Why dose the "self.robot.get_dofs_position" function cost such long time (0.03s)?

[UniGen-X]

In genesis, I loaded a Unitree G1 robot, and called the get_dofs_position function. However, the function took 0.03s to return the value, which seems too long. Meanwhile, get_dofs_vel only costs 0.0002s.

Does anyone know why it take such long time?

Load robot:

Compute cost:

Print:

[UniGen-X]

Never mind, I figured out it caused by the env_self_collision flag/