Mujoco Soccer simulation too slow

I am trying to train a 1v1 soccer games in the soccer environment. However, the training is really slow. Is there any method to speed up the simulation?

The issue does not name a file, test, or entry point. Start by locating the MuJoCo soccer environment and profiling a 1v1 training run to identify the bottleneck. Done would require a demonstrated simulation-speed improvement with no loss of expected environment behavior.

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