The speed of my own env is quite slow

[ppap36]

Hello, I am a beginner in reinforcement learning. I am currently trying to integrate my own model into the playground reinforcement learning environment. I designed a task where a 7-degree-of-freedom robotic arm reaches a target position, and I set the training parameters by following the examples in the notebook. During training, I encountered a GPU memory overflow. To fix this, I modified the STL model of the robotic arm (reducing the number of triangular faces in the collision detection model).

Although the memory overflow issue was resolved, my training time exceeded 8 hours, which is much longer than the 8-10 minutes shown in the notebook demo.

I have the following questions:

Why is the training speed of the model in the example so fast?

Are there any tricks to improve the training speed of my model?