Simulation frequency in Isaac Sim 5.1.0

Omniverse Isaac Sim
1

Isaac Sim Version

5.1.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: NVIDIA GeForce RTX 3070
  • Driver Version: 570.86.10

Topic Description

Hello.

I’m having a problem with the frequency of my simulation. I’m performing an impedance control, and I would like to be able to use a frequency close to 1 kHz, but it stays at approximately 35 Hz. I have tried using world.set_physics_step_size(0.001), but I get an error saying that world does not have that function. However, world.set_min_simulation_frame_rate(frame_rate) does work.

I don’t know if I am using the world class incorrectly, or if there is another way to modify the frequency. I have also tried disabling rate limiting, but it remains the same. I have also checked the time it takes to execute the main loop, but it only takes 1.7ms (system time).

My code:

from isaacsim.core.api import World
self.world = World.instance()
if self.world is None:
     self.world = World(stage_units_in_meters=1.0)
     self.world.scene.add_default_ground_plane()
self.world.set_physics_step_size(0.001)  # 1ms
2

For the correct way to set the physics step size in Isaac Sim, please refer to the following post: How to adjust simulation speed in Isaac Sim?.

3

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

Thank you for being part of the NVIDIA Isaac Sim community.

Best regards,
The NVIDIA Isaac Sim Forum Team