GPU acceleration of physics is hard. The problems you need to solve are usually not very suitable for GPUs. Of course, collision checks can be accelerated, but not the physics algorithms themselves. I guess what the GPU accelerated engines usually do is parallelize in terms of running thousands of worlds at the same time. In such case, utilizing the GPU power seems a bit more tractable. However, Gazebo is not built for such use-case (or, it could probably be used this way - there are currently experiments with utilizing Gazebo for RL, but I don’t know the current progress).
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