExpt1123]

Is GPU acceleration for physics in PyBullet possible?

I’m training a reinforcement learning model using Stable-Baselines3 with PyBullet as the environment. While my model is configured to use a GPU, I’ve noticed that GPU utilization remains very low (around 0.5–1%).

From what I understand, PyBullet uses the GPU for rendering but not for the physics simulation itself, which appears to run on the CPU. This seems to create a bottleneck during training, significantly slowing down the overall process.

Is it currently impossible to enable GPU acceleration for the physics simulation in PyBullet? Or are there any recommended approaches to mitigate this bottleneck and improve training speed?

Any insights or suggestions would be greatly appreciated.